Artem's profile - activity

I wonder why some .py files start with

#!/usr/bin/python

like in /camera_calibration/cameracalibrator.py while the others are with

#!/usr/bin/env python

like in /rosbag/bag2png.py

The choice could be critical if one have two copies of python, which is the case in Mac OSX. I have a default preinstalled python version (/usr/bin/python) and the other one is installed through homebrew (is in my PATH).

And a side question have somebody installed ros with a default python?

1. Does anybody know when SMACC will be available for ROS2?
2. Are there any other state machine libraries for ROS2 (preferably written in C++)?

SMACC or any other state machine for ROS2 Does anybody know when SMACC will be available for ROS2? Are there any other

When you create ros::Publisher and invoke publish() in your for look it does not work ?

Have you see this tutorial - writing a Simple Publisher and Subscriber (C++) ?

This is not the answer to the question above, but a question/comment. I'd suggest you deleting this post and posting it

Websockets (preferably C++) and ROS2 Hi, Before I begin implementing my own package, maybe something similar already ha

Websockets (preferably C++) and ROS2 Hi, Before I begin implementing my own package to solve a described below problem,

I am trying to set up XCode to work with ROS. To do so I am following this tutorial

OSX tutorial

However, at the very beginning of this manual I am running into a problem. When I execute this line

   roscreate-pkg --xcproj cocoa_tutorial roscpp std_msgs

I got this error

Usage: roscreate-pkg <package-name> [dependencies...]

roscreate-pkg: error: no such option: --xcproj

Any ides how to fix this? Or better how to integrate ROS and Xcode?

While building catkinized ar_tools having the following error:

...
  create examples/simpleVRML/Makefile`
  create share/artoolkit-config
  create include/AR/config.h
# 1 ".test.h"
# 1 "<built-in>" 1
# 1 "<built-in>" 3
# 325 "<built-in>" 3
# 1 "<command line>" 1
# 1 "<built-in>" 2
# 1 ".test.h" 2
.test.h:1:10: fatal error: 'linux/videodev.h' file not found
#include <linux/videodev.h>
         ^

1 error generated.

Any help would be appreciated.

EDIT: Obviously there is no v4l library on OSX, however there is a version of artoolkit for OSX out there ( https://www.hitl.washington.edu/artoo... ). Could it be that this particular version fails to recognise the OS type?

When I rosrun rviz rviz, and add image. At the bottom left a video stream should appear that is coming from /image_raw topic . However, the image window freezes. In the console I am getting this

rosrun rviz rviz 
[ INFO] [1370417297.135309000]: rviz version 1.9.30
[ INFO] [1370417297.135369000]: compiled against OGRE version 1.7.4 (Cthugha)
2013-06-05 16:28:17.144 rviz[33669:f0b] *** WARNING: Method userSpaceScaleFactor in class NSView is deprecated on 10.7 and later. It should not be used in new applications. Use convertRectToBacking: instead. 
2013-06-05 16:28:17.813 rviz[33669:f0b] invalid drawable
[ INFO] [1370417297.847879000]: OpenGl version: 2.1 (GLSL 1.2).
2013-06-05 16:28:17.921 rviz[33669:f0b] invalid drawable
2013-06-05 16:28:31.311 rviz[33669:f0b] invalid drawable
2013-06-05 16:28:31.376 rviz[33669:f0b] invalid drawable
...

I know this is an old problem, however I am asking if there is some progress has been done recently? I am using mac osx 10.8.3, groovy.

• UPDATE

If I rosrun rviz rviz -l after adding image, I get the following console output

    [ INFO] [1371039331.242585000]: Texture: ROSImageTexture0: Loading 1 faces(PF_A8R8G8B8,420x300x1) with  hardware generated mipmaps from Image. Internal format is PF_A8R8G8B8,420x300x1.
    [ INFO] [1371039331.256845000]: GLRenderSystem::_createRenderWindow "OgreWindow(2)", 720x382 windowed  miscParams: externalGLControl= externalWindowHandle=140700326980512 macAPI=cocoa macAPICocoaUseNSView=true 
    [ INFO] [1371039331.256900000]: Creating a Cocoa Compatible Render System
    [ INFO] [1371039331.257431000]: Mac Cocoa Window: Rendering on an external plain NSView*
    2013-06-12 21:15:31.257 rviz[21491:f0b] invalid drawable
    2013-06-12 21:15:31.338 rviz[21491:f0b] invalid drawable
    2013-06-12 21:15:31.382 rviz[21491:f0b] invalid drawable
...

