gershon's profile - activity

I understand. Thanks.

I finally figured this out. The problem was that if you follow the links to the openslam_gmapping dependency from the slam_gmapping page it takes to a site that provides a svn (subversion) repository that has nothing to do with ROS or Catkin. I had no idea how to integrate that and get it building with Catkin. Good news is, that there is a ROS/GIT repository for openslam_gmapping and it is Catkin, so when I finally got that everything builds fine and the instructions for Overlaying make it so I can build and run my versions. Yay.

Aha! I see now. The only link to source from the slam_gmapping page takes me to an external site that lists the code in a svn repository. Now I think I see what you mean. I did find the openslam_gmapping source on git. Thanks!

Hi bvb. I'm quite new at this. By "clone openslam_gmappnig" I think I need to use subversion (svn) to get it on my machine, right? Or is there another location? Also I thought "overlay" was a ROS/Catkin concept... how does it work with other projects?

bvb, I want to do the same thing you are, but I am uncertain how to get setup the openslam_gmapping sources so they build and are recognized as a ROS package. will the "find_packag(catkin REQUIRED nav_msgs openslam_gmapping roscpp rostest tf)"in CMakeLists.txt just work?

The package it cannot find is "openslam_gmapping". If I remove that I get a compilation error in glam_gmapping.h:28:53 fatal error: gmapping/gridfastslam/gridslamprocessor.h: No such file or direcotory. If I move a bunch of include files to finally successfully compile around then I get link errors

I thought this might be an issue of needing a proper "overlay". I followed the instructions on http://wiki.ros.org/catkin/Tutorials/workspace_overlaying (substituting slam_gmapping for the tutorials) but got the same error.

I'm just getting starting with my Pioneer3Dx and it appears that Rosaria is the better choice today over p2os (based on ongoing support). Is that correct?

What is the correct way to install and use the Rosaria package? There seems to be contradictory information... This page "http://www.ros.org/wiki/sig/robots/Pioneer" says Rosaria has been updated to catkin, but this page "http://www.ros.org/wiki/ROSARIA/Tutorials/How%20to%20use%20ROSARIA" has instructions using rosws.

Can someone provide the latest and greatest steps for installing and building Rosaria?

Thanks! Gershon

I want to modify the slam_gmapping node on my Turtlebot (Kobuki) (Ubuntu 12.04).

I have a working catkin workspace and have built my own nodes that work with slam_gmapping, but now I want to modify it.

I downloaded the slam_gmapping source to my workspace and tried to build it, but get this error...

-- ==> add_subdirectory(slam_gmapping/gmapping) CMake Error at /opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package): Could not find a configuration file for package openslam_gmapping.

Set openslam_gmapping_DIR to the directory containing a CMake configuration file for openslam_gmapping. The file will have one of the following names:

openslam_gmappingConfig.cmake
openslam_gmapping-config.cmake

How does one "set openslam_gmapping_DIR"? is that a line in some file? But even if it were, neither of those suggested files exist on this system.

this is the failing line:

find_package(catkin REQUIRED nav_msgs openslam_gmapping roscpp rostest tf)

It seems openslam_gmapping package does not exist on this machine (at least not with that name) in any workspace. Maybe it was built special for the Turtlebot under a different name? I don't have any need to build the openslam_gmapping package, just to reference the built one. I know it exists somewhere because I can successfully build maps and "rosrun gmapping slam_gmapping".

Any suggestions?

I figured out how to set the header.
It is the geometry_msgs::TransformStamped that has a .header and .stamp... not the tf::tfMessage (which is a list of geometry_msgs)

-G

The "sec" and "nsec" values in the message header are always zero when recording using "rosbag::write". I provide a valid Time for the second parameter, but that only seems to affect the message body timestamp and playback timing, but not the header. Is that expected?

I am converting some odometry and depth image information that was collected in Windows to a rosbag containing tf, depth_image, and camera_info messages (using rosbag API in C++)for consumption by the slam_gmapping node.

The rosbag I create looks correct and it plays back OK (correct timing) but the map is not generated. I looked at the code, and the slam_gmapping node is using a tf::MessageFilter. When I turn on DEBUG messages, I see messages like this "MessageFilter [target=/odom]: Added message in frame camera_depth_frame at time 0.000". The message queue fills up with messages with time 0.0000. When I inspect my bag with rqt_bag the header.sec and header.nsec are always zero, so I thought maybe that is the issue.

I have called "rosparam set use_sim_time true", but that does not help. Why is the header stamp always zero, and is that what is causing the tf::MessageFilter to never synch?

Also, upon further inspection it appears that the tf/tfMessage is just an array of geometry_msgs/TransfromStamped type messages. Can someone confirm that for me? I'm thinking it might not be that hard to mock-up one of these in that namespace and copy the MD5 from the real one and make it work?

Can someone confirm that tf is not ported to winros? I just want to know that I'm not missing something. Seems like a very important library so I thought it was, but maybe not.

I have successfully built the WinROS sdk and samples using VS2010. I have created a simple program that writes messages to a bag file.

My ultimate goal is to write tf/tfMessage type messages to the /tf topic in a bag, then to play that bag on Ubuntu for other existing nodes listening on that topic, but I don't see the tf/tfMessage type defined anywhere (thought it would be in "geometry_msgs").

I can write geometry_msgs/TransformStamped type messages which seem to have the same data, but are not compatible with the /tf topic.

Any suggestions?

Did you ever resolve this problem? I am about to try something similar.

I really could not get very far with the instruction on the ROS wiki, but the Dereck Wonnacott document https://goo.gl/kQEyA was amazing! totally unblocked me. I had to work through a couple small hiccoughs, but working great now.

The updated tutorial did not work for me. It fails at this point: dev@Pioneer3dx-laptop:~/catkin_ws/src$ wstool update amor-ros-pkg ERROR in config: Command requires a target workspace.