roman27's profile - activity

Hi, we were using the tutorial to make our pioneer p3-dx to MOVE.
the tutorial could be found on the website of tugraz under the
query "Poineer_move" But on the Step4:(Once) we didn't get exacutable file rob_key and though our robot didn't move. We have Ubuntu 12.10 with ROS groovy installed. Are we on the right way? Are there other ways to send the robot velocity data and to make it move? Thank you.

The build log can be found here.

We have done the process you described, but unfortunately got this error. What is that package joy?

Failed to invoke /opt/ros/groovy/bin/rospack deps-manifests p2os_teleop [rospack] Error: package/stack 'p2os_teleop' depends on non-existent package 'joy' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'

CMake Error at /opt/ros/groovy/share/ros/core/rosbuild/public.cmake:129 (message):

Failed to invoke rospack to get compile flags for package 'p2os_teleop'.
Look above for errors from rospack itself.  Aborting.  Please fix the
broken dependency!
Call Stack (most recent call first): /opt/ros/groovy/share/ros/core/rosbuild/public.cmake:203 (rosbuild_invoke_rospack) CMakeLists.txt:12 (rosbuild_init)

-- Configuring incomplete, errors occurred!

We have tried the command you recommended, it gave such result.

rospc@rospc-LIFEBOOK-UH572:~/ros_ws/src$ sudo apt-get install ros-groovy-pr2-controllers Reading package lists... Done Building dependency tree 
Reading state information... Done You might want to run 'apt-get -f install' to correct these: The following packages have unmet dependencies: mobilesim:i386 : Depends: xfonts-100dpi:i386 but it is not installable ros-groovy-pr2-controllers : Depends: ros-groovy-control (= 1.1.6-0quantal-20130325-1823-+0000) but it is not going to be installed Depends: ros-groovy-orocos-kinematics-dynamics (= 0.2.3-s1364236848~quantal) but it is not going to be installed Depends: ros-groovy-pr2-common (= 1.10.3-s1364355959~quantal) but it is not going to be installed Depends: ros-groovy-pr2-mechanism (= 1.7.4-s1369206270~quantal) but it is not going to be installed E: Unmet dependencies. Try 'apt-get -f install' with no packages (or specify a solution).

Also we have installed joy package from here, and tried with it, but still got the same p2os_teleop error.

hello, we cannot get any information, when we try to connect our C++ listener to the existing, working Python Publisher. Codes are given below.

Publisher

import roslib; roslib.load_manifest('razor_imu_9dof')
import rospy

import serial
import string
import math

from time import time, sleep
from sensor_msgs.msg import Imu
from razor_imu_9dof.msg import RazorImu


import tf

grad2rad = 3.141592/180.0

rospy.init_node("node")
pub = rospy.Publisher('imu', Imu)
pubRaw = rospy.Publisher('imuRaw', RazorImu)
#print pubRaw

#epub = rospy.Publisher('imuRaw', Imu)

imuMsg = Imu()
imuRawMsg = RazorImu()
imuMsg.orientation_covariance = [999999 , 0 , 0,
0, 9999999, 0,
0, 0, 999999]
imuMsg.angular_velocity_covariance = [9999, 0 , 0,
0 , 99999, 0,
0 , 0 , 0.02]
imuMsg.linear_acceleration_covariance = [0.2 , 0 , 0,
0 , 0.2, 0,
0 , 0 , 0.2]

default_port='/dev/ttyUSB0'
port = rospy.get_param('device', default_port)
# Check your COM port and baud rate
ser = serial.Serial(port=port,baudrate=57600, timeout=1)

#f = open("Serial"+str(time())+".txt", 'w')

roll=0
pitch=0
yaw=0
rospy.sleep(5) # Sleep for 8 seconds to wait for the board to boot then only write command.
ser.write('#ox' + chr(13)) # To start display angle and sensor reading in text 
while 1:
    line = ser.readline()
    line = line.replace("#YPR=","")
    line = line.replace("#YPRAMG=","")   # Delete "#YPR="
    #f.write(line)                     # Write to the output log file
    words = string.split(line,",")    # Fields split
    #wort5 = float(words[5]) 
    #print wort3, wort4, wort5

    if len(words) > 2:
        try:
            yaw = float(words[0])*grad2rad
            pitch = -float(words[1])*grad2rad
            roll = -float(words[2])*grad2rad

            # Publish message
            imuMsg.linear_acceleration.x = float(words[3]) # tripe axis accelerator meter
            imuMsg.linear_acceleration.y = float(words[4])
            imuMsg.linear_acceleration.z = float(words[5])
        #print imuMsg.linear_acceleration.x, imuMsg.linear_acceleration.y ,imuMsg.linear_acceleration.z

