Juan Antonio Breña Moral's profile - activity

Many thanks it works nice. sudo apt-get install python-catkin-tools

I am testing Cartographer in a ROS Kinect installation.

In my catkin_ws I have installed ROS Cartographer following the notes from the documentation: https://google-cartographer-ros.readt...

and I tested some demos so the installation run nice.

Later, I have created a new package but when I try to compile:

-- ~~  traversing 6 packages in topological order:
-- ~~  - ceres-solver (plain cmake)
-- ~~  - cartographer (plain cmake)
-- ~~  - cartographer_ros_msgs
-- ~~  - cartographer_ros
-- ~~  - cartographer_new <- NEW ROS PACKAGE
-- ~~  - cartographer_rviz

I receive the following error:

CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin_workspace.cmake:95 (message):
  This workspace contains non-catkin packages in it, and catkin cannot build
  a non-homogeneous workspace without isolation.  Try the
  'catkin_make_isolated' command instead.
Call Stack (most recent call first):
  CMakeLists.txt:63 (catkin_workspace)

I tried with catkin_make and catkin_make_isolated but I can´t solve the problem.

I think that it is a error from a beginner.

Many thanks in advance.

Juan Antonio

Many thanks it works nice.

How compile a ROS package if previously I compiled ROS Cartographer I am testing Cartographer in a ROS Kinect installati

To set the logs, create a file like this one: log-config.properties # The following creates two handlers handlers=java

I have tried to change the variable ROS_MASTER_URI with the name of my laptop and the IP but in both cases, roscore say

[OSX] Unable to connect with ROS on Docker with a ROSJava node Hi, I am trying to use Docker on a OSX system to run lat

[OSX] User ROS with Docker Hi, I am trying to use Docker on a OSX system to run latest ROS distro to communicate with s

[OSX] User ROS with Docker Hi, I am trying to use Docker on a OSX system to run latest ROS distro to communicate with s

Good evening,

I am learning how to develop nodes with rosjava and I am studying the package test_rosjava.

I am updating my new package helloworld and in the file CMakeList.txt, I have defined that my source folder is javasources:

add_java_source_dir(${PROJECT_SOURCE_DIR}/src/java)

With java files, I am thinking to develop with eclipse but I would like to know where is the library to add in buildpath in eclipse for the following packages which I saw in the examples:

AddTwoIntsClient.java  Listener.java        Talker.java  tester.cpp
AddTwoIntsServer.java  rosjava_test.launch  Testee.java

import ros.*;
import ros.communication.*;

Cheers

Hi team,

I would like to use Kinect without any AC Adapter. Turtlebot use use energy from roomba, but I would like to use other platform to navigate so I need to learn something similar to this image:

http://www.hessmer.org

Does anyone any reference to give energy to Kinect?

Cheers

Good morning,

I would like to create a node for ROS using rosjava so I was testing ros to check that all goes right. To test rosjava, I got the following example from the community:

• start up roscore
• in a terminal, execute: rosrun test_rosjava AddTwoIntsServer
• in another terminal execute: rosrun test_rosjava AddTwoIntsClient 1 2

I executed without any problem roscore but when I execute the second instruction:

rosrun test_rosjava AddTwoIntsServer

I receive the following error:

jabrena@almaFactory:~$ rosrun test_rosjava AddTwoIntsServer
Exception in thread "main" java.lang.NoClassDefFoundError: AddTwoIntsServer
Caused by: java.lang.ClassNotFoundException: AddTwoIntsServer
    at java.net.URLClassLoader$1.run(URLClassLoader.java:202)
    at java.security.AccessController.doPrivileged(Native Method)
    at java.net.URLClassLoader.findClass(URLClassLoader.java:190)
    at java.lang.ClassLoader.loadClass(ClassLoader.java:307)
    at sun.misc.Launcher$AppClassLoader.loadClass(Launcher.java:301)
    at java.lang.ClassLoader.loadClass(ClassLoader.java:248)
Could not find the main class: AddTwoIntsServer.  Program will exit.

