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2021-09-11 14:09:28 -0500 received badge  Taxonomist
2014-01-28 17:27:04 -0500 marked best answer take updated topic and repeat it

I'm wondering if there is a standard node for receiving a message, and then repeating the last message which was received on another topic at a specified rate. So something like what rostopic pub /topic std_msgs/String 'hi!' -r 10 does, except it would take the message it's sending from another topic that it is receiving from. This would seem like a useful node type to have, but I can't find it from my cursory search of the stacks. Something like what relay does from the topic_tools stack.

My reason: I've set up the generic_teleop to work with a joystick and broadcast to a stageros on /robot_0/cmd_vel, but it stops when I am controlling it and don't move the joystick, I assume because it doesn't continually send messages, but only sends when there is an update to the joystick. Sticking my "repeat last message" node in between teleop_source_node and teleop_sink_twist_node (or between teleop_sink_twist_node and stageros) would solve this problem.

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2013-03-27 02:23:46 -0500 answered a question Roscore on android device

Yes, it's possible to run the roscore on the Android device. You can start one programmatically using RosCore.newPublic() which will listen on the public interfaces. (The MasterChoooser default implementation will start a Private server, not accessible by the outside world).

Once you start your RosCore, you can set the ROS_MASTER_URI environment variable on your Ubuntu laptop to your Android device: export ROS_MASTER_URI=http://192.168.1.10:11311

Once that is set (in all your shells), you should be able to see topics using rostopic and the other basic tools.

2013-02-06 05:33:17 -0500 received badge  Notable Question (source)
2013-01-21 12:35:47 -0500 commented answer Linking error when catkin_make actionlib tutorial

I'll also note that the "find_package(catkin REQUIRED COMPONENTS .... )" line is different from what was previously listed in the wiki. The wiki minimal CMakeLists.txt has been updated to include roscpp actionlib in this list which was required for me to link correctly.

2013-01-16 08:42:14 -0500 commented answer rviz disagrees with gazebo visuals?

I don't think the other one is related, because if I try the URDF that he has there, it is as expected. That ticket from Gazebo is enlightening though. I have been working on groovy compiling and installed, which uses Gazebo 1.2, which I'm hoping this problem is solved in.

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2013-01-03 03:13:11 -0500 commented answer common_rosdeps missing in rosmake source install?

Thanks, I thought I was going weird.

2013-01-03 03:13:03 -0500 commented answer common_rosdeps missing in rosmake source install?

Thanks, I thought I was going weird. I might make a pull request for that later, since I just did it all this morning.

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2013-01-02 15:59:48 -0500 asked a question common_rosdeps missing in rosmake source install?

Now that groovy is released, I am trying to install from source and build on Debian. Everything is working by going through the list, first installing the missing debs from the ubuntu repository, but downloading from source from there. I got through the wet part of the install (section 2.1) and am building the dry packages now (section 2.2), and there seems to be a problem with dependencies. Many of the packages are depending on the stack or package of common_rosdeps, which is not a package or stack anymore (and wasn't in Fuerte either, according to the common_rosdeps wiki page.

I am currently solving this problem by commenting out the dependency in the manifest.xml manually, but this workaround isn't desired, I wish I could just follow the instructions.

Is there some step or dependency which is missing for rosdep to find common_rosdeps for the dry packages?

The error that I am getting is similar to this on all the packages depending on common_rosdeps:

{-------------------------------------------------------------------------------
  mkdir -p bin
  cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=/home/jamuraa/ros_catkin_ws/install_isolated/share/ros/core/rosbuild/rostoolchain.cmake  ..
  -- The C compiler identification is GNU 4.7.2
  -- The CXX compiler identification is GNU 4.7.2
  -- Check for working C compiler: /usr/bin/gcc
  -- Check for working C compiler: /usr/bin/gcc -- works
  -- Detecting C compiler ABI info
  -- Detecting C compiler ABI info - done
  -- Check for working CXX compiler: /usr/bin/c++
  -- Check for working CXX compiler: /usr/bin/c++ -- works
  -- Detecting CXX compiler ABI info
  -- Detecting CXX compiler ABI info - done
  -- Found PythonInterp: /usr/bin/python (found version "2.7.3") 
  [rosbuild] Building package carrot_planner
  Failed to invoke /home/jamuraa/ros_catkin_ws/install_isolated/bin/rospack deps-manifests carrot_planner
  [rospack] Error: package/stack 'base_local_planner' depends on non-existent package 'common_rosdeps' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'


