maysamsh's profile - activity

I created a launch file that contains:

<launch>
  <param name="/use_sim_time" value="true"/>
  <node pkg="map_server" type="map_server" name="map_server_node" args="/home/maysam/fuerte_workspace/sandbox/mit/map.yaml"/>
</launch>

But the output is:

ERROR: cannot launch node of type [map_server/map_server]: can't locate node [map_server] in package [map_server]

I can run the node manually and successfully:

rosrun map_server map_server /home/maysam/fuerte_workspace/sandbox/mit/map.yaml

Following my last question, No laser scan recieved still nothing is published by /amcl_pose and roswtf out is:

WARNING The following node subscriptions are unconnected:
 * /amcl:
   * /initialpose


Found 5 error(s).

ERROR Communication with [/amcl] raised an error: 
ERROR Communication with [/play_1391569963540725368] raised an error: 
ERROR Communication with [/rosout] raised an error: 
ERROR Communication with [/map_server_1391569952840022254] raised an error: 
ERROR The following nodes should be connected but aren't:
 * /amcl->/amcl (/tf)
 * /play_1391569963540725368->/amcl (/base_scan)
 * /play_1391569963540725368->/map_server_1391569952840022254 (/clock)
 * /play_1391569963540725368->/amcl (/clock)
 * /map_server_1391569952840022254->/rosout (/rosout)
 * /amcl->/rosout (/rosout)
 * /play_1391569963540725368->/rosout (/rosout)
 * /play_1391569963540725368->/amcl (/tf)
 * /play_1391569963540725368->/play_1391569963540725368 (/clock)

What's the problem?

Have you installed message_to_tf package?

I want to get odometry data from Kinect data. It seems the only solution around is using fovis_ros. After playing the bag file, which contains Kinect data, I run fovis_ros node:

ros@ubuntu:~/catkin_ws$ rosrun fovis_ros fovis_mono_depth_odometer 
[ INFO] [1459769317.003168875]: Subscribing to:
    * /camera/rgb/image_rect
    * /camera/depth_registered/image_rect
    * /camera/rgb/camera_info
    * /camera/depth_registered/camera_info

Here is the problem: I can provide /camera/rgb/image_rect and /camera/rgb/camera_info topics using by using image_proc node:

ros@ubuntu:~/catkin_ws$ ROS_NAMESPACE=camera/rgb rosrun image_proc image_proc

But for other two /camera/depth_registered/image_rect and /camera/depth_registered/camera_info I don't know what can help me.

Here is what I got after running fovis_ros:

[ WARN] [1459769332.179491016, 1333736343.997718054]: [stereo_processor] Low number of synchronized image/depth/image_info/depth_info tuples received.
Images received:            404 (topic '/camera/rgb/image_rect')
Depth images received:      0 (topic '/camera/depth_registered/image_rect')
Image camera info received: 400 (topic '/camera/rgb/camera_info')
Depth camera info received: 0 (topic '/camera/depth_registered/camera_info')
Synchronized tuples: 0

The other thing is, what is image/depth/image_info/depth_info in the first line of that message?

I'm using ROS Hydro and here are details of the bag file:

