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2014-07-09 10:30:10 -0500 | commented answer | combine visual odometry data from ccny_rgbd with encoders/IMU Hi @TSC, the values are: X, Y, Z, Roll, Pitch, Yaw; so yes, it should work for UAVs |
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2013-07-29 23:48:23 -0500 | answered a question | Generate map with underwater sonar data when you already have a 3d pointcloud you could have a look at http://www.ros.org/wiki/octomap_server , just give this node your pointcloud2-msgs and it will generate a 2D and 3D map out of it (the 2d map is just the downprojected 3d map) just do an apt-get install ros-groovy-octomap* example launch file: |
2013-07-09 11:49:35 -0500 | answered a question | RGBD-slam start without enter keyword(space) hello Qubaish, there is a rosparam "start_paused" which is per default true, just set it to false via the launchfile of the rgbdslam node |
2013-07-07 23:57:04 -0500 | commented answer | combine visual odometry data from ccny_rgbd with encoders/IMU you may need to install boost first: sudo apt-get install libboost-all-dev |
2013-07-07 23:55:06 -0500 | commented answer | combine visual odometry data from ccny_rgbd with encoders/IMU for VISUAL_COVARIANCE: after the includes put "double VISUAL_COVARIANCE;", or just replace it in the code with your desired value, for boost it should be enough to "#include <boost/assign/list_of.hpp>", alternatively you can try to find out how to assign the list without boost |
2013-07-03 21:50:51 -0500 | answered a question | combine visual odometry data from ccny_rgbd with encoders/IMU hi rossi the matrix is zero because ccny_rgbd doesn't calculate the covariance for the visual odometry, so the matrix is initialized as all-zero i had the same issue, so i just manually set the covariance of course this is just a quick&dirty fix, since the covariance remains the same but instead should "grow" over time, but yeah, it is enough for my needs like this ccny_rgbd_tools/ccny_rgbd/src/apps/visual_odometry.cpp, line ~384 VISUAL_COVARIANCE is a rosparam, which i can set via the launch-file ccny_rgbd_tools/ccny_rgbd/src/apps/visual_odometry.cpp, line ~107 |
2013-06-27 23:52:52 -0500 | commented question | run hector_slam with LaserScan topic only try putting <param name="map_frame" value="base_link"/> into your launch file |
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2013-06-06 21:42:04 -0500 | commented question | the right way to install openi-kinect did you try using apt-get? the packages are ros-groovy-openni-camera and ros-groovy-openni-launch, or fuerte respectively |
2013-05-29 22:18:27 -0500 | commented question | turtlebot Failed to open port /dev/ttyUSB0 i had a similar problem with p2os. are you in the dialout group? useradd -G dialout $USER |
2013-05-29 21:23:42 -0500 | commented question | unable to install rgdbslam_freiburg you might wanna post the log / error message you get |
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2013-05-28 22:29:13 -0500 | commented answer | RGBDSLAM ICP fallback when there are not enough features honestly i can't really see any difference, neither good nor bad; but i'm using rgbdslam in headless-mode (so no GUI) and only display the generated octomap (res: 0.075), which might be a reason that i'm not noticing any changes |
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2013-05-28 21:47:12 -0500 | answered a question | How can I get real-time input from user? As HenryW already said, you can use the normal python method, for example compiling this node and then running it leads to If this doesn't work for you, update your question with your code and error messages. |
2013-05-27 22:23:41 -0500 | commented question | How to install ros-groovy-moveit-full? have you tried to install these three dependencies manually? |
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2013-05-26 22:14:39 -0500 | commented answer | RGBDSLAM ICP fallback when there are not enough features compiling now works fine, thank you |
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2013-05-23 02:42:54 -0500 | asked a question | RGBDSLAM ICP fallback when there are not enough features I'm currently using RGBDSLAM for mapping and autonomous driving. The room I'm trying to map has a big white wall, of course there are not enough features to be detected/extracted (<10), so RGBDSLAM tells me that it didn't add this node ("Found only %i features on image, node is not included"). So my question is: is the functionality for falling back to ICP only(!), if there are not enough features in the 2d image already implemented and if so, what am I doing wrong in the config/CMakeLists.txt ? I first tried to activate ICP in the CMakieLists.txt, and in the launch file
Do i need to pick only one of these or do I have to combine them in some way? Using only USE_PCL_ICP 1 doesn't seem to have an effect. Additionaly setting USE_GICP_BIN 1 is the same. Setting USE_GICP_CODE 1 leads to a compile error: So then I took a look at the code. The comment "///Apply Feature based Alignment and/or ICP" in node.cpp suggests, that (G)ICP was indeed intended to be used to improve the feature-based transformation estimation, or to replace it (when no features are found?) In graph_manager.cpp I found the origion of the "node is not included" message: Setting the "keep_all_nodes" option in the launch file sure avoided the problem but, yeah, didn't help, because the new pointclouds were added all in the same position ("no-motion assumption"). Decreasing the "min_matches" option to <10 only drastically decreased the quality of the output. Commenting out said if-statement didn't help either. Another thing I found in node.cpp: So, when USE_ICP_CODE is defined (which it is, if USE_GICP_BIN or USE_GICP_CODE are set to 1?), the function edge_from_icp_alignment should be called, which should produce the transformation estimation even without features? I also tried "manually" doing ICP when the if-statement for not enough features is triggered: (more) |
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