  CMake Error at /home/jamuraa/ros_catkin_ws/install_isolated/share/ros/core/rosbuild/public.cmake:129 (message):


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

  Call Stack (most recent call first):
    /home/jamuraa/ros_catkin_ws/install_isolated/share/ros/core/rosbuild/public.cmake:203 (rosbuild_invoke_rospack)
    CMakeLists.txt:12 (rosbuild_init)


  -- Configuring incomplete, errors occurred!
2012-12-04 13:57:29 -0500 received badge  Popular Question (source)
2012-11-21 12:34:25 -0500 asked a question rviz disagrees with gazebo visuals?

I've been modelling a new robot in URDF, and I tweaked the URDF using the urdf_tutorial package's xacrodisplay.launch to verify the model. I recently started using meshes to get a better visual look, and I have run into an issue where the visuals between the rviz from xacrodisplay and gazebo are different. If I line up the mesh checking by rotations / translations in rviz, and then switch to gazebo, it is all jacked up. See the images below for comparison (this is just after I tried to "fix" it in gazebo). I'm trying to figure out why the representations would be different when working from the same URDF file (available for inspection here).

Rviz

Gazebo

2012-11-07 22:59:02 -0500 received badge  Nice Question (source)
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2012-10-16 14:48:02 -0500 answered a question Openni Gazebo Plugin stepsize for depth images (bug?)

I tried to fix this problem by just fixing the plugin as you suggested (I've installed gazebo_plugins from rosmake in fuerte, so it was not hard to change the line as suggested), and I get an interesting result when looking at the /depth/image_raw images from a simulated turtlebot:

Simulated Depth Image

This is generated with this looking from the normal /camera/image_raw:

simulated normal image

I get a similar depth image from the rviz camera view. I'm hoping to simulate kinect for some testing soon, so I will look into this some more, but I thought this would be useful information for someone in debugging this?

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2012-09-27 12:45:39 -0500 commented answer Bootstrapping a Groovy install?

Thanks for this informed explanation. If I wanted to help fix the dependency problem, could I branch and send pull requests to places somehow, or is it more recommended at this point to just wait until the dust settles a little more?

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2012-09-26 04:31:01 -0500 asked a question Bootstrapping a Groovy install?

I've been trying to get a groovy install running, from scratch / source, and I have found a couple of tutorials for starting from catkin, but none of them work. I have tried these on Ubuntu precise, and also just from source on Debian sid.

I've tried:

http://ros.org/doc/groovy/api/catkin/html/dev_guide/underlay.html - There is no python-catkin-pkg package that I can find on Ubuntu or in the package build repository, and if I ignore it, I get an error later in the process about not finding a python module named catkin_pkg.package.

After some help finding catkin_pkg (http://github.com/ros-infastructure/catkin_pkg) and installing it, I run into a second issue with the instructions, when I'm running cmake ../src, it ends with this error:

CMake Error at /home/jamuraa/tmp/testing/groovy-install/build/buildspace/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "std_msgs" with any
  of the following names:

    std_msgsConfig.cmake
    std_msgs-config.cmake

  Add the installation prefix of "std_msgs" to CMAKE_PREFIX_PATH or set
  "std_msgs_DIR" to a directory containing one of the above files.  If
  "std_msgs" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  ros_comm/tools/rosmaster/CMakeLists.txt:5 (find_package)

This looks like it's trying to find the std_msgs package before it has discovered it, but after looking around for a while, I don't quite know enough about catkin internals to figure out what is causing it.

