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2018-10-10 14:48:49 -0600 commented answer Annotating WiFi access points on Occupancy grid map

Thank you Mark. Could you also give some of views on if you used this package?

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2018-10-06 16:38:26 -0600 asked a question Annotating WiFi access points on Occupancy grid map

Annotating WiFi access points on Occupancy grid map Is there any method I can use to annotate wifi access points while u

2018-10-06 16:38:25 -0600 asked a question Annotating WiFi access points on Occupancy grid map

Annotating WiFi access points on Occupancy grid map Is there any method I can use to annotate wifi access points while u

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2014-08-15 05:45:52 -0600 marked best answer Command Line mapstitch issue


I am attempting to merge already created and saved maps of two rooms of my lab and getting below error although the two rooms are connected through door passage as is evident from the pgm files of rooms attached herewith. c8ae7f36-1871-11e3-9ee8-efc69eb7ec00.png e4b01bea-1871-11e3-8097-4cce4b2fd663.png

turtlebot@ubuntu:~/fuerte_workspace/sandbox/mapstitch$ bin/mapstitch -o testmerge.pgm -d 1.0 robo_lab2.pgm robo_lab2p2.pgm
OpenCV Error: Bad flag (parameter or structure field) (Unrecognized or unsupported array type) in cvGetMat, file /tmp/buildd/ros-fuerte-opencv2-2.4.2-1precise-20130312-1306/modules/core/src/array.cpp, line 2482
terminate called after throwing an instance of 'cv::Exception'
what(): /tmp/buildd/ros-fuerte-opencv2-2.4.2-1precise-20130312-1306/modules/core/src/array.cpp:2482: error: (-206) Unrecognized or unsupported array type in function cvGetMat

Aborted (core dumped)

I followed few ways as discussed in stackoverflow related to this OpenCV error which could be datatype mismatch or differences in Opencv C or C++ API's but didn't work.

Could anyone please let me know what could be the issue and reason for this error ?

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2014-06-27 08:25:43 -0600 commented question Command Line mapstitch issue

Done! Thanks!

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2014-04-20 13:29:39 -0600 marked best answer Communication with Turtlebot Roomba base

I have installed all the stacks along with roomba_robot and serial_communication. Execute "MAKE" for all. I am trying to run this command:

rosrun roomba_500_series roomba560_node which throws below error:

turtlebot@ubuntu:~/myStacks$ rosrun roomba_500_series roomba560_node file = /home/turtlebot/myStacks/roomba_robot/roomba_500_series/src/roomba560.cpp line=156

Anyone please suggest if I am missing anything and help me in resolving this problem. It's urgent !! Thank You !!

2014-04-20 13:29:35 -0600 marked best answer Error while connecting to Roomba using roomba_500 package

As soon as I run -->

rosrun roomba_500_series roomba560_node

it gets connected for a fraction of second and then displays the error message

Error: Could not retrieve sensor packets while connecting roomba with laptop.

Any setting that needs to be done for persistent connection ? Please suggest.

2014-04-20 13:29:34 -0600 marked best answer Do we have roomba_500_series stacks for ros groovy ?

roomba_500_series package for groovy. Is this released or the existing one for fuerte and electric works for groovy as well ?

2014-04-20 06:55:34 -0600 marked best answer Downloading actual .yaml, .pgm or octomap binary files from roboearth.

I have uploaded my lab's environment owl description (2D occupancy map), 2D occupancy grid map in .pgm and .yaml file formats on to roboearth DB. But this has been done through roboearth web interface. (

Although we can do this through POST command. Could anyone please let me know if there are any ros commands through which these files can be downloaded or this can be done only through JSON (GET command -> tried this but this just gives owl description of environment and not actual file) ?

2014-04-20 06:55:34 -0600 marked best answer Time taken by 'rosmake roboearth'.

There were few issues during 'rosmake roboearth' for perception_pcl (ROS: Fuerte) due to which it failed earlier. I installed the patch and followed the workaround as suggested here:

And then issued 'rosmake roboearth' command but it's been making for the past 3 hours without prompting for any errors. What could be the issue ? Any suggestions please ?

