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2017-03-07 14:02:23 -0500 commented answer kinect rviz displays pointcloud 50 percent under the grid

Thank you for your comments.I found out, that the display of the pointcloud, was cased because the kinect was standing on a table and the robot was only a few inches high. If I put the kinect on the ground the projection of the pointcloud was like in reality.

2017-03-06 14:46:56 -0500 asked a question kinect rviz displays pointcloud 50 percent under the grid

When I display the pointcloud from my kinect in rviz, one half of the pointcloud is displayed above the grid,and the other half unter it. I can't find out why. Hope that somebody can help me.

image description

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2014-01-28 17:30:21 -0500 marked best answer move_base robot movement wrong direction

Hallo @All,

I am using a custom robot. I want to use move_base, either with defining a goal by clicking in the map, ob by using a move_base_square.py script. In rviz I see the thin blue line, as the computed path, but the robot is moving in an other direction, with short flashing red line in different directions. When using a nave-Square script or using the arbotixGUI the robot ist moving correct. A screenshot of rviz you can find here: www.kunst-raum.de/files/screenshot.png Because I am very new to ROS I actually have no idea where to look to solve this problem.

I hope that somebody here may help me in this point.

Thanks a lot

Michael, Berlin, Germany

2014-01-28 17:30:17 -0500 marked best answer Missing connection between /map and /base_link

Hi at all,

I am very new to ROS. After working out the tutorials and the Book "ROS by example" I got the following error, when running rviz with my personal robot.model:

> Waiting on transform from /base_link to /map to become available before running costmap, tf error: Could not find a connection between '/map' and '/base_link' because they are not part of the same tree.Tf has two or more unconnected trees. <<<

In my urdf File I have got only base and a link to a Laser_link, which is not used yet.

I looked through many files comparing mine with the turtlebot-files. I dont understand where the link between base_link and map is made, I believe it is in the move_base but I really dont know. If it helps I can send the content of files but dont know which one.

Hope that someone here can help me.

Thanks and best wishes

Michael, Berlin, Germany

EDIT

Sorry for asking again. I get the error in the console when running roslaunch myrobot fake_turtlebot.launch, not in rviz, si the error message doesnt depend on my settings in rviz. I do this too find out and compare my file with turtlebot-tutorial, why my robot isnt operating correct, eg. when I want to run move_base and click in the map to define a goal. When I run myrobot myrobot.lauch the rviz shows the thin blue line as path to the goal correctly, but is moving somewhere in the wrong direction with flashing the red lines.

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2013-07-05 08:50:02 -0500 commented answer move_base problem

Hi weiin, I believe that I understood the navigation-tutorials. I mentioned AMCL, because I was not sure where the error was. When I understand it right, I start AMCL on top, but dont have to create a transform manually?

2013-07-04 20:33:35 -0500 marked best answer move_base problem

Hello @all, I am still having a problem with our custom 4-wheel robot. I can move it with keyboard or ArbotixGUI an create a map, that's fine. With move_base started with launchfile and after click on 2D Nav Goal in RVIZ nothing happened. With additional started amcl node in rviz I see the computed route (blue and red) but the movement goes in wrong direction backwards.

Here my files. Maybe somebody can look over and may see an error. If you need more information or other files, please let me know.

Thank yo for your help

Michael

The robot: fh_base_control.py

#!/usr/bin/env python

# Stand 27.05.2013 mha

import roslib; roslib.load_manifest('fh_basecontroller')
import rospy
import tf
import math
from math import sin, cos, pi
import sys
import os
import time

from geometry_msgs.msg import Quaternion, Twist, Point, Pose, Pose2D, PoseWithCovariance, TwistWithCovariance, Vector3
from nav_msgs.msg import Odometry
from std_msgs.msg import String
from sensor_msgs.msg import JointState
from EposManager.msg import MotorInfo
from EposManager.msg import EPOSControl
import dynamic_reconfigure.server



class FH_Basectrl(object):  
    def __init__(self):

        rospy.init_node('fh_basecontrol')
        rospy.loginfo("Init fh_basecontrol")

