E1000ii's profile - activity

Did you find and answer for that? Perhaps the best place to start a design discussion is in ros-user mailing list, or look at multimaster SIG group list?

From your code what i thing its happening is that when you execute go() the pose is not estored. I can not remeber well now. But i thing a i faced this issue in the past. So here is something you can test. you can invoke group.go(targe_pose). That worked for me. And in orther to see if youre specifying invalid poses I recoment you to start the target_pose with group.get_current_pose()

And start playing from ther to see if making little modifications to this pose the robot moves.

tpose = group.get_current_pose()
print type(tpose)
print tpose
#modify pose
tpose.pose.position.z = z #<put here z> 
tpose.pose.position.x = x #<put here new x>
tpose.pose.position.y = y #<put here new y>
#plan and execute
group.go(tpose,wait = True)

If after running the go you get the same error it's probable that you are specifying a pose that is not possible due to robots limits (may be orientation or joints limits)

Which tipe of robot are you using? This may be a units issue, x position is 1.3 meters?

I now is an old thread. But just for the others that need to store a depth image (from camera or from rosbag) to a png file. This is what you should do on the depth image subscription callback or in any place you want to perform this operation with python:

def callback(self, data):
    try:
        # The depth image is a single-channel float32 image
        # the values is the distance in mm in z axis
        depth_image = self.bridge.imgmsg_to_cv(data, '32FC1')
        # Convert the depth image to a Numpy array since most cv2 functions
        # require Numpy arrays.
        depth_array = np.array(depth_image, dtype=np.float32)
        # Normalize the depth image to fall between 0 (black) and 1 (white)
        cv2.normalize(depth_array, depth_array, 0, 1, cv2.NORM_MINMAX)
        # At this point you can display the result properly:
        # cv2.imshow('Depth Image', depth_display_image)
        # If you write it as it si, the result will be a image with only 0 to 1 values.
        # To actually store in a this a image like the one we are showing its needed
        # to reescale the otuput to 255 gray scale.
        cv2.imwrite('capture_depth.png',frame*255)
    except CvBridgeError, e:
        print e

I'm using at the moment ubuntu 12.04 and Ros Hydro

Now is an old thread. But i answer anyway for the next noob like that could end up here.

To pass list parameters to a nodes you should use the tag 'rosparam' instead of 'param'. You could see how to use it here.

On my launch file the joint_state_publisher looks like that:

<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <rosparam param="source_list">["my_controller/robot/joint_states"]</rosparam>
</node>

It worked and I'm now visualizing on rviz my real robol state. Note that you could put whatever you want instead of my_controller/robot/joint_states.

I have the same problem. But i think quest must be edited to change the beggining of the question in order to make clear. what is intended is to use the imput option for joint_state_publiser to take messages from an arbitrari topic and republish them in /joint_states. Title is not veri descriptive

Yep, youre right. I solved the array using them as a vector. I just missed that docs... but i still get the segfaulg when adding the time stamp. Not a big deal now. I will investigate it further. Thanks again man!

I'm building a JointState publisher for my custom Robot. Its almost all done. But when i try to fill the message i get a segmentation fault. I was investigating it for hours, but found nothing that seems to be wrong. Either i had not been able to debut the node with gdb.

Actually this is the code that crashes.

//create a JointState message
sensor_msgs::JointState msg = sensor_msgs::JointState();
//doing that end up in a seg fault:
msg.header.stamp = ros::Time::now();
//doing that also up in a seg fault:
msg.name[0] = "joint1";

I had not compilation errors or warnings, added to sensor_msgs as dependences in package.xml and CMakeLists.txt.

Maibe its a silly error and i was to many hour working on that for today. Hope someone could point me to fix it.

Thanks in advance.

I had the same problem, but using my custom robot. Found that 1.9/Using_roslaunch_Files_to_Spawn_Models helps to build and launch a model with last Gazebo version. So probably modifying the pr2 launch to match the tutorial guide will work.

It seems that I have not enought karma to post links. You will find all the info in Gazebos wiki, just look for this specific tutorial.

Any way, I was using grooby-destop-ull and I needed to uninstall ROS and install the grooby-desktop alone release. Add by hand some needed packages and install from source Gazebo and gazebo-ros-package. I followed Gazebo wiki instructions for that. If not, there was no way of get gazebo working from ros...

Now I get this error as you to: Robot model not loaded, and: Planning scene not configured