I was thinking about the problem and I read the area about rosjava: http://www.ros.org/wiki/rosjava

and it says that it necessary to add 2 variables:

LD_LIBRARY_PATH= <rosjava>/bin
LD_PRELOAD="path to libjsig.so"

in my case:

LD_LIBRARY_PATH="$LD_LIBRARY_PATH":/opt/ros/diamondback/stacks/client_rosjava/rosjava/bin
export LD_LIBRARY_PATH
export LD_PRELOAD=/usr/lib/jvm/java-6-sun-1.6.0.24/jre/lib/i386

When I execute again, I receive another error about LD_PRELOAD:

ERROR: ld.so: object '/usr/lib/jvm/java-6-sun-1.6.0.24/jre/lib/i386/' from LD_PRELOAD cannot be preloaded: ignored.
Exception in thread "main" java.lang.NoClassDefFoundError: AddTwoIntsServer
Caused by: java.lang.ClassNotFoundException: AddTwoIntsServer
    at java.net.URLClassLoader$1.run(URLClassLoader.java:202)
    at java.security.AccessController.doPrivileged(Native Method)
    at java.net.URLClassLoader.findClass(URLClassLoader.java:190)
    at java.lang.ClassLoader.loadClass(ClassLoader.java:307)
    at sun.misc.Launcher$AppClassLoader.loadClass(Launcher.java:301)
    at java.lang.ClassLoader.loadClass(ClassLoader.java:248)
Could not find the main class: AddTwoIntsServer.  Program will exit.

Variables related to ROS are:

export
declare -x JAVA_HOME="/usr/lib/jvm/java-6-sun/"
declare -x PATH="/opt/ros/diamondback/ros/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/lejos/bin"
declare -x PYTHONPATH="/opt/ros/diamondback/ros/core/roslib/src:"
declare -x ROS_MASTER_URI="http://localhost:11311"
declare -x ROS_PACKAGE_PATH="/opt/ros/diamondback/stacks"
declare -x ROS_ROOT="/opt/ros/diamondback/ros"

Can you help me?

I would like to run ROS in a right way to create my first node but I need to solve this problem.

Cheers

Good night,

I am testing ROSJava and I am using the guide from: http://www.ros.org/wiki/rosjava

When I am executing the example: rostest --text test/rosjava_test.launch

I receive the following error

Traceback (most recent call last):
File "/opt/ros/diamondback/stacks/ros_comm/tools/rostest/src/rostest/runner.py", line 60, in fn self.fail(message) AssertionError: Test node [test_rosjava/tester] does not exist or is not executable

I would like to know what is the problem.

Cheers

Juan Antonio

In every example in the ROSJava tutorial, the method: onStart has a unique parameter: (final Node node) and my question is how to send additional parameters in this method.

When I execute any node, I type in the shell:

rosrun rosjava_bootstrap run.py nxt_lejos_ros org.lejos.ros.nodes.loader.NXTLoader __name:=NXTLoader

or I use a .launch file with the following structure:

<launch>
    <node pkg="rosjava_bootstrap" 
    type="run.py" 
    args="nxt_lejos_ros org.lejos.ros.nodes.loader.NXTLoader" 
    name="NXTLoader" 
    output="screen" />     
</launch>

But my idea, is to send to the node another parameter, for example a YAML file.

How to define in a .launch code an aditional parameter and how to modify the signature of the onStart method?

Many thanks in advance.

I would like to learn how to publish an image message with ROSJava.

Hi, I am trying to use rviz, but recently I receive the following error:

[ INFO] [1328487732.257914711]: rviz revision number 1.6.7
[ INFO] [1328487732.258118438]: ogre_tools revision number 1.6.2
[ INFO] [1328487732.258162578]: compiled against OGRE version 1.7.3 (Cthugha)
[ INFO] [1328487732.492394503]: Loading general config from [/home/jabrena/.rviz/config]
[ INFO] [1328487732.493823666]: Loading display config from [/home/jabrena/.rviz/display_config]
[ INFO] [1328487732.598258030]: RTT Preferred Mode is PBuffer.
do_wait: drmWaitVBlank returned -1, IRQs don't seem to be working correctly.
Try adjusting the vblank_mode configuration parameter.
[ INFO] [1328487733.190865822]: Texture for pass 0: creating with size 1 x 1
Segmentation fault

How to modify the parameter vblank_mode? What is the right value?

Many thanks in advance.

Juan Antonio

Hi,

I am trying to develop basic calculus to use SLAM featues with my robot using ROSJava. I was reading wiki about TF and I saw a code from other development and I saw that it is necessary to use TF.

In the example I saw that script use: tf.TransformBroadcaster(). In ROSJava, I saw a class Transform and I saw a method: transformQuaternion(Quaternion quaternion) and I not sure if this is the way to use TF in ROSJava in the right way to use later to do SLAM.