        # get values from conmon.launch
        self.ticks_per_meter = float(rospy.get_param("~ticks_per_meter", 1771))
        self.wheel_track = float(rospy.get_param("~wheel_track", 0.445))    # Distance of wheels, (Spurbreite)
        self.rate = float(rospy.get_param("~rate", 10))
        self.odom_angular_scale_correction = float(rospy.get_param("~odom_angular_scale_correction", 0.72))
        self.odom_linear_scale_correction = float(rospy.get_param("~odom_linear_scale_correction", 1))
        self.speed_factor = float(rospy.get_param("~speed_factor", 4000))   # for Eposmanager
        self.odom_frame = rospy.get_param("~odom_frame", "odom")
        self.base_frame = rospy.get_param("~base_frame", "base_link")

        now = rospy.Time.now()
        self.timeold = now
        self.t_delta = rospy.Duration(1.0 / self.rate)
        self.t_next = now + self.t_delta
        self.then = now # time for determining dx/dy

        # reset on start
        self.x = 0
        self.y = 0
        self.theta = 0
        self.d_left = 0.0
        self.d_right = 0.0
        self.motor_position_left_old = 0
        self.motor_position_right_old = 0
        self.motor_position_left_new = 0
        self.motor_position_right_new = 0

        self.init = 1   # init counter: first Motor_Infos will be trashed
        self.waitforMotor_Infos = 0     # wait untill Motor_infos from both motors arrived 

        self._pos2D  = Pose2D()   # 2D Pose for odometrie       

        # subscriptions
        self.cmd_vel_sub = rospy.Subscriber("cmd_vel", Twist, self._HandleVelocityCommand)
        self.motorInfoSubscriber = rospy.Subscriber("motors/Motor_Info", MotorInfo, self._motorInfoCallback)

        # publisher
        self._OdometryTransformBroadcaster = tf.TransformBroadcaster()
        self._OdometryPublisher = rospy.Publisher("odom", Odometry)
        self._EPOSControlPublisher = rospy.Publisher("motors/Motor_Control", EPOSControl)

        self.joint_states_pub = rospy.Publisher('joint_states', JointState)     



    def _motorInfoCallback(self,msg):
        """ Handle EPOS Motorinfo requests """
        self.now = rospy.Time.now()



        if msg.node_id == 1:    
            self.motor_position_left_new = msg.motor_position
            self.waitforMotor_Infos|=0x01


        if msg.node_id == 2:    
            self.motor_position_right_new = msg.motor_position  
            self.waitforMotor_Infos|=0x02


        # when both msg.motor_position arrived: go ahead
        if self.waitforMotor_Infos!=0x03:
            return

        self.waitforMotor_Infos = 0

        now = rospy.Time.now()
        if now > self.t_next:
            dt = now - self.timeold
            dt = dt.to_sec()
            self.timeold = now

        # calculate odometry
        self.d_left = (self.motor_position_left_new - self.motor_position_left_old)/ self.ticks_per_meter
        self.d_right = (self.motor_position_right_new - self.motor_position_right_old)/ self.ticks_per_meter

        # invert the direction of one motor
        self.d_right *= -1. 

        self.motor_position_left_old = self.motor_position_left_new
        self.motor_position_right_old = self.motor_position_right_new 

        # delete first values
        if self.init > 0:
            # rospy.logwarn("####### init:" + str(self.init) )
            self ...
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2013-07-04 19:27:15 -0500 commented answer move_base problem

Hi, weiin, thanks for your answer. the error was a missing decimal point in my footprint. What do you mean with your last sentence? Can you please explain to use amcl? The right frames? thx

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2013-06-26 04:04:18 -0500 commented answer move_base problem

Ok, I founf out that I forgot the decimal-point in my values for the footprint ;-o, now it works fine. @felix k, I just copied the text, dont know from where the formatting comes...

2013-06-20 04:46:08 -0500 commented question move_base problem

Hi Weiin, I posted the files and a link below. It would be great, if you can give me hint, where to look.

