Pedro_85's profile - activity

I was facing the same issue and brew uninstall gazebo1 and brew uninstall gazebo5 and later brew install gazebo solved it. Thanks William.

Hi I am trying to install ROS Jade in my mac running Yosemite 10.10.5. When I run

rosdep install --from-paths src --ignore-src --rosdistro jade -y

I get:

executing command [brew install homebrew/science/pcl --HEAD]
==> Installing pcl from homebrew/science
==> Cloning https://github.com/PointCloudLibrary/pcl.git
Updating /Library/Caches/Homebrew/pcl--git
==> Checking out branch master
==> Patching
patching file cmake/pcl_find_cuda.cmake
Hunk #1 FAILED at 1.
Hunk #2 FAILED at 37.
2 out of 2 hunks FAILED -- saving rejects to file cmake/pcl_find_cuda.cmake.rej
Error: Failure while executing: /usr/bin/patch -g 0 -f -p1
ERROR: the following rosdeps failed to install
  homebrew: command [brew install homebrew/science/pcl --HEAD] failed

I thought it was a problem with QT like it is mentioned in:

http://answers.ros.org/question/21154...

But no luck.

Has anyone else faced the same problem?

rostopic echo will not call any function, it only works as display of the topic's traffic

I'm trying to create some example nodes that execute linear algebra commands. I wanted to try the TooN library ( http://www.edwardrosten.com/cvd/toon.... ). I was trying to follow what the package tum_ardrone has done in regards to this.

1) I downloaded the folder containing the TooN library files and moved it to the the directory /thirdparty/TooN/include/.

2) I added the following to my CMakeLists.txt file:

# set required libs and headers
include_directories( ${PROJECT_SOURCE_DIR}/thirdparty/TooN/include )

Based on the file HelperFunctions.h located in /tum_ardrone/src I created a simple program to perform basic matrix operations. I will be using these functions later and since I'm not familiar with any library like this one I need to start from the basics. When I execute rosmake I get the following error:

 /home/pedro/fuerte_workspace/sandbox/controlador_ardrone/src/ejemploalgebralineal.cpp: In member function ‘void LinearAlgebra::InverseMatrix()’:
  /home/pedro/fuerte_workspace/sandbox/controlador_ardrone/src/ejemploalgebralineal.cpp:31:31: error: ‘struct TooN::Matrix<3>’ has no member named ‘inverse’

Here is the code I try to compile:

#include <ros/ros.h>
#include <std_msgs/Empty.h>
#include <geometry_msgs/Twist.h>
#include <math.h>
#include <TooN/TooN.h>
#include <TooN/so3.h>

  using namespace std;
  using namespace TooN;

  struct LinearAlgebra
  {
    ros::NodeHandle n;

    void InverseMatrix(){
        TooN::Matrix<3,3> mat;
        mat = Data(1,2,3,4,5,6,7,8,9);
        TooN::SO3<> res = mat.inverse();
        std::cout << "m3_4\n" << mat << "\nm3_5\n"<<res  << std::endl;
    }

    void Commands(){
        InverseMatrix();
    }
  };

////////////

int main(int argc, char **argv)
{
  ros::init(argc,argv,"Linear_Algebra_ROS");

  LinearAlgebra linearalgebra;
  ros::Duration wait_time = ros::Duration(3,0);

  while(linearalgebra.n.ok()) {
      wait_time.sleep();
      linearalgebra.Commands();
      ros::spinOnce();
  }
  return 0;

Does anybody have experience with this library and/or other libraries that I can use? Any help is appreciated.

Are you using the coe above to get this measurements or rostopic echo /ardrone/navdata? I strongly recommend performing an update to your ardrone_autonomy package with git pull and recompiling it.

Odd. It seems like you will need to rebuild your package. I've been using ardrone_autonomy in fuerte, groovy, and hydro with no problems. How did you install it?

Was the drone flying when you looked at altd? The AR.Drone won't publish the altd value unless its flying.

I am trying to get the int32 message published in /ardrone/navdata/altd in order to control the ARDrone's height. Here is the code I have:

#include <ros/ros.h>
#include "std_msgs/Int32.h"

using namespace std;

void heightControl(const std_msgs::Int32::ConstPtr& height)
{
  cout << height << endl;
}

from ardrone_autonomy.msg import Navdata

int main(int argc, char **argv)
{
  ros::init(argc,argv,"Height_Control");
  ros::NodeHandle n;
  ros::Subscriber sub = n.subscribe("ardrone/navdata/altd", 1, heightControl);
  ros::spin();
  return 0;
}

When I run this, the altitude value is not shown in the terminal screen. However, if I do rostopic echo /ardrone/navdata/altd I do get the height shown in the terminal window. Using rosmsg show ardrone_autonomy/Navdata I can see that altd is type int32.