        #epub.publish(imuMsg)

            imuMsg.angular_velocity.x = float(words[9]) #gyro
            imuMsg.angular_velocity.y = float(words[10]) 
            imuMsg.angular_velocity.z = float(words[11])
        except Exception as e:
            print e

        q = tf.transformations.quaternion_from_euler(roll,pitch,yaw)
        imuMsg.orientation.x = q[0] #magnetometer
        imuMsg.orientation.y = q[1]
        imuMsg.orientation.z = q[2]
        imuMsg.orientation.w = q[3]
    #time.sleep( 2 )
    #print imuMsg.orientation.x, imuMsg.orientation.y, imuMsg.orientation.z, imuMsg.orientation.w
        imuMsg.header.stamp= rospy.Time.now()
        imuMsg.header.frame_id = 'base_link'
        pub.publish(imuMsg)
    print imuMsg #Gibt alle Sensorwerte in einer Art Tabelle aus


        # Publish Raw message from Razor board
        imuRawMsg.yaw = yaw
        imuRawMsg.pitch = pitch
        imuRawMsg.roll = roll
        pubRaw.publish(imuRawMsg)
    #print imuRawMsg


ser.close
#f.close

Subscriber

#include "ros/ros.h"
#include "std_msgs/String.h"


void chatterIMU(const std_msgs::String::ConstPtr& msg)
{
  ROS_INFO("I heard: [%s]", msg->data.c_str());

}


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

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

  ros::NodeHandle n;

  ros::Subscriber sub = n.subscribe("imu", 1000, chatterIMU);

  ros::spin();

  return 0;
}

Could you please say, what we do wrong. According to this tutorial http://www.ros.org/wiki/ROSNodeTutorialC%2B%2BPython subscriber/publisher does not depend on the source language, as we understood. Thank you.

Thanks no problem in the meantime i figured it even out by myself ;) (the /cmd_vel problem) and finally got to drive it :) the rxgraph is a really good thing thanks for that. Now i hope we can finally start with our project :). Thank you very much for the help.

Thanks we test it tomorrow it is already late here ;) regards

So thank you we finally repaired the decency. Also we could finally build the joystick driver and after that we build the p2os successfully. Now the Robot drives with some simple command line codes. Be aware of your next questions in a new thread ;) thanks.

I will edit my answer on my own, but for now i willdeactivate the links ;) low karma. I've already tried that. Thank you for help.

We have tried the command you recommended, it gave such result.

rospc@rospc-LIFEBOOK-UH572:~/ros_ws/src$ sudo apt-get install ros-groovy-pr2-controllers Reading package lists... Done Building dependency tree
Reading state information... Done You might want to run 'apt-get -f install' to correct these: The following packages have unmet dependencies: mobilesim:i386 : Depends: xfonts-100dpi:i386 but it is not installable ros-groovy-pr2-controllers : Depends: ros-groovy-control (= 1.1.6-0quantal-20130325-1823-+0000) but it is not going to be installed Depends: ros-groovy-orocos-kinematics-dynamics (= 0.2.3-s1364236848~quantal) but it is not going to be installed Depends: ros-groovy-pr2-common (= 1.10.3-s1364355959~quantal) but it is not going to be installed Depends: ros-groovy-pr2-mechanism (= 1.7.4-s1369206270~quantal) but it is not going to be installed E: Unmet dependencies. Try 'apt-get -f install' with no packages (or specify a solution).

Also we have installed joy package from www .ros.o rg/wiki/joy, and tried with it, but still got the same p2os_teleop error.

We have done the process you described, but unfortunately got this error. What is that package joy?

Failed to invoke /opt/ros/groovy/bin/rospack deps-manifests p2os_teleop [rospack] Error: package/stack 'p2os_teleop' depends on non-existent package 'joy' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'

CMake Error at /opt/ros/groovy/share/ros/core/rosbuild/public.cmake:129 (message):

Failed to invoke rospack to get compile flags for package 'p2os_teleop'.
Look above for errors from rospack itself.  Aborting.  Please fix the
broken dependency!

Call Stack (most recent call first): /opt/ros/groovy/share/ros/core/rosbuild/public.cmake:203 (rosbuild_invoke_rospack) CMakeLists.txt:12 (rosbuild_init)

-- Configuring incomplete, errors occurred!

The Problem is that we can not build the package maybe you know why?

http:// pastebin. com/cbTT2dN6

thanks and regards

Thank you for your answer. We would love to you use your package, we tried to start it, but we don't know how it works together. Maybe you can give us a small explanation, how we could start it. we're new in ROS, so we still need help. :-)

We will try it one more time and hope for that it will work. Do we need to preform a special make command on the files? thanks and regards

The Problem is that we can not Build the package maybe you know why?

http:// pastebin. com/cbTT2dN6

thanks and regards