Many thanks in advance

Hi,

I am trying to learn how to use ROS Navigation stack and I would like to know what kind of topics are necessary to publish on ROS Core to use SLAM features with ROS using a Kinect.

Many thanks in advance.

Currently, I have a package running a solution which uses external java libraries. The solution use external libraries, but I would like to use relative path to the package. With this idea, all libraries would be included in lib folder.

Current solution is this one:

<export>
    <rosjava-src location="src" /> 
    <rosjava-pathelement location="target/" groupId="org.lejos.ros" artifactId="org.lejos.ros.nodes.NXTLoader" version="0.0.1" built="true" />
    <rosjava-pathelement location="/usr/local/lejos/lib/pc/pccomm.jar" />
    <rosjava-pathelement location="/usr/local/lejos/lib/pc/3rdparty/bluecove-gpl.jar" />
    <rosjava-pathelement location="/usr/local/lejos/lib/pc/3rdparty/bluecove.jar" />
    <rosjava-pathelement location="/home/jabrena/ros3/workspace/nxt_lejos_ros/NXTLoader/lib/yamlbeans-1.06.jar" />
</export>

My idea is to describe something similar to this one:

        <rosjava-pathelement location="./lib/pc/pccomm.jar" />
        <rosjava-pathelement location="./lib/bluecove-gpl.jar" />
        <rosjava-pathelement location="./lib/bluecove.jar" />
        <rosjava-pathelement location="./lib/yamlbeans-1.06.jar" />

Is it possible in a alternative way?

Juan Antonio

I have downloaded the project sensor_msgs from the repository:

roslocate info sensor_msgs
- svn:
        local-name: sensor_msgs
        uri: https://code.ros.org/svn/ros-pkg/stacks/common_msgs/trunk/sensor_msgs

Before downloading this project in my worskspace, when rosmake detect the dependency:

<depend package="sensor_msgs" />

Shell printed the following message:

[rosmake-1] Starting >>> sensor_msgs [ make ]                                   
[rosmake-1] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs

But later, when I download the project, I received the following message when I execute rosmake in my package:

[rosmake-0] Starting >>> sensor_msgs [ make ]                                   
[rosmake-0] Finished <<< sensor_msgs  No Makefile in package sensor_msgs

When I use messages from that package:

            Publisher<org.ros.message.sensor_msgs.JointState> motor =
                node.newPublisher("motor1", "sensor_msgs.JointState");

I receive the following exception when I execute the node:

Jan 8, 2012 10:59:22 PM org.ros.internal.node.RosoutLogger fatal
SEVERE: org.ros.exception.RosRuntimeException: org.ros.exception.RosRuntimeException: java.lang.IllegalArgumentException

But if I use messages from std_msgs, I don't have any problem:

            Publisher<org.ros.message.std_msgs.String> publisher2 =
                node.newPublisher("motor1", "std_msgs/String");

How to use messages from sensor_msgs?

I noticed that the package sensor_msgs doesn't have any makefile to execute rosmake.

Many thanks in advance.

I would like to create a .launch file to use the command:

roslaunch robot.launch

But, I don't know how to translate the following shell call into a .launchfile:

rosrun rosjava_bootstrap run.py bumperCar 
org.lejos.ros.nodes.bumpercar.BumperCarControl __name:=BumperCarControl

Any help?

Hi,

In a project, I would like to use .yaml files with a node developed with ROSJava.

Any help?

I would like to create my own messages using rosjava but I don't know how to create it.

Example:

JointCommand.msg
string name
float64 effort

Later, how to set and get data from that message?

Currently, I know how to create simple messages and get data:

org.ros.message.std_msgs.String str = new org.ros.message.std_msgs.String();
str.data = "" + seq;

How to create a future complex message: JointCommand

Many thanks in advance.

Juan Antonio

When you install latest release of ROSJava you have an example named: rosjava_tutorial_pubsub. This example is really useful to understand how to publish topcs and how to subscribe, but in the release, I didn't have any example to create a service with rosjava.

Anybody can help me?

Juan Antonio

Hi,

I am trying to modify the example: Talker.java to use an external library saved as .jar

In eclipse, I have updated buildPath, but when I execute roscore, system doesn't run.

I am not sure if I have to add some line in build.xml or the dependencies.xml

In build.xml I added:

  <path id="classpath">
    <pathelement path="${ros.compile.classpath}" />
    <pathelement location="/usr/local/lejos/lib/pc/pccomms.jar" />
  </path>

But roscore fails too.

How to solve my problem?

Happy new year

Cheers