• UPDATE 2

I’ve built ogre-1.8.1, and linked libOgreRTShaderSystem.dylib to /usr/local/lib/libOgreMain.dylib due to the fact that the latest versions of ogre do not have libOgreMain.dylib. Then I was able to begin building rviz, however at 87% I got many linking errors

Linking CXX shared library /Users/artemlenskiy/Documents/Research/ros/mycatkin/devel/lib/libdefault_plugin.dylib
Undefined symbols for architecture x86_64:
  "Ogre::Quaternion::FromAngleAxis(Ogre::Radian const&, Ogre::Vector3 const&)", referenced from:
      Ogre::Quaternion::Quaternion(Ogre::Radian const&, Ogre::Vector3 const&) in camera_display.cpp.o
      Ogre::Vector3::getRotationTo(Ogre::Vector3 const&, Ogre::Vector3 const&) const in interactive_marker_control.cpp.o
      Ogre::Quaternion::Quaternion(Ogre::Radian const&, Ogre::Vector3 const&) in interactive_marker_control.cpp.o
      Ogre::Vector3::getRotationTo(Ogre::Vector3 const&, Ogre::Vector3 const&) const in arrow_marker.cpp.o
      Ogre::Quaternion::Quaternion(Ogre::Radian const&, Ogre::Vector3 const&) in shape_marker.cpp.o
      Ogre::Quaternion::Quaternion(Ogre::Radian const&, Ogre::Vector3 const&) in odometry_display.cpp.o
      Ogre::Quaternion::Quaternion(Ogre::Radian const&, Ogre::Vector3 const&) in pose_display.cpp.o
      ...

So, unfortunately I couldn’t test whether ogre 1.8.1 solves rviz problem or not. The latest Ogre 1.9.1RC1 does come as a framework in a dmg, I didn’t want to mess up with it.

rosbag fails to compiles on OSX 10.9 due to forward declaration.

[  7%] [ 14%] [ 21%] [ 28%] [ 35%] [ 42%] [ 50%] Building CXX object CMakeFiles/rosbag.dir/src/bag.cpp.o
Building CXX object CMakeFiles/rosbag.dir/src/buffer.cpp.o
Building CXX object CMakeFiles/rosbag.dir/src/bz2_stream.cpp.o
Building CXX object CMakeFiles/rosbag.dir/src/player.cpp.o
Building CXX object CMakeFiles/rosbag.dir/src/query.cpp.o
Building CXX object CMakeFiles/rosbag.dir/src/chunked_file.cpp.o
Building CXX object CMakeFiles/rosbag.dir/src/message_instance.cpp.o
[ 57%] Building CXX object CMakeFiles/rosbag.dir/src/recorder.cpp.o
In file included from /Users/artemlenskiy/ros/hydro/src/rosbag/src/query.cpp:28:
In file included from /Users/artemlenskiy/ros/hydro/src/rosbag/include/rosbag/query.h:41:
In file included from /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../lib/c++/v1/map:371:
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../lib/c++/v1/__tree:602:16: error: field has incomplete type 'value_type'
      (aka 'rosbag::IndexEntry')
    value_type __value_;
               ^
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../lib/c++/v1/__tree:688:28: note: in instantiation of template class
      'std::__1::__tree_node<rosbag::IndexEntry, void *>' requested here
    typedef const typename __node::base                           __node_base;
                           ^
/Users/artemlenskiy/ros/hydro/src/rosbag/include/rosbag/query.h:117:47: note: in instantiation of template class 'std::__1::__tree_const_iterator<rosbag::IndexEntry, const
      std::__1::__tree_node<rosbag::IndexEntry, void *> *, long>' requested here
    std::multiset<IndexEntry>::const_iterator begin;
                                              ^
/Users/artemlenskiy/ros/hydro/src/rosbag/include/rosbag/query.h:51:8: note: forward declaration of 'rosbag::IndexEntry'
struct IndexEntry;
       ^
[ 64%] Building CXX object CMakeFiles/rosbag.dir/src/stream.cpp.o
[ 71%] Building CXX object CMakeFiles/rosbag.dir/src/time_translator.cpp.o
1 error generated.
make[2]: *** [CMakeFiles/rosbag.dir/src/query.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 78%] Building CXX object CMakeFiles/rosbag.dir/src/uncompressed_stream.cpp.o
make[1]: *** [CMakeFiles/rosbag.dir/all] Error 2
make: *** [all] Error 2
<== Failed to process package 'rosbag':

In fact src/rosbag/include/rosbag/query.h does contain forward definition struct IndexEntry; but I could not find any place where it is fully defined.

Any ideas how to resolve this issue?

I have been working with Firewire cameras on my Mac using camera1394 package. Now I decided to switch to Point Grey Flea3 USB3 cameras. I remember a year ago I have read that these cameras support IIDC and that time I was able to capture images from these cameras using libdc1394 (without ROS). Now I am struggling running it with ROS camera1394 package. My questions,

(a) Did somebody use these cameras with libdc1394, without Flycapture (maybe in Linux, better in OSX)?

(b) I cannot find Flea3 GUID, that camera1394 requires. Do USB3 cameras have GUIDs?

Just have had the same problem with Indigo!

You can find some related questions here http://answers.ros.org/question/11051... and here http://stackoverflow.com/questions/16...

Following their advice and ahendrix answer I did the following on my Mac and it worked 1) Downloaded https://github.com/ros/class_loader/b... to somewhere on your disk 2) Added the following lines to CMakeLists.txt of your project

set(Poco_DIR _path_) # replace _path_ with a path to PocoConfig.cmake that you downloaded before

find_package(Poco REQUIRED COMPONENTS Foundation Net Netd XML XMLd) # add other components here

catkin_package(DEPENDS Poco)

include_directories(${Poco_INCLUDE_DIRS})

target_link_libraries(node_name ${Poco_LIBRARIES}) #replace node_name with the name of your project/node

Thanks .

