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2021-10-06 06:58:33 -0500 commented question ros2_control implement job such as homing, alarm clear, etc.

“Lift up/turn joint” are joint name of my robot. Some joints are need to find origin. This procedure is called “homing”.

2021-10-06 02:59:00 -0500 asked a question ros2_control implement job such as homing, alarm clear, etc.

ros2_control implement job such as homing, alarm clear, etc. Hi, I implemented ros2_control hardware_interface for my d

2021-10-06 02:56:08 -0500 marked best answer "what(): can't subtract times with different time sources [2 != 1]" error when spawning diff_drive_controller on ros2_control

I'm using ros2_control to control my robot. After exectue controller_manager, when I spawned "diff_drive_controller" I have this error.

[ros2_control_node-1] [INFO] [1632907663.808010997] [controller_manager]: update rate is 50 Hz
[ros2_control_node-1] [INFO] [1632907695.226861708] [controller_manager]: Loading controller 'diff_drive_controller'
[ros2_control_node-1] [INFO] [1632907695.255700365] [controller_manager]: Configuring controller 'diff_drive_controller'
[ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-1]   what():  can't subtract times with different time sources [2 != 1]

another terminal shown as

$ ros2 control load_controller --set-state start diff_drive_controller
Sucessfully loaded controller diff_drive_controller into state active

I tried add parameter use_sim_time: True to controller_manager, diff_drive_controller.. but result is same.. How can I solve this error?

2021-10-06 02:50:59 -0500 commented question "what(): can't subtract times with different time sources [2 != 1]" error when spawning diff_drive_controller on ros2_control

It was solved by updating ros2_control packages.

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2021-09-29 04:52:22 -0500 asked a question "what(): can't subtract times with different time sources [2 != 1]" error when spawning diff_drive_controller on ros2_control

"what(): can't subtract times with different time sources [2 != 1]" error when spawning diff_drive_controller on ros2_c

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2016-09-02 00:15:41 -0500 asked a question object_recognition_kitchen with Kinetic on Ubuntu 16.04

How can I use the object_recognition_kitchen with Kinetic on Ubuntu 16.04 and Asus Xtion?

I tried install the ORK using binary (sudo apt install ros-kinetic-object-recognition-*) succesfully.

But, it is not include tabletop and has error while running tod.

[Error message]

Mesh and object is founded on CouchDB. I am check it.

byeongkyu@byeongkyu-iMac:~$ rosrun object_recognition_core training -c `rospack find object_recognition_tod`/conf/training.ork
Training 1 objects.
computing object_id: 96562faf31b4165800bb3f68d5006aeb
byeongkyu@byeongkyu-iMac:~$ 
byeongkyu@byeongkyu-iMac:~$ rosrun object_recognition_core detection -c `rospack find object_recognition_tod`/conf/detection.ros.ork
[ INFO] [1472790930.085746566]: Initialized ROS. node_name: /object_recognition_server
[ INFO] [1472790930.458528179]: System already initialized. node_name: /object_recognition_server
[ INFO] [1472790930.863419206]: System already initialized. node_name: /object_recognition_server
[ INFO] [1472790930.871813965]: Subscribed to topic:/camera/depth/camera_info [queue_size: 1][tcp_nodelay: 0]
[ INFO] [1472790930.876186903]: Subscribed to topic:/camera/depth/image_raw [queue_size: 1][tcp_nodelay: 0]
[ INFO] [1472790930.881230116]: Subscribed to topic:/camera/rgb/camera_info [queue_size: 1][tcp_nodelay: 0]
[ INFO] [1472790930.885333776]: Subscribed to topic:/camera/rgb/image_raw [queue_size: 1][tcp_nodelay: 0]
[ INFO] [1472790931.620373761]: publishing to topic:/recognized_object_array
Loading models. This may take some time...
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/object_recognition_core/detection", line 24, in <module>
    run_plasm(args, plasm)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/ecto/opts.py", line 85, in run_plasm
    sched.execute(options.niter)
ecto.CellException:            exception_type  CellException
[cell_name] = pipeline1

[cell_type] = ecto::py::BlackBox

[function_name] = process_with_only_these_inputs

[type] = std::runtime_error

[what] =            exception_type  CellException
[cell_name] = Matcher

[function_name] = process_with_only_these_inputs

[type] = std::runtime_error

[what] = Object Not Found : http://localhost:5984/object_recognition/占쏙옙e

[when] = While triggering param change callbacks




terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)

And. I am tried also install using rosinstall. reference [http://wg-perception.github.io/object_recognition_core/install.html#install]

But, it is failed to running tabletop, tod.