2013-06-20 04:31:51 -0500 answered a question move_base problem

Here the content of the move_base yaml-files

base_local_planner_params
controller_frequency: 5.0 recovery_behavior_enabled: false clearing_rotation_allowed: false

TrajectoryPlannerROS: max_vel_x: 0.5 min_vel_x: 0.05 max_vel_theta: 2.0 min_vel_theta: 0.5 min_in_place_vel_theta: 0.5 max_rotational_vel: 2.0 min_in_place_rotational_vel: 1.0

holonomic_robot: false yaw_goal_tolerance: 0.3 # about 6 degrees xy_goal_tolerance: 0.10 # 5 cm gdist_scale: 0.6 pdist_scale: 0.8

heading_lookahead: 1.5 heading_scoring: true heading_scoring_timestep: 0.5 meter_scoring: false oscillation_reset_dist: 0.5

costmap_common_params obstacle_range: 2.5 raytrace_range: 3.0 footprint: [[27, -26], [27, 26], [-27, 26], [-27, -26]]# cw or ccw

robot_radius: 0.35

inflation_radius: 0.3 max_obstacle_height: 0.6 min_obstacle_height: 0.0 observation_sources: scan scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}

global_costmap_params.yaml global_costmap: global_frame: map robot_base_frame: base_link update_frequency: 5.0 publish_frequency: 1.0 static_map: false rolling_window: false resolution: 0.01 transform_tolerance: 2.0 map_type: costmap

local_costmap_params local_costmap: global_frame: odom robot_base_frame: base_link update_frequency: 5.0 publish_frequency: 1.0 static_map: false rolling_window: true width: 5.0 height: 5.0 resolution: 0.01 transform_tolerance: 1.0 map_type: costmap

Here the link to frames.pdf: http://www.kunst-raum.de/frames.pdf

Hope that somebody may help me.

Thanks for reading

Michael

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2013-06-19 04:34:10 -0500 asked a question non-fully-qualified-frame_id how to fix?

Hi @All, please can you explain me, whats the the reason for this warning and how to fix it.

I get this [WARN][...]: Message from [/laserscanner-tcp] has a non-fully-qualified frame_id [laser]. Resolved locally to [/laser]...

Allthough its a warning I ignored but maybe its a good idea to fix it, but have no idea how.

Thanks

Michael

2013-06-19 00:53:55 -0500 commented answer Hector_mapping live mapping?

Here more details:After running our robot:roslaunch hector_slam_launch tutorial.launch, I can see the map developing. Then trying rostopic pub syscommand std_msgs/String "savegeotiff" I only find very small files, that I cant open.

2013-06-18 23:30:45 -0500 asked a question Hector_mapping live mapping?

Hi @All, does anybody here knows, if it is possible to do live-mapping with hector_mapping? The tutorial shows only with recorded bag. I tried saving with map_server but without success. When trying geotiff_saver(?) it seems to save every second a very small file, but the files can not be opened. Any hint is helpfull.

Thanks a lot

Michael from Berlin

2013-06-18 22:38:28 -0500 asked a question move_base problem: strange bahavior, maybe timing error

Hi @All, I am still fighting against a strange behavior when I want to use move_base, clicking and pointing a goal in my map. The robot is still moving backwards. This seens to be a fallback behavior in move_base or the trajectory planner? When I try a script found in the book "Ros by eample", the robot is nearly moving correct, but starts the motors with about one second timedifference between each other, so it turns a little bit at the beginning, then moves traight as expected. When I look at rostopic echo odom I can see that the x-values change begins to change also after about one second, but the robot starts to move immediately in rviz. And the values still change when the the robot has stopped for about one second. Maybe this timedifference may the reason for the behavior when I click in the map. I have set the rate to 10, but have no idea where this curious second may be come from.

By the way, if somebody from Germany reads this, I would be glad to have the opportunity to have a call to discuss this over the telephone, but also any help here will be appreciated. I am in an internship, which is ending very soon and I would be glad to finish my task hier with success. The robot is moving fine with joystick and making a map is excellent, but the task to navigate through the map fails. I posted my files in a previous posting here, but received no feedback.

So if you can help me, I would be very very glad.

Michael from Berlin, Germany

2013-06-18 22:01:44 -0500 asked a question move_base problem: strange behavior, maybe time delay

Hi @All, I am still fighting against a strange behavior when I want to use move_base, clicking and pointing a goal in my map. The robot is still moving backwards. This seens to be a fallback behavior in move_base or the trajectory planner? When I try a script found in the book "Ros by eample", the robot is nearly moving correct, but starts the motors with about one second timedifference between each other, so it turns a little bit at the beginning, then moves traight as expected. When I look at rostopic echo odom I can see that the x-values change begins to change also after about one second, but the robot starts to move immediately in rviz. And the values still change when the the robot has stopped for about one second. Maybe this timedifference may the reason for the behavior when I click in the map. I have set the rate to 10, but have no idea where this curious second may be come from.