I have a trajectory generator and I want to visualize it using Rviz. The marker publishing function obtains the coordinates from the main.cpp through geometry_msgs::Vector3 these are later converted to points and added to the marker data. I have tried with both Marker and MarkerArray and I am not able to visualize the markers. I am new to publishing markers in Rviz and I have based the code on the Points and Lines tutorial. I have included a cout command to make sure the information was being added to the Points data and I can see the information in the terminal window.

I am using Unbuntu 12.04 and Ros Fuerte. I have copied the algorithm below. I apologize for the Spanish text in it but it is for my thesis project. Also I appreciate any suggestions on how to improve it and make this code look better.

---marcadores_tf.h---

#ifndef _MARCADORES_TF
#define _MARCADORES_TF

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>
#include <tf/transform_broadcaster.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <Eigen/Core>

struct marcadores_trayectoria{
  void publicar_marcadores(const geometry_msgs::Vector3 coordenadas);

  marcadores_trayectoria(){
    pub_trayectoria = nh.advertise<visualization_msgs::MarkerArray>("trayectoria_array", 10 );
    pub_marcador = nh.advertise<visualization_msgs::Marker>("marcador_trayectoria", 10 );
  }

  ros::NodeHandle nh;
  ros::Publisher pub_trayectoria, pub_marcador;

  tf::TransformBroadcaster br;
  geometry_msgs::Point puntos;
};

#endif

---marcadores_tf.cpp---

#include <planif_tray_ardrone/marcadores_tf.h>

using namespace std;

void marcadores_trayectoria::publicar_marcadores(const geometry_msgs::Vector3 coordenadas){

  visualization_msgs::MarkerArray lista_marcadores;
  visualization_msgs::Marker marcador;

  marcador.header.frame_id = "/world";
  marcador.ns = "trayectoria_ns";
  marcador.header.stamp = ros::Time::now();

  marcador.type = visualization_msgs::Marker::LINE_STRIP;
  marcador.action = visualization_msgs::Marker::ADD;
  marcador.id = 404;

  marcador.scale.x = 1.0;

  marcador.color.a = 1.0;
  marcador.color.b = 1.0;

  marcador.pose.orientation.w = 1.0;

  //coordenadas
  puntos.x = coordenadas.x;
  puntos.y = coordenadas.y;
  puntos.z = coordenadas.z;

  cout << "puntos x: " << puntos.x << endl;
  marcador.points.push_back(puntos);
  lista_marcadores.markers.push_back(marcador);

  if (pub_marcador.getNumSubscribers() > 0)
      pub_marcador.publish(marcador);

  if (pub_trayectoria.getNumSubscribers() > 0)
      pub_trayectoria.publish(lista_marcadores);

  ros::Rate r(30);
  r.sleep();

}

Can you tell me which camera parameters did you use for the ar_pose node? Are the positition and rotation measurements accurate with the marker/ardrone location in gazebo?

This information should be located in the /tf topic. What I used to select the header frame and child frame is:

• subscribe to the /tf topic, your callback function will get a message of the type tf::tfMessageConstPtr let's call this message msg_in
• msg_in will have information such as (See tfMessage.msg):
• geometry_msgs/TransformStamped transforms
  • std_msgs/Header header
  • string child_frame_id
  • geometry_msgs/Transform transform
    • geometry_msgs/Vector3 translation
    • geometry_msgs/Quaternion rotation

You are interested in the translation and rotation components so you can access them with:

• msg_in ->transforms[i].transform.rotation.(x, y, z, or w)
• msg_in ->transforms[i].transform.translation(x, y, or z)

Where i is the number of the transform message. You can store them in a tf::Quaternion and a tf::Vector3 respectively. Here is a portion of an algorithm that can help you:

