Juan Carlos's profile - activity

Hello, I want to use the Groot monitor. My question is, is it possible to use a groot monitor with the turtlebot simulat

Hello, I want to use the Groot monitor. My question is, is it possible to use a groot monitor with the turtlebot simulat

Hello, I want to use the Groot monitor. My question is, is it possible to use a groot monitor with the turtlebot simulat

Hello, I want to use the Groot monitor. My question is, is it possible to use a groot monitor with the turtlebot simulat

Thank you for your answer. However, do you know if there is a way to relate ros2 nodes with the process Id. Because as y

Hello everyone, I am running multiple nodes in different executables and I would like to use MultiThreadedExecutor. Howe

Thanks a lot, I use the action client navigate_to_pose. I just create the client and with the function async_cancel_all_

Thanks a lot, I use the action client navigate_to_pose. I just create the client and with the function async_cancel_all_

Thanks a lot, I use the action client navigate_to_pose. I just create the client and with the function async_cancel_all_

Thanks a lot, I use the action client navigate_to_pose. I just create the client and with the function async_cancel_all_

Thanks a lot, I use the action client navigate_to_pose. I just create the client and with the function async_cancel_all_

Thanks a lot, I use the action client navigate_to_pose. I just create the client and with the function async_cancel_all_

Thanks a lot, I use the action client navigate_to_pose. I just create the client and with the function async_cancel_all_

I want to replicate this button but in a python code. The robot should stop if it is close <2 m from any obstacle. I know the functions BasicNavigator.cancelTask() works but just if you add the goal in code but I need to use the Nav2 Goal tool.

I tried using the Simple Commander API just calling the BasicNavigator.cancelTask() function but is not working I think I am using wrong. Does anyone how to do it ? It should be calling a service but I do not know which one exactly.

#!/usr/bin/env python3 
import rclpy
from nav2_simple_commander.robot_navigator import BasicNavigator
from rclpy.node import Node

from rclpy.action import ActionClient
from std_srvs.srv import SetBool

class StopNavigation(Node):
    def __init__(self):
        super().__init__('stop_navigation')
        # Create a BasicNavigator object.
        self.navigator = BasicNavigator()

    def stop_navigation_client(self):
        while rclpy.ok:
            self.navigator.waitUntilNav2Active()
            client = self.create_client(SetBool, "soft_stop_navigation")

            # Wait for the SetBool client to become available.
            while not client.wait_for_service(timeout_sec=1.0):
                rclpy.spin_once(self)

            # Send a request to the SetBool client.
            request = SetBool.Request()
            request.data = True
            future = client.call_async(request)
            rclpy.spin_until_future_complete(self, future)    

            # Check the response.
            response = future.result()
            print("")
            print("future_t: ", response.success)
            print("feedback: ",self.navigator.getFeedback())
            print("")
            if response.success:
                print("SetBool service succeeded, Cancel Nav.")
                self.navigator.cancelTask()

                # Check if the task was successfully canceled
                if self.navigator.cancelTask():
                    print("Task was successfully canceled")
                else:
                    print("Task could not be canceled")
                break
            else:
                print("Continue Nav...")

def main():
    # Initialize the ROS node.
    rclpy.init()

    # Create a MyNode object.
    node = StopNavigation()

    # Wait for the SetBool client to become available.
    node.stop_navigation_client()
    rclpy.spin_once(node)

    # Shutdown the ROS node.
    rclpy.shutdown()

if __name__ == "__main__":
    main()

I am using in rviz2 the tool nav2 goal. But I want to cancel the robot's navigation when it is at a distance of less tha

I am using in rviz2 the tool nav2 goal. But I want to cancel the robot's navigation when it is at a distance of less tha

I am using in rviz2 the tool nav2 goal. But I want to cancel the robot's navigation when it is at a distance of less tha

yes, i'm sure, I use for publish self.pub.publish(msg), for this reason see the topic, but when write rostopic echo, thi

hi, I have a troubule with this code, this run but when write in terminal rostopic hz '/PWM' say 'no new messages', and

hi, I have a troubule with this code, this run but when write in terminal rostopic hz '/PWM' say 'no new messages', and

hi, I have a troubule with this code, this run but when write in terminal rostopic hz '/PWM' say 'no new messages', and

hi, I have a troubule with this code, this run but when write in terminal rostopic hz '/PWM' say 'no new messages', and

Thanks you!, you are correct, forgot the nav_msgs in the CMakelist, thaks

Thank you!, published this tipic with a message type that had Header, use Odometry for this case and works well thanks.

Hi, For the example of message filter in this example , I tried to register callback from a class member function as in

this is the code:

#! /usr/bin/env python
import serial
import rospy
import message_filters
import numpy as np

from sensor_msgs.msg import Imu
from nav_msgs.msg import Odometry
from std_msgs.msg import Float32


class adq_datos(object):
        def __init__(self):
                self.datos = 0

                self.pwm = message_filters.Subscriber('/PWM', Float32)
                self.encoder = message_filters.Subscriber('/enc_data', Odometry)
                self.gps = message_filters.Subscriber('/gps', Float32)
                self.imu = message_filters.Subscriber('/mti/sensor/imu_free', Imu)

                self.ts = message_filters.TimeSynchronizer([self.pwm, self.encoder, self.gps, self.imu], 10)
                self.ts.registerCallback(self.synchronize_data)
                rospy.spin()

        def synchronize_data(self, data):
                self.datos = data.pose.covariance[5]
                print self.datos

if __name__=='__main__':
        try:
                rospy.init_node('save_data',anonymous=True, disable_signals=True)
                print "Nodo Creado"
                cv = adq_datos()
        except rospy.ROSInterruptException:
                pass

this is the error that show

[ERROR] [1576621538.678741]: bad callback: <bound method Subscriber.callback of <message_filters.Subscriber object at 0x75b23850>>
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
    cb(msg)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/message_filters/__init__.py", line 75, in callback
    self.signalMessage(msg)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/message_filters/__init__.py", line 57, in signalMessage
    cb(*(msg + args))
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/message_filters/__init__.py", line 216, in add
    my_queue[msg.header.stamp] = msg
AttributeError: 'Float32' object has no attribute 'header'