Is there a document somewhere for how to bootstrap a Groovy Galapagos ROS install for testing / development?

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2012-07-11 08:56:51 -0500 answered a question Android_core build error

Welcome to bleeding-edge development! :)

I fixed this by creating a NameResolver - here's a patch for VisualizationView.java.

--- a/android_honeycomb_mr2/src/org/ros/android/view/visualization/VisualizationView.java   Tue Jul 10 21:48:56 2012 -0500
+++ b/android_honeycomb_mr2/src/org/ros/android/view/visualization/VisualizationView.java   Wed Jul 11 13:54:43 2012 -0500
@@ -27,6 +27,7 @@
 import org.ros.android.view.visualization.layer.Layer;
 import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
+import org.ros.namespace.NameResolver;
 import org.ros.node.ConnectedNode;
 import org.ros.node.Node;
 import org.ros.node.NodeMain;
@@ -64,7 +65,7 @@
         requestRender();
       }
     };
-    frameTransformTree = new FrameTransformTree();
+    frameTransformTree = new FrameTransformTree(NameResolver.newRoot());
     camera = new Camera(frameTransformTree);
     renderer = new XYOrthographicRenderer(frameTransformTree, camera);
     layers = Lists.newArrayList();
@@ -123,7 +124,7 @@
   private void startTransformListener() {
     String tfPrefix = connectedNode.getParameterTree().getString("~tf_prefix", "");
     if (!tfPrefix.isEmpty()) {
-      frameTransformTree.setPrefix(tfPrefix);
+      frameTransformTree = new FrameTransformTree(NameResolver.newFromNamespace(tfPrefix));
     }
     Subscriber<tf.tfMessage> tfSubscriber = connectedNode.newSubscriber("tf", tf.tfMessage._TYPE);
     tfSubscriber.addMessageListener(new MessageListener<tf.tfMessage>() {

After this, my ./gradlew debug finished without an issue, and I could get my Android apps working again.

2012-06-14 01:58:28 -0500 received badge  Nice Answer (source)
2012-05-03 01:02:03 -0500 answered a question turtlesim initialises at x=[inf], y=[inf], theta=[0.000000]

Hard setting anything will not work in this case, because turtlesim has no clue how large a meter is supposed to be (it is initialized by the size of a turtle in the images directory). To get turtlesim working without updating your ROS, you can copy the image files into /opt/ros/fuerte/share/turtlesim/images from the source download.

2012-05-02 11:41:53 -0500 answered a question rosdep install -a fails on Debian Sqeeze

I simply went on with the install, installing packages as needed when compilation failed. rosdep doesn't have files in Fuerte yet for the debian squeeze packages. I had an Electric install before this one so I just assumed that I had some of these packages. In the short future, I'll probably file a bug which includes a reasonable rosdep.yaml file.

Some of the ones here are obvious, but pcl and flann I had to compile from the sources. They are available at https://github.com/wg-debs - you clone the repository you need and then you can install the build dependencies for the package.

For each of the two (I installed flann first, because it was needed for pcl):

  1. git clone https://github.com/wg-debs/flann.git
  2. Remove "unneeded" dependencies from debian/control Build-Dependencies (the ones that start with ros- are the only ones I removed)
  3. dpkg-source --commit (to commit the "extra files" that are there)
  4. git-buildpackage -us -uc --git-ignore-new
  5. dpkg -i ../*.deb

There were other small hurdles as well, but they are less of an issue than these two libraries which are custom installed.

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2012-04-09 13:35:44 -0500 answered a question How do you construct composite messages in rosjava?

You can make geometry_msgs/Pose messages now using the MessageFactory that you can get from Node::getTopicMessageFactory(). The MessageFactory takes a type that you can get through the interface like so:

geometry_msgs.Pose msg = mNode.getTopicMessageFactory().newFromType(geometry_msgs.Pose._TYPE);

At least that is how I am doing it on 438c2ba9b5ad, and looking at the hg repository, it doesn't look like this method has changed since then.

