Parth2851's profile - activity

I need to run Dijkstra's algorithm on this map.

So till now, I've used map_server and got the /map and /map_metadata topics. I'm not quite sure how to proceed further.

This is what I've done so far.

#include < ros/ros.h>

void dijkstra() {

}

int main(int argc, char **argv) {

ros::init(argc, argv, "shortestpath");

ros::Nodehandle n("~");

ros::Subscriber sub = n.subscribe("/map", 1000, dijkstra);

}

/map gives a 1D array so I need to use it and convert it in a 2D matrix.

PoseArray not getting published Hi, so I'm trying to find the shortest path from source to destination using dijkstra's

PoseArray not getting published Hi, so I'm trying to find the shortest path from source to destination using dijkstra's

PoseArray not getting published Hi, so I'm trying to find the shortest path from source to destination using dijkstra's

Okay, yes. I made a publisher in mainand then I declared a global poseArray and then published it in a loop something li

This worked! thanks!

Hi, so I'm trying to find the shortest path from source to destination using dijkstra's algorithm.

In this program, I intend to first store the path in an array from which I retrieve it and publish it as a Pose Array. However, when I run this program I see no PoseArray topics.

I am trying to publish it from inside the dijkstra function.

#include <ros/ros.h>
#include <math.h>
#include <queue>
#include <vector>
#include <std_msgs/String.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseArray.h>
#include <nav_msgs/OccupancyGrid.h>
#include <nav_msgs/GetMap.h>
#include <ros/console.h>
#define FMAX 999999999.99


    int rows = 1000, columns = 1000, size = rows * columns;
    bool visited[1000000];
    float distance[1000000];
    int prev[1000000];
    int source = 15100, destination = 990500; // Random source and destination
    .
    .
    .

    void dijkstra(const nav_msgs::OccupancyGrid& map)
    {
        prev[source] = 0;
        node first = {source, 0.0}; 
        pq.push(first);
        while(!pq.empty())
        {
            .
                    .
            int rr, cc;
            for(int i = 0; i < 8; i++) // to calculate neighbours
            {
                .
                            .
                            .
                .
            }
        }

        poseArray.poses = pose_vector;
        ros::NodeHandle n("~");
        ros::Publisher pose_array_pub = n.advertise<geometry_msgs::PoseArray>("/poseArray", 1);
        pose_array_pub.publish(poseArray);
    }



    int main(int argc, char **argv)
    {
        init();
        distance[source] = 0;
        visited[source] = true;
        ros::init(argc, argv, "dijkstra");
        ros::NodeHandle n("~");
        ros::ServiceClient client = n.serviceClient<nav_msgs::GetMap>("/static_map");
        nav_msgs::OccupancyGrid my_map = srv.response.map;
        dijkstra(my_map);
        ros::spin();    
    }

EDIT - Deleted parts of my code to make the question more relevant.

PoseArray not getting published Hi, so I'm trying to find the shortest path from source to destination using dijkstra's

So, what I'm going for is to rather having a callback function I want to make my node a client to that service and then pass it to the another function.

        ros::init(argc, argv, "dijkstra");
        ros::NodeHandle n("~");
        ros::ServiceClient client = n.serviceClient<nav_msgs::GetMap>("map");
        nav_msgs::GetMap srv;
        client.call(srv);
        nav_msgs::OccupancyGrid = srv.response;

Running the above code gives me the error-

 error: expected unqualified-id before ‘=’ token
   nav_msgs::OccupancyGrid = srv.response;

I need to pass the map to a function void dijkstra(???)

Okay, yes I did that. nav_msgs::OccupancyGrid map = srv.response; I'm getting this- error: conversion from ‘nav_msgs::G

Okay, yes I did that. nav_msgs::OccupancyGrid map = srv.response; I'm getting this- error: conversion from ‘nav_msgs::G

How to save nav_msgs/GetMap service and pass it into a function? So, what I'm going for is to rather having a callback f

What does bt mean in gdb? I am trying to debug my node which implements dijkstra's algorithm. I am using gdb for this.

Segmentation fault - dijkstra's algorithm I am making a ros node to implement dijkstra's algorithm on a 1000x1000 pixel

Updated the question. The error just says "Segmentation fault(core cumped)" after rosrun.

Segmentation fault(core dumped) Hello, I am trying to run dijkstra's algorithm on a map that I have. This may seem tri

Segmentation fault(core dumped) Hello, I am trying to run dijkstra's algorithm on a map that I have. This may seem tri

How to debug using gdb Hello, I am trying to debug a node which implements dijkstra's algorithm. I have made a launch fi

So I have a package called dijkstra, it contains a cpp program in the src folder called algorithm_1.cpp which I need to run.

First I run the command source devel/setup.bash to set up the environment. After that I do, rosrun dijkstra and press tab twice, but it doesn't find any executable file.

This is the CMake-

cmake_minimum_required(VERSION 2.8.3)
project(dijkstra)

find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
geometry_msgs
)

include_directories(include ${catkin_INCLUDE_DIRS})

add_executable(${PROJECT_NAME} src/algorithm_1.cpp)

target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
)

EDIT-

This is the error I get -

parth@Parth:~/catkin_ws/src$ rosrun dijkstra dijkstra.cpp
[rosrun] Couldn't find executable named dijkstra.cpp below /home/parth/catkin_ws/src/dijkstra
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun]   /home/parth/catkin_ws/src/dijkstra/src/dijkstra.cpp