version:     2.0
duration:    11:07s (667s)
start:       Apr 06 2012 11:15:29.32 (1333736129.32)
end:         Apr 06 2012 11:26:36.96 (1333736796.96)
size:        17.5 GB
messages:    321016
compression: none [19905/19905 chunks]
types:       geometry_msgs/PoseWithCovarianceStamped     [953b798c0f514ff060a53a3498ce6246]
             nav_msgs/Odometry                           [cd5e73d190d741a2f92e81eda573aca7]
             pr2_mechanism_controllers/BaseOdometryState [8a483e137ebc37abafa4c26549091dd6]
             pr2_mechanism_controllers/Odometer          [1f1d53743f4592ee455aa3eaf9019457]
             sensor_msgs/CameraInfo                      [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image                           [060021388200f6f0f447d0fcd9c64743]
             sensor_msgs/Imu                             [6a62c6daae103f4ff57a132d6f95cec2]
             sensor_msgs/LaserScan                       [90c7ef2dc6895d81024acba2ac42f369]
             std_msgs/Bool                               [8b94c1b53db61fb6aed406028ad6332a]
             tf/tfMessage                                [94810edda583a504dfda3829e70d7eec]
topics:      /base_odometry/odom             61481 msgs    : nav_msgs/Odometry                          
             /base_odometry/odometer           667 msgs    : pr2_mechanism_controllers/Odometer         
             /base_odometry/state              667 msgs    : pr2_mechanism_controllers/BaseOdometryState
             /base_scan                      13332 msgs    : sensor_msgs/LaserScan                      
             /camera/depth/camera_info       19902 msgs    : sensor_msgs/CameraInfo                     
             /camera/depth/image_raw         19901 msgs    : sensor_msgs/Image                          
             /camera/rgb/camera_info         19920 msgs    : sensor_msgs/CameraInfo                     
             /camera/rgb/image_raw           19920 msgs    : sensor_msgs/Image                          
             /robot_pose_ekf/odom_combined   17410 msgs    : geometry_msgs/PoseWithCovarianceStamped    
             /tf                             67716 msgs    : tf/tfMessage                                (2 connections)
             /tilt_scan                      13331 msgs    : sensor_msgs/LaserScan                      
             /torso_lift_imu/data            66768 msgs    : sensor_msgs/Imu                            
             /torso_lift_imu/is_calibrated       1 msg     : std_msgs/Bool

I'm trying to find a specific pixel's depth of /depth/image_raw topic that is published by Kinect sensor mounted on Turtlebot robot.

It's what I get: www.uppic.com/do.php?img=97090) (Sorry I have not enough karma to upload image.

It's what I see in rviz: www.uppic.com/do.php?img=97092

How can I fix it to get depth of pixels?

I'm trying to get 3D odometry data using fovis, but seems it does not work, because I face bunch of errors:

    [ERROR] [1383492092.322748950]: fovis odometry failed: NO_DATA
    [ERROR] [1383492112.108683377]: fovis odometry failed: REPROJECTION_ERROR
    [ERROR] [1383492112.464506236]: fovis odometry failed: INSUFFICIENT_INLIERS
    [ERROR] [1383492112.533878210]: TF_NAN_INPUT: Ignoring transform for child_frame_id "/camera_rgb_optical_frame" from authority "/mono_depth_odometer" because of a nan value in the transform (nan nan nan) (nan nan nan nan)

First of all, I run roslaunch openni_launch openni.launch, Then I run rosrun fovis_ros mono_depth_odometer _base_link_frame_id:=/camera_rgb_optical_frame.

How can I fix it?

I'm reading amcl document on ROS Wiki. In its subscribed topics there is not odometry topic, why? It works only with laser?

**Subscribed Topics:**

scan (sensor_msgs/LaserScan)
tf (tf/tfMessage)
initialpose (geometry_msgs/PoseWithCovarianceStamped)
map (nav_msgs/OccupancyGrid)

I'm looking for particle filter implementation in ROS to use in mobile robot localization, but it seems the only available package is amcl (Adaptive Monte Carlo), I'm not sure is it possible to use it as particle filter or not, and if it's feasible, how?

Note: The robot (wheeled robot) provides odometry data and another data source is Kinect, that provides visual odometry data using fovis.

I'm using amcl package to localize a mobile robot, recorded bag files for PR2. I've changed min_particles and max_particles several times then calculated the output difference with odomotry to evaluate these parameters. The table below demonstrate results; As you see, there is no notable change in the output and if you ignore the first row of the table, output variance is small.

And this is the Particle Filter output on the map

Finally I had to use MIT dataset.

I'm running amcl package for offline data and I want measure its running time, Is there something like MATLAB's tic and toc command?

Gazebo's odometry data are almost accurate and my computer is not able to run Gazebo and record bag file for in a large environment.

It seems none of them have camera related topics, they are quite small files to have video data.

Hello,

To work on my thesis I need a bag file from a PR2 (or similar differential wheeled robot) sensors, and follows a simple closed path, like a square or a triangle.

Topic that I need are:

/camera/rgb/image_rect /camera/rgb/camera_info /camera/depth_registered/image_rect /camera/depth_registered/camera_info /odom /imu /tf /scan

Can anyone do me this favor and prepare such bag file?

One more thing, there most be walls or something around the path to create a map with using gmapping.