2014-04-20 06:55:30 -0600 marked best answer Parameters to be included in the following rosservice call:rosservice call /re_comm/request_2d_map

Could anyone please let me know what parameters have to included in the following service call to get 2d map from roboearth: rosservice call /re_comm/request_2d_map

I didn't get any result when I enter this way:

rosservice call /re_comm/request_2d_map "envUID: 'octomap.octomap3343'
srdl: 'turtlebot_roomba.owl'
baseScannerLink: 'kinect_depth_frame'
targetMapName: 'my_map'" 
success: False
  name: ''
  data: []
  name: ''
  data: []

Please let me know what should be included in srdl and baseScannerLink fields.

2014-04-20 06:54:24 -0600 marked best answer Frame in which Goal should be set

With respect to which frame, robot goal should be set - is it /odom or /base_link or /map ? Out of /odom , /map and /base_link frames which should be the source and target frames in listener.waitForTransform(...) ?

2014-04-20 06:54:23 -0600 marked best answer " rostopic list " error

rostopic list throws below error message:

 rostopic list
Traceback (most recent call last):
  File "/opt/ros/groovy/bin/rostopic", line 34, in <module>
    import rostopic
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rostopic/", line 58, in <module>
    import rospy
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rospy/", line 49, in <module>
    from .client import spin, myargv, init_node, \
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rospy/", line 59, in <module>
    import rospy.impl.init
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rospy/impl/", line 107, in <module>
    class RosStreamHandler(rosgraph.roslogging.RosStreamHandler):
AttributeError: 'module' object has no attribute 'RosStreamHandler'

This error comes when I am executing this command on workstation computer. But when I run the same on turtlebot computer, it displays published topics.

Anyone please let me know what could be the issue.

2014-04-20 06:54:12 -0600 marked best answer Global Pose of Robot in Dynamic window approach

The pose from <nav_msgs::odometry> is same as the pose from tf::Stamped<tf::pose> ? Are these similar. Can I use the pose from the /odom topic in a function which takes a parameter of type " tf::Stamped<tf::pose> " ?

2014-04-20 06:54:11 -0600 marked best answer Multiple Subscribers in one Cpp file.

Can I subscribe to multiple topics / multiple callbacks (declaring callbacks as member functions inwith one publisher in ROS C++ code

2014-04-20 06:54:09 -0600 marked best answer Sending simple goal in an unmapped environment

Can we send simple goal to robot in an unmapped environment (not traversed by robot earlier) using move_base package?

2014-04-20 06:54:02 -0600 marked best answer Problem while running navigation stack for turtlebot.

After going through ROS tutorials on navigation stack, I was trying to implement it on Turtlebot with Kinect. I have done the following to get navigation stack up and running:

  1. I have created a launch file for pointcloud to laser transformation first (kinect_laser.launch).

  2. I am using turtlebot_navigation package for all config yaml costmap files, move_base and amcl.

  3. Created a package for publishing odometer data and for setting up /map to /odom link as this can't be static transform publisher.

  4. Then I created one launch file with "tf" static transform publisher for /base_link to /camera_link (Kinect), included the above created node in step 3, included amcl and move_base (which has all yaml config files).

  5. When I am launching this final created file, everything goes fine as per frames.pdf and rostopic tf tf_echo /map /odom (as per movement of bot, values are changing) but after every topic gets published, it throws following message:

" The sensor at ( , ) is out of map bound. Hence, the costmap can't raytrace it. "

I am not sure what all costmap files I need to update and how shall I decide on the parameters in costmap like footprint, robot_radius etc. so that I don't get this warning. Also, while clicking on 2D Pose Estimate I am not getting laser beam surrounding that point and on clicking 2D Nav Goal , the robot just rotates at the same position without translating to the goal.

Anyone please suggest on this ?

2014-04-20 06:53:57 -0600 marked best answer Header file for obtaining data from Kinect for Point Cloud data.

I am unable to find openni_grabber.h file in pcl/io folder. Do I need openni_grabber.h or grabber.h is enough for obtaining data from Kinect ? And also can anyone help me on functioning of pcd_io.h. Please post any proper documentation site or any site where it has been used.

2014-04-20 06:53:48 -0600 marked best answer Obstacle avoidance algorithm for turtlebot

I need information on using RGB D-SLAM for obstacle avoidance in turtlebot. If I launch kinect+rgbdslam.launch in one terminal after launching openni.launch in different terminal, if I use rostopic pub cmd_vel for moving turtlebot, will it traverse detecting obstacle and avoiding it ? As obstacle avoidance algorithm is already implemented in RGBD-SLAM ?