#include "tf/tf.h"
#include "tf/tfMessage.h"

void tfCB(const tf::tfMessageConstPtr msg)
{
  //Go through all the tf frame information and select the one you are interested in
  for(int i=0; i < msg->transforms.size();i++){
    if (msg->transforms[i].child_frame_id == "/name_of_your_child_frame"){
      cout << "Msg Size: " << msg->transforms.size() << endl;
      cout << "Header Frame: " << msg->transforms[i].header.frame_id << endl;
      cout << "Child Frame: " << msg->transforms[i].child_frame_id << endl;
      cout << "Transform: " << endl << msg->transforms[i].transform << endl;
      cout << "Vector3: " << endl << msg->transforms[i].transform.translation << endl;
      cout << "Quaternion: " << endl << msg->transforms[i].transform.rotation << endl;

      tf::Matrix3x3 Rotation;
      Rotation.setRotation(tf::Quaternion(msg->transforms[i].transform.rotation.x,
         msg->transforms[i].transform.rotation.y, msg->transforms[i].transform.rotation.z, 
         msg->transforms[i].transform.rotation.w));                                   

      tf::Vector3 traslation;
      traslation = tf::Vector3(msg->transforms[i].transform.translation.x, 
        msg->transforms[i].transform.translation.y, 
        msg->transforms[i].transform.translation.z);

      double roll, pitch, yaw;
      Rotation.getEulerYPR(yaw, pitch, roll); 

      tf::Matrix3x3 RotationYPR;
      RotationYPR.setEulerYPR(yaw,pitch,roll);
    }
  }
}

sub_tf = nh_.subscribe("/tf",100,&Marker_info::tfCB, this); //the call back function belongs to a struct called Marker_info. The idea is to show you the subscriber. You can change this to fit your code.

As you can see, you will store the rotation and translation information in a matrix and a vector that complies with the tf format. You can convert them using tools like tf::VectorTFToEigen.

Hope this helps. Good luck!

You can clone a particular branch from the git repository by using the flag -b <name_of_the_branch>. So it would be: git clone https://github.com/AutonomyLab/ardrone_autonomy.git -b fuerte. With tum_simulator: git clone https://github.com/tum-vision/tum_simulator.git -b fuerte

Right, you need to publish to the topics that I mentioned and you don't seem to have in order to make the ardrone move. Try reinstalling the ardrone_autonomy and tum_simulator packages. When you clone them from the git repository make sure you select the fuerte branch

What kind of error do you get? Is gazebo gui launched at all? did you install the ardrone_autonomy and tum_simulator from the fuerte branch?

I don't see in your answer the topic /ardrone/navdata, /ardrone/takeoff, /ardrone/land, and /cmd_vel. Can you confirm if you see them and forgot to include them?

Is there any reason why you are using rosmake instead of caktin_make?

Try using the ardrone_autonomy package from Autonomy Labs make sure you clone the hydro branch.

As you can see in OpenCV Camera Calibration your file will end up being:

cam_model: Pinhole
cam_width: 1024
cam_height: 768
cam_fx: 1114.338842
cam_fy: 1483.616573
cam_cx: 488.044082
cam_cy: 384.580052
cam_d0: 0.089323
cam_d1: -0.327338
cam_d2: -0.003856
cam_d3: -0.002099

The values of fx, fy, cx, and cy are located in the 3x3 camera_matrix and the d0, d1, d2, and d3 in the 1x5 distortion_coefficients array.

Modify your camera parameters file manually and see if this works.

Good luck!

Hi, a couple of questions first. Where you able to run the simulator successfully? What topics do you get when you run rostopic list?

tum_simulator replicates the topics created by ardrone_autonomy to match the ardrone_driver node. Let me know so we can go on.

I just created a simple world using Blender 2.7.2. I exported the file to .dae (collada) and successfully imported it running:

gazebo test.world

test.world is detailed like this:

<?xml version="1.0"?>
<sdf version="1.4">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
    <model name="my_mesh">
      <pose>0 0 0  0 0 0</pose>
      <static>true</static>
      <link name="body">
        <visual name="visual">
          <pose>0 0 0.1 0 0 0</pose>
        <geometry>
          <mesh> 
            <uri>file://piso_madera.dae </uri>
         </mesh>
        </geometry>
        </visual>
      </link>
    </model>
  </world>
</sdf>

I have placed the file piso_madera.dae and the .jpg file that it uses for the ground texture in the same directory as test.world. The path is within the ros package cvg_sim_gazebo in a folder named worlds. The directory tree is like this:

cvg_sim_gazebo\
   worlds\
      test.world
      piso_madera.dae
      woodsample.jpg
   launch\
      testworld.launch

As I mentioned before Gazebo is able to import the file and the texture. When I try to use a roslaunch file I get the following error:

Error [SystemPaths.cc:367] File or path does not exist[""]
Error [Visual.cc:2133] No mesh specified

My launch file is:

<?xml version="1.0"?>
<launch>
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find cvg_sim_gazebo)/worlds/test.world"/>
  </include>
</launch>

I want to be able to store all my files in this directory and not have to move them to the Gazebo directory. I am using ROS Indigo, Gazebo 2.2 and Ubuntu 14.03.