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2018-03-05 21:45:39 -0500 commented answer how to get real-time access to grid data from map generated by gmapping?

@az As for my case, I implemented my own conversion and it's a easy one: def convertTo2DArray(): for i in range(map_
2018-01-22 03:44:09 -0500 commented question Disabling line display for .dae models in Gazebo 7

Sure, the link on Gazebo Answers Site: http://answers.gazebosim.org/question/18345/disabling-line-display-for-dae-models
2018-01-22 02:01:35 -0500 asked a question Disabling line display for .dae models in Gazebo 7

Disabling line display for .dae models in Gazebo 7 Hi all! I am trying to carry out a simulated experiment using ROS Kin
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2017-04-20 14:49:07 -0500 marked best answer how to create a subscriber node that also publishes message?

Hi everyone, I'm wondering if it's possible to create a node that serves both as a subscriber and a publisher at the same time? It will receive some messages and publish some messages to other topic. 

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
#include <nav_msgs/OccupancyGrid.h>

void mapConvert(const nav_msgs::OccupancyGrid::ConstPtr& msg)
{
  ROS_INFO("I heard:1");
  pub.publish(msg->info.width);//or just simply pub.publish(1);
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "map_converter");
  ros::NodeHandle n;
  ros::Subscriber sub = n.subscribe("map", 1000, mapConvert);
  ros::Publisher pub = n.advertise<int>("mapconverted", 1000);
  ros::Rate loop_rate(10);

 int count = 0;
  while (ros::ok())
  {
     ros::spinOnce();
     loop_rate.sleep();
  }
  ros::spin();
  return 0;
}

I have tried this structure but it did not work.Please Help! Thank You in advance!
2017-04-20 14:42:28 -0500 marked best answer how to get real-time access to grid data from map generated by gmapping?

Hello everyone,

I'm trying to simulate robot exploration in gazebo using gmapping. Now I'm able to generate the map using SLAM and save it using map_server.

I would like to ask how do I get access to the individual grid data? for example I need to detect the frontier grids and calculate its distance to the current position of the robot, how do I achieve this in ROS? I suppose it should be a matrix or something similar, any help or suggestion would be much appreciated!

Thanks in advance!
2017-04-20 14:35:57 -0500 marked best answer how to do slam with a custom robot in Gazebo?

Hi everyone,

I'm trying to build a map using SLAM(gmapping) and my own (virtual) robot which is equipped with a hokuyo LRF under Gazebo, i have looked around but could not find a tutorial on how to do this. for example

http://wiki.ros.org/robotino_navigati... http://wiki.ros.org/turtlebot_navigat...

these tutorials don't explain how to do it with a customized robot.

my question is how do i obtain the laser scan data and pass it to the corresponding listener? I've noticed in some tutorials it is published by a topic named /base_scan,which does not appear when i load the model into the Gazebo environment.

Any suggestions or help will be much appreciated. Thanks!
2017-04-20 13:51:20 -0500 marked best answer gazebo_ros missing(indigo 14.04)

Hi everyone,I'm using indigo on Ubuntu 14.04 LTS. i have installed indigo full desktop version,deleted Gazebo Ver 2 and installed Gazebo Ver 6.1.0 from the gazebosim website. i am now trying to launch a xacro model in gazebo, and the following error occurs:

edmond@edmond:~$ roslaunch myrobot_gazebo gazebo.launch
... logging to /home/edmond/.ros/log/a1af2d0c-aa3e-11e5-9405-c81f662b396f/roslaunch-edmond-4794.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/__init__.py", line 307, in main
p.start()
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start
self._start_infrastructure()
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure
self._load_config()
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config
roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default
loader.load(f, config, verbose=verbose)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 730, in load
self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 702, in _load_launch
self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 666, in _recurse_load
val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
return f(*args, **kwds)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 587, in _include_tag
inc_filename = self.resolve_args(tag.attributes['file'].value, context)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 183, in resolve_args
return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 312, in resolve_args
resolved = _resolve_args(resolved, context, resolve_anon, commands)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 325, in _resolve_args
resolved = commands[command](resolved, a, args, context)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 141, in _find
source_path_to_packages=source_path_to_packages)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 184, in _find_executable
full_path = _get_executable_path(rp.get_path(args[0]), path)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 200, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)