[Error Message]

byeongkyu@byeongkyu-iMac:~$ rosrun object_recognition_core detection -c `rospack find object_recognition_tabletop`/conf/detection.object.ros.ork
[ INFO] [1472793255.037448839]: Initialized ROS. node_name: /object_recognition_server
[ INFO] [1472793255.416741080]: System already initialized. node_name: /object_recognition_server
[ INFO] [1472793255.777974609]: System already initialized. node_name: /object_recognition_server
[ INFO] [1472793255.792620349]: Subscribed to topic:/camera/depth_registered/camera_info [queue_size: 1][tcp_nodelay: 0]
[ INFO] [1472793255.796001824]: Subscribed to topic:/camera/rgb/camera_info [queue_size: 1][tcp_nodelay: 0]
[ INFO] [1472793255.799017281]: Subscribed to topic:/camera/depth_registered/image_raw [queue_size: 1][tcp_nodelay: 0]
[ INFO] [1472793255.802311035]: Subscribed to topic:/camera/rgb/image_rect_color [queue_size: 1][tcp_nodelay: 0]
133 :: 0.5 , 1 , 0.995004 , /base_link , /head_mount_kinect_rgb_optical_frame
[ INFO] [1472793256.744593721]: publishing to topic:/tabletop/clusters
[ INFO] [1472793256.745550347]: publishing to topic:/table_array
Traceback (most recent call last):
  File "/home/byeongkyu/catkin_ws/src/ork/ork_core/apps/detection", line 24, in <module>
    run_plasm(args, plasm)
  File "/home/byeongkyu/catkin_ws/src/ork/ecto/python/ecto/opts.py", line 85, in run_plasm
    sched.execute(options.niter)
ecto.CellException:            exception_type  CellException
[cell_name] = pipeline2

[cell_type] = ecto::py::BlackBox

[function_name] = process_with_only_these_inputs

[type] = std::runtime_error

[what] =            exception_type  CellException
[cell_name] = <class 'object_recognition_tabletop.ecto_cells.tabletop_object.objectrecognizer'="">

[function_name] = process_with_only_these_inputs

[type] = std::runtime_error

[what] = value type is 0 not 2

[when] = While triggering param change callbacks ...
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2015-01-12 21:56:15 -0500 asked a question How can I get COM and mass of each link in my node?

Hi. How can I get COM and mass of each link in my node?

I want to calculate cog of my robots. How can I get the COM and mass information of each links? As search result, I found the method in hrl_kinematics that using KDL. Is there other method?

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2014-06-16 19:38:28 -0500 answered a question RQT Reconfigure - no plugin found

Just delete ~/.config/ros.org/rqt_gui.ini.

2014-06-11 21:39:27 -0500 commented question Asus Xtion Pro Live - Failed to set priority

I have a same warning message. But it is no problem to use xtion. Please check fixed frame and topic on rqt_rviz.

2014-04-02 20:38:40 -0500 commented question Very slow when rviz the kinect

@pinocchio: It is recommend that upgrade your graphic card, and set your cpufreq to performance mode.

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2014-04-01 16:35:07 -0500 commented question Very slow when rviz the kinect

Can I know your machine specification? Graphic card performance is very important to view point cloud.

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2013-03-14 15:51:08 -0500 asked a question How can I use Joint Trajectory Action on my custom hardware?

Hi..

We make a robot that using the performance like as musical. We make the motion (dance, singing) using software tool motion builder. It make a list joint angles versus time.

The manipulator and waist, head on out robot is our custom hardware. We have a plan apply joint trajectory action or moveit package on ROS into our robot. But, we lost a way.. TT

We have done porting the mobile part in our robot successfully. The motion is another problem... How can I use Joint Trajectory Action on my custom hardware? Let me know the way... Thanks.

Th motion controller is connected on CAN bus, and can control position, velocity, current. And, we have the absolute encoder that measure joint angle at initial time.