hermanoid's profile - activity

I no longer have access to the robots, anymore (just went off to college), but one of my old colleagues should be able t

The footprints are the same, they're actually both visualized in the picture and are just overlapping. I apologize, I do

That does add up with what we've been seeing. We'll give tuning it a shot.

We're using the Nav2 stack for ROS 2 Galactic, and we've been having some serious problems with navigation. We're using VSLAM for our global positioning and wheel encoders for local positioning, and we're seeing very glitchy behavior from the controller (lots of jerking around, and it has a hard time deciding that its pointing in the right direction). Furthermore, we have troubles where the robot dramatically deviates from the path our SMAC planner finds around corners by up to 12 inches, often causing the robot to collide with obstacles. We are not using the robot_localization package because we are not sure if it is necessary.

Using RVIZ, we can tell that the position the global planner is getting seems quite good, but we don't know how to verify if the odometry position we're feeding into the controller is "good enough" for it to follow the path smoothly and accurately. Setting the static frame in RVIZ to "odom" doesn't really give enough information - visually, the position looks fine enough, but we can't see how the controller is reacting to that position.

RVIZ allows us to "see" what the global planner is seeing to help diagnose issues with it. Is there a setting within RVIZ or even a dedicated tool we can use to "see" what the controller is seeing? Or does the situation I described scream out some obvious problem with our configuration?

DWB Controller struggles with navigation in tight scenarios Hello again, some of you may remember me from my planner tro

SmacPlannerHybrid cannot find path in tight environment We're using ROS 2 Galactic with the SmacPlannerHybrid planner, D

For anyone looking here for a really nice way to debug the controller... Sorry, I've got nothing for you. Here's what I

For anyone looking here for a really nice way to debug the controller... Sorry, I've got nothing for you. Here's what I

For anyone looking here for a really nice way to debug the controller... Sorry, I've got nothing for you. Here's what I

SmacPlannerHybrid cannot find path in tight environment We're using ROS 2 Galactic with the SmacPlannerHybrid planner, D

If anyone does have a tip for viewing/debugging the controller, I'm still interested in finding ways to debug it. The co

Thanks for the tip, Steve! Getting our robot to navigate in a stable fashion has been an ongoing struggle, unfortunatel

How to tell if odom localization is "good enough" for the nav2 controller We're using the Nav2 stack for ROS 2 Galactic,

We did end up solving this problem, but not in a way that allows me to point to what the solution was. After fighting th

Basically, no! I'll submit an answer to this question with what I do know.

Nav2 planner_server compute_path_to_pose hangs indefinitely We're using ROS Galactic and Nav2, trying to get our robot t

Nav2 planner_server's compute_path_to_pose hangs indefinitely We're attempting to implement a basic nav2 stack on our ro

I havent used PyTorch, but in my experience with Tensorflow, convincing the framework to use old python just isn't going

I'm running a script that uses cv_bridge with OpenCV 4, on Python 3, on ROS Melodic, on Raspbian, on a Raspberry Pi 4, and I'm running into errors trying to dynamically import cv_bridge.boost and failing.

I built ROS from source following these instructions, and installed opencv with sudo pip3 install opencv-contrib-python==4.1.0.25. I've had to do a bit of a hack to get it to import properly (I run sys.path.append('/usr/lib/python2.7/dist-packages') before I import cv2) but beyond these hacks, OpenCV 4 seems to be playing nice with Python 3, and Python 3 seems to be playing nice with ROS.

I from cv_bridge import CvBridge, CvBridgeError without issue, then run:

self.bridge = CvBridge()
image_opencv = self.bridge.imgmsg_to_cv2(data, desired_encoding="passthrough")

on a helper class, where data (as the function suggests) is a standard ROS Image message. (In my case, I'm getting these messages from the cv_camera topic /cv_camera/image_raw)

when I try to run that, I get this error:

[ERROR] [1588106367.612936]: bad callback: <bound method tpu_detector.callback of <__main__.tpu_detector object at 0xa7061df0>>
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
    cb(msg)
  File "/home/pi/catkin_ws/src/edge_tpu/scripts/detect_ros.py", line 91, in callback
    data, desired_encoding="passthrough")
  File "/home/pi/catkin_build_ws/install/lib/python2.7/dist-packages/cv_bridge/core.py", line 163, in imgmsg_to_cv2
    dtype, n_channels = self.encoding_to_dtype_with_channels(img_msg.encoding)
  File "/home/pi/catkin_build_ws/install/lib/python2.7/dist-packages/cv_bridge/core.py", line 99, in encoding_to_dtype_with_channels
    return self.cvtype2_to_dtype_with_channels(self.encoding_to_cvtype2(encoding))
  File "/home/pi/catkin_build_ws/install/lib/python2.7/dist-packages/cv_bridge/core.py", line 91, in encoding_to_cvtype2
    from cv_bridge.boost.cv_bridge_boost import getCvType
ImportError: dynamic module does not define module export function (PyInit_cv_bridge_boost)

every time an image message arrives. Which, to put it lightly, really sucks. I've googled the snot out of it, and come up with a few pages, all of which tell me to build cv_bridge for Python 3 - but I already have. Multiple times. Following the instructions in this Medium post line by line, the error persists. The error traceback above prooves that this custom-built package is being imported like it's supposed to.

It's worth noting that I had to use catkin_make to build cv_bridge properly; catkin build cv_bridge(with all the extra flags of https://stackoverflow.com/questions/4..., plus an extra -DPYTHON3=1 I added to placate NumPy) fails for no apparent reason (I've pasted the output into this gist if anyone believes it to be related to the issue)

I have been stuck on this issue for a multitude of hours and have gotten no closer to a solution - any help will be much appreciated!