**ResourceNotFound: gazebo_ros**

ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/home/edmond/rosws/src
ROS path [2]=/opt/ros/indigo/share
ROS path [3]=/opt/ros/indigo/stacks

so i tried installing ros-indigo-gazebo-ros, but then

edmond@edmond:~$ sudo apt-get install ros-indigo-gazebo-ros

   **The following packages have unmet dependencies!:**

    ros-indigo-gazebo-ros : Depends: gazebo2 but it is not going to be installed
    Depends: libsdformat1 but it is not going to be installed ...
(more)
2017-04-20 13:51:10 -0500 marked best answer Resource Not Found: xacro

Hi everyone, I'm new to ROS and currently using indigo on 14.04 LTS. I have a package called myrobot_description,with launch and urdf folder in it. i am trying to launch a .launch file to display a urdf model in rviz,but facing this problem after i cd into the launch folder and run roslaunch display.launch

edmond@edmond:~/rosws/src/myrobot_description/launch$ roslaunch display.launch
... logging to /home/edmond/.ros/log/97f94786-aa1e-11e5-9e12-c81f662b396f/roslaunch-edmond-32318.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/__init__.py", line 307, in main
    p.start()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start
    self._start_infrastructure()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure
    self._load_config()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config
    roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default
    loader.load(f, config, verbose=verbose)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 730, in load
    self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 702, in _load_launch
    self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 646, in _recurse_load
    self._param_tag(tag, context, ros_config, verbose=verbose)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
    return f(*args, **kwds)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 256, in _param_tag
    vals = self.opt_attrs(tag, context, ('value', 'textfile', 'binfile', 'command'))
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 202, in opt_attrs
    return [self.resolve_args(tag_value(tag,a), context) for a in attrs]
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 183, in resolve_args
    return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 312, in resolve_args
    resolved = _resolve_args(resolved, context, resolve_anon, commands)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 325, in _resolve_args
    resolved = commands[command](resolved, a, args, context)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 141, in _find
    source_path_to_packages=source_path_to_packages)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 184, in _find_executable
    full_path = _get_executable_path(rp.get_path(args[0]), path)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 200, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)

ResourceNotFound: xacro
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/home/edmond/rosws/src
ROS path [2]=/opt/ros/indigo/share
ROS path [3]=/opt/ros/indigo/stacks

so basically ... (more)
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2017-01-11 05:02:00 -0500 asked a question Why can't I launch amr-ros-config-master and ROSARIA?

Hello everyone

Recently I've been trying to connect ROSARIA and AdeptMobileRobots.I have downloaded amr-ros-config-master file from [ https://github.com/MobileRobots/amr-r... ], however,when I launch this launched file,the following error came:

Invalid <arg> tag: amr_robots_description

ROS path [0]=/opt/ros/indigo/share/ros

ROS path [1]=/opt/ros/indigo/share

ROS path [2]=/opt/ros/indigo/stacks

Arg xml is arg default="$(find amr_robots_description)/urdf/pioneer3dx.urdf" name="urdf"/

The traceback for the exception was written to the log file

ANYONE can help me??? THANKS VERY MUCH.
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2016-03-18 02:10:00 -0500 asked a question why does gmapping only return a map with 0 and 100 but no other values?

hello everyone

I'm using slam gmapping to produce a map, but I've noticed that the output Occupancy Grid Map(which is broadcast to topic /map) contains only -1,0 and 100 for unknown, free and occupied grids respectively.

I'm wondering is there a way to produce a map with other values say 0.05, 0.37, 0.52 etc. which represent the probability of the grid to be occupied? I've checked out the parameters available for gmapping but could not find a clue about this.If it's not available in gmapping, then how should I do this?

any help will be much appreciated, thank you all!
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2016-03-10 19:05:48 -0500 marked best answer how to set tf for gmapping

Hi everyone,

I am trying to build a map using gmapping with my robot in Gazebo,and I faced a problem about setting up the right tf so the gmapping can do the right job.

Now I am able to load the urdf file into Gazebo, display it in rviz and observe the data of Laser scans.

But when I use the command rosrun gmapping slam_gmapping,it says

[ WARN] [1455451234.661271473, 384.435000000]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.

I suppose the tf or the odom is not set propelly,so I tried rosrun tf view_frames, and I get

robot/odom→robot/base_footprint→base_footprint→base_link→hokuyo_link

I have also checked the tutorials and books,but these mostly use packages like turtlebot etc. in a bag playback mode rather than real-time gmapping and I could not understand how to boardcast the right transform in this case.

Can any one help on this issue? What are the exact things I need to do? Many thanks in advance!
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