Building octomap, orocos_kdl and other packages on OSX 10.9 produces the following compilation errors

    /Users/artemlenskiy/ros/hydro/src/octomap/src/Pointcloud.cpp:37:12: fatal error: 'ext/algorithm' file not found
      #include <ext/algorithm>
               ^
    [ 29%] Building CXX object src/CMakeFiles/octomap.dir/AbstractOcTree.cpp.o
    In file included from /Users/artemlenskiy/ros/hydro/src/octomap/src/OcTreeLUT.cpp:37:
    In file included from /Users/artemlenskiy/ros/hydro/src/octomap/include/octomap/OcTreeLUT.h:40:
    /Users/artemlenskiy/ros/hydro/src/octomap/include/octomap/OcTreeKey.h:40:12: fatal error: 'tr1/unordered_set' file not found
      #include <tr1/unordered_set>
...

In the case of orocos_kdl

In file included from /Users/artemlenskiy/ros/hydro/src/orocos_kdl/src/kinfam_io.cpp:22:
In file included from /Users/artemlenskiy/ros/hydro/src/orocos_kdl/src/kinfam_io.hpp:25:
In file included from /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../lib/c++/v1/iostream:38:
In file included from /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../lib/c++/v1/ios:216:
In file included from /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../lib/c++/v1/__locale:15:
In file included from /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../lib/c++/v1/string:434:
In file included from /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../lib/c++/v1/algorithm:593:
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../lib/c++/v1/utility:221:9: error: field has incomplete type 'KDL::TreeElement'
    _T2 second;

I tried to do everything from sketch and there was this error http://answers.ros.org/question/166666/rosjava-installation-on-macosx-results-in-an-error/ Nevertheless catkin_make was successful. However I am still getting the error. @Louise did you have that error above?

I installed rosjava following these instructions. I had an error building zeroconf_jmdns_suite/build.gradle while installation, but I believe it should not effect the described building package problem. I am following the tutorial .

At this point when I'm executing catkin_create_rosjava_pkg rosjava_catkin_package_a I am getting the following error

Created repo file: /Users/artemlenskiy/ros/rosjava_ws/src/rosjava_catkin_package_a/settings.gradle
Created repo file: /Users/artemlenskiy/ros/rosjava_ws/src/rosjava_catkin_package_a/build.gradle
Created repo file: /Users/artemlenskiy/ros/rosjava_ws/src/rosjava_catkin_package_a/CMakeLists.txt
Created repo file: /Users/artemlenskiy/ros/rosjava_ws/src/rosjava_catkin_package_a/package.xml
Creating gradle wrapper: /Users/artemlenskiy/ros/rosjava/src/rosjava_build_tools/src/rosjava_build_tools/gradle/gradlew -p /Users/artemlenskiy/ros/rosjava_ws/src/rosjava_catkin_package_a wrapper

FAILURE: Build failed with an exception.

* What went wrong:
A problem occurred configuring root project 'rosjava_catkin_package_a'.
> Could not resolve all dependencies for configuration ':classpath'.
   > Could not find org.codehaus.groovy:groovy-all:2.2.0.
     Required by:
         :rosjava_catkin_package_a:unspecified > org.ros.rosjava_bootstrap:gradle_plugins:0.2.0

* Try:
Run with --stacktrace option to get the stack trace. Run with --info or --debug option to get more log output.

BUILD FAILED

Total time: 8.062 secs
[error] __init__() takes at least 3 arguments (2 given) : <type 'exceptions.TypeError'>

I wonder why is it looking for groovy if I have hydro installed. There is also https://github.com/rosjava/rosjava_mv... missing.

EDIT: I did add groovy-all-2.2.0.jar to classpath, still cannot find it.

EDIT2: As Louise suggested adding groovy-all-2.2.0.jar to ./devel/share/maven/org/codehaus/groovy/groovy-all/2.2.0/

solves the above problem and creates the project.

Now running catkin_make I get

Scanning dependencies of target gradle-rosjava_catkin_package_a
Loading /Users/artemlenskiy/ros/rosjava_ws/src/rosjava_catkin_package_a/package.xml

FAILURE: Could not determine which tasks to execute.

* What went wrong:
Task 'uploadArchives' not found in root project 'rosjava_catkin_package_a'.

* Try:
Run gradlew tasks to get a list of available tasks.

BUILD FAILED

Total time: 2.407 secs
make[2]: *** [rosjava_catkin_package_a/CMakeFiles/gradle-rosjava_catkin_package_a] Error 1
make[1]: *** [rosjava_catkin_package_a/CMakeFiles/gradle-rosjava_catkin_package_a.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed

EDIT 3:

Entering the project folder and running ./gradlew setupBuild and then ./gradlew produces no errors.

Is this the right way to build projects with ROS JAVA ?

I don't have any experience with rosjava and gradle, any help is appreciated.