2012-04-04 13:04:51 -0500 asked a question Running android_tutorial_pubsub just crashes

I got all the rosjava_core and android_core packages built from the hg repositories, and was going to test it on my device, but it just immediately crashes on startup.

All I've done beyond a straight source install is create other.rosinstall with:

- hg:
    local-name: rosjava_core
    uri: https://code.google.com/p/rosjava/
- hg:
    local-name: android_core
    uri: https://code.google.com/p/rosjava.android/
- hg:
    local-name: google
    uri: https://code.google.com/p/rosjava.google/

I ran rosinstall ~/ros other.rosinstall (from ~/ros), then followed the directions at the rosjava_core documentation, went to ~/ros/google and did ./gradlew install, then proceeded to follow the directions at the android_core documentation.

Here's the LogCat that I get.

I/ActivityManager(  327): Start proc org.ros.tutorials.pubsub for activity org.ros.tutorials.pubsub/org.ros.android.tutorial.pubsub.MainActivity: pid=12621 uid=10125 gids={3003}
I/dalvikvm(12621): Turning on JNI app bug workarounds for target SDK version 10...
D/AndroidRuntime(12621): Shutting down VM
W/dalvikvm(12621): threadid=1: thread exiting with uncaught exception (group=0x40a031f8)
E/AndroidRuntime(12621): FATAL EXCEPTION: main
E/AndroidRuntime(12621): java.lang.Error: Unresolved compilation problems: 
E/AndroidRuntime(12621):    The import org.ros.android.MessageCallable cannot be resolved
E/AndroidRuntime(12621):    The import org.ros.android.RosActivity cannot be resolved
E/AndroidRuntime(12621):    The import org.ros.android.views cannot be resolved
E/AndroidRuntime(12621):    The import org.ros.tutorials.pubsub.R cannot be resolved
E/AndroidRuntime(12621):    RosActivity cannot be resolved to a type
E/AndroidRuntime(12621):    RosTextView cannot be resolved to a type
E/AndroidRuntime(12621):    The method onCreate(Bundle) of type MainActivity must override a superclass method
E/AndroidRuntime(12621):    RosActivity cannot be resolved to a type
E/AndroidRuntime(12621):    R cannot be resolved to a variable
E/AndroidRuntime(12621):    RosTextView cannot be resolved to a type
E/AndroidRuntime(12621):    RosTextView cannot be resolved to a type
E/AndroidRuntime(12621):    R cannot be resolved to a variable
E/AndroidRuntime(12621):    RosTextView cannot be resolved to a type
E/AndroidRuntime(12621):    RosTextView cannot be resolved to a type
E/AndroidRuntime(12621):    RosTextView cannot be resolved to a type
E/AndroidRuntime(12621):    MessageCallable cannot be resolved to a type
E/AndroidRuntime(12621):    The method call(String) of type new MessageCallable<String,String>(){} must override a superclass method
E/AndroidRuntime(12621):    The method init(NodeMainExecutor) of type MainActivity must override a superclass method
E/AndroidRuntime(12621):    RosTextView cannot be resolved to a type
E/AndroidRuntime(12621):    The method onDestroy() of type MainActivity must override a superclass method
E/AndroidRuntime(12621):    RosActivity cannot be resolved to a type
E/AndroidRuntime(12621): 
E/AndroidRuntime(12621):    at org.ros.android.tutorial.pubsub.MainActivity.<init>(MainActivity.java:21)
E/AndroidRuntime(12621):    at java.lang.Class.newInstanceImpl(Native Method)
E/AndroidRuntime(12621):    at java.lang.Class.newInstance(Class.java:1319)
E/AndroidRuntime(12621):    at android.app.Instrumentation.newActivity(Instrumentation.java:1023)
E/AndroidRuntime(12621):    at android.app.ActivityThread.performLaunchActivity(ActivityThread.java:1871)
E/AndroidRuntime(12621):    at android.app.ActivityThread.handleLaunchActivity(ActivityThread ...
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