By the way, if somebody from Germany reads this, I would be glad to have the opportunity to have a call to discuss this over the telephone, but also any help here will be appreciated. I am in an internship, which is ending very soon and I would be glad to finish my task hier with success. The robot is moving fine with joystick and making a map is excellent, but the task to navigate through the map fails. I posted my files in a previous posting here, but received no feedback.

So if you can help me, I would be very very glad.

Michael from Berlin, Germany

2013-06-18 21:50:50 -0500 asked a question move_base problem: strange behavior and time delay

Hi @All, I am still fighting against a strange behavior when I want to use move_base, clicking and pointing a goal in my map. The robot is still moving backwards. This seens to be a fallback behavior in move_base or the trajectory planner? When I try a script found in the book "Ros by eample", the robot is nearly moving correct, but starts the motors with about one second timedifference between each other, so it turns a little bit at the beginning, then moves traight as expected. When I look at rostopic echo odom I can see that the x-values change begins to change also after about one second, but the robot starts to move immediately in rviz. And the values still change when the the robot has stopped for about one second. Maybe this timedifference may the reason for the behavior when I click in the map. I have set the rate to 10, but have no idea where this curious second may be come from.

By the way, if somebody from Germany reads this, I would be glad to have the opportunity to have a call to discuss this over the telephone, but also any help here will be appreciated. I am in an internship, which is ending very soon and I would be glad to finish my task hier with success. The robot is moving fine with joystick and making a map is excellent, but the task to navigate through the map fails. I posted my files in a previous posting here, but received no feedback.

So if you can help me, I would be very very glad.

Michael from Berlin, Germany

2013-06-18 21:47:13 -0500 asked a question move_base problem: still strange behavior and time delay

Hi @All, I am still fighting against a strange behavior when I want to use move_base, clicking and pointing a goal in my map. The robot is still moving backwards. This seens to be a fallback behavior in move_base or the trajectory planner? When I try a script found in the book "Ros by eample", the robot is nearly moving correct, but starts the motors with about one second timedifference between each other, so it turns a little bit at the beginning, then moves traight as expected. When I look at rostopic echo odom I can see that the x-values change begins to change also after about one second, but the robot starts to move immediately in rviz. And the values still change when the the robot has stopped for about one second. Maybe this timedifference may the reason for the behavior when I click in the map. I have set the rate to 10, but have no idea where this curious second may be come from. I run everything on the robots laptop, so I dont think that this may be a network problem.

By the way, if somebody from Germany reads this, I would be glad to have the opportunity to have a call to discuss this over the telephone, but also any help here will be appreciated. I am in an internship, which is ending very soon and I would be glad to finish my task hier with success. The robot is moving fine with joystick and making a map is excellent, but the task to navigate through the map fails. I posted my files in a previous posting here, but received no feedback.

So if you can help me, I would be very very glad.

Michael Berlin, Germany

2013-06-18 21:42:08 -0500 asked a question move_base problem: strange behavior of robot

Hi @All, I am still fighting against a strange behavior when I want to use move_base, clicking and pointing a goal in my map. The robot is still moving backwards. This seens to be a fallback behavior in move_base or the trajectory planner? When I try a script found in the book "Ros by eample", the robot is nearly moving correct, but starts the motors with about one second timedifference between each other, so it turns a little bit at the beginning, then moves traight as expected. When I look at rostopic echo odom I can see that the x-values change begins to change also after about one second, but the robot starts to move immediately in rviz. And the values still change when the the robot has stopped for about one second. Maybe this timedifference may the reason for the behavior when I click in the map. I have set the rate to 10, but have no idea where this curious second may be come from.

By the way, if somebody from Germany reads this, I would be glad to have the opportunity to have a call to discuss this over the telephone, but also any help here will be appreciated. I am in an internship, which is ending very soon and I would be glad to finish my task hier with success. The robot is moving fine with joystick and making a map is excellent, but the task to navigate through the map fails. I posted my files in a previous posting here, but received no feedback.

So if you can help me, I would be very very glad.

Michael Berlin, Germany

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