davevh's profile - activity

I launch identical code as an executable node and as a nodelet and get different results when I execute the following lines after moving and arm to the home position:

const Eigen::Affine3d &affine = sideCurrentState.getGlobalLinkTransform("r_tcp"); std::cout << "\n sideCurrentState.getGlobalLinkTransform\n" << affine.translation() << std::endl;

The code to move the arm is: robot_state::RobotState armCurrentState = *armMoveGroup_.getCurrentState(); armCurrentState.setToDefaultValues(armCurrentState.getJointModelGroup("r_arm"),"home"); armMoveGroup_.setJointValueTarget(armCurrentState); success = armMoveGroup_.plan(my_plan); armMoveGroup_.execute(my_plan); armMoveGroup_.setStartState(armCurrentState);

When running as an executable node, I get the correct values from getGlobalLinkTransform(...) after the arm is moved using the code above. When running as a nodelet, I get the values as if the arm didn't move at all. I know the arm moved in both cases because I can see the arm move in Gazebo before the getGlobalLinkTransform(...) line gets executed. What gives?

Misleading title: should be openni_launch does not publish image_rect.

In Hydro, I create a launch file with the following to get data from my attached Kinect:

<include file="$(find openni_launch)/launch/openni.launch" />"
<node pkg="dynamic_reconfigure" type="dynparam" name="dynparam" args="set_from_parameters /camera/driver">
  <param name="image_mode" value="2" />
  <param name="depth_mode" value="2" /> 
  <param name="depth_registration" value="true" />
  <param name="data_skip" value="5" />
</node>

It publishes a lot of stuff but not "/camera/depth_registered/image_rect". This worked fine with Groovy.

Dave

In Hydro, I create a launch file with the following to get data from my attached Kinect:

<include file="$(find openni_launch)/launch/openni.launch"/> <node pkg="dynamic_reconfigure" type="dynparam" name="dynparam" args="set_from_parameters /camera/driver"> </node>

It publishes a lot of stuff but not "/camera/depth_registered/image_rect". This worked fine with Groovy.

Dave

This appears to be a problem for Groovy too.

I want to modify OpenCV code in Groovy. I used these http://ros.org/wiki/catkin/Tutorials/workspace_overlaying (instructions). In a terminal I typed the following lines:

1) roscd opencv2

2) pwd Terminal shows "/opt/ros/groovy/share/opencv2$" as it should

3) mkdir -p ~/overlay_ws

4) cd ~/overlay_ws

5) mkdir -p ~/overlay_ws/src

6) cd ~/overlay_ws/src

7) wstool init

8) wstool set opencv2 --git git://github.com/Itseez/opencv.git

9) wstool update

10) source /opt/ros/groovy/setup.bash

11) cd ~/overlay_ws/

12) catkin_make

13) source ~/overlay_ws/devel/setup.bash

14) roscd opencv2

15) pwd Terminal still shows "/opt/ros/groovy/share/opencv2" instead of "~/overlay_ws/src/opencv2..."

What I'm I doing wrong?

Dave

I get this error when I install Groovy on Ubuntu 12.10 and do the following:

1) Go to "www.openni.org/openni-sdk/openni-sdk-history-2" and download NiTE v1.5.2.21 for Linux-x64 2) Unzip it and go inside the top-level directory 3) Type: sudo ./install.sh

Before I do these 3 lines above, "roslaunch openni_launch openni.launch" works fine but after I do them I get:

No devices connected.... waiting for devices to be connected

Dave

If you used "rosrun image_view image_view image:/camera/ir/image_raw" then the problem may be that you need ":=" instead of just ":".