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2012-02-02 10:52:51 -0500 received badge  Enlightened (source)
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2011-10-12 01:12:51 -0500 answered a question openni_kinect dosen't publish anything in the topics or rviz

Hi there!

I encounter the same problems with my kinect and the openni_kinect stack.

When I found this thread i tried roslaunch openni_launch openni.launch, here's what my console says:

core service [/rosout] found
process[camera_nodelet_manager-1]: started with pid [15384]
process[camera/driver-2]: started with pid [15385]
process[camera/rgb/rectify_mono-3]: started with pid [15428]
process[camera/rgb/rectify_color-4]: started with pid [15442]
process[camera/ir/rectify_ir-5]: started with pid [15462]
process[camera/depth/rectify_depth-6]: started with pid [15479]
process[camera/depth/metric_rect-7]: started with pid [15499]
process[camera/depth/metric-8]: started with pid [15516]
process[camera/depth/disparity-9]: started with pid [15536]
process[camera/depth/points-10]: started with pid [15553]
process[camera/register_depth_rgb-11]: started with pid [15573]
process[camera/depth_registered/rectify_depth-12]: started with pid [15587]
process[camera/depth_registered/metric_rect-13]: started with pid [15601]
process[camera/depth_registered/metric-14]: started with pid [15615]
process[camera/depth_registered/disparity-15]: started with pid [15629]
process[camera/points_xyzrgb_depth_rgb-16]: started with pid [15643]
process[camera_base_link-17]: started with pid [15657]
process[camera_base_link1-18]: started with pid [15671]
[ INFO] [1318423547.968519485]: Number devices connected: 1
[ INFO] [1318423547.968680614]: 1. device on bus 001:14 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00364910353049A'
[ INFO] [1318423547.970240665]: Searching for device with index = 1
[ INFO] [1318423548.023895434]: Opened 'Xbox NUI Camera' on bus 1:14 with serial number 'A00364910353049A'
[ INFO] [1318423548.047911128]: rgb_frame_id = '/camera_rgb_optical_frame' 
[ INFO] [1318423548.047960898]: depth_frame_id = '/camera_depth_optical_frame' 
[ INFO] [1318423548.052857231]: using default calibration URL
[ INFO] [1318423548.052945376]: camera calibration URL: file:///home/student/h/hdeeken/.ros/camera_info/rgb_A00364910353049A.yaml
[ERROR] [1318423548.053280770]: Unable to open camera calibration file [/home/student/h/hdeeken/.ros/camera_info/rgb_A00364910353049A.yaml]
[ WARN] [1318423548.053333713]: Camera calibration file /home/student/h/hdeeken/.ros/camera_info/rgb_A00364910353049A.yaml not found.
[ INFO] [1318423548.054645480]: using default calibration URL
[ INFO] [1318423548.054696071]: camera calibration URL: file:///home/student/h/hdeeken/.ros/camera_info/depth_A00364910353049A.yaml
[ERROR] [1318423548.054983437]: Unable to open camera calibration file [/home/student/h/hdeeken/.ros/camera_info/depth_A00364910353049A.yaml]
[ WARN] [1318423548.055043961]: Camera calibration file /home/student/h/hdeeken/.ros/camera_info/depth_A00364910353049A.yaml not found.
[ WARN] [1318423548.056337041]: Using default parameters for RGB camera calibration.
[ WARN] [1318423548.056391186]: Using default parameters for IR camera calibration.
process[camera_base_link2-19]: started with pid [15692]
process[camera_base_link3-20]: started with pid [15809]
[ERROR] [1318423551.048566026]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters]
[ERROR] [1318423551.058408518]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]

So it seems as if the device is recognized and the frames seem to be set up as well - I can adress all topics via rviz - but there are no msgs published via the topics.

Maybe this helps to find what's going wrong! ;)

Greetings, Henning

2011-06-29 23:58:39 -0500 answered a question Openrave ikfast as an ik plugin for motion planning

Hi Fei,

i just wanted to tell you that we (Martin and I) just pushed the latest version of our katana_driver stack, which now supports constraint aware motion planning for our arm.

The set up is the following:

  • we fully specified the arms kinematics in a urdf file and coverted file into the collada format from which openrave then computed the analytical solution cpp files(see katana_description)
  • then we implemented a kinematics plugin (as Gil suggested above), which does not calls the generated cpp files directly, but via the orroplanning/IK service specifiying to use the TranslationDirection5D IK type (see katana_openrave_kinematics)
  • we then use the plugin with the arm_kinematics_constraint_aware node from the same package to establish all necessary service (see katana_openrave_kinematics)

with this set up we are now able to use OMPL within our for our arm navigation. I hope looking through our files will help you setting up your arm. We also included some code for testing within the katana_openrave_test package.

Please feel free to e-mail me if you could need more detailed support or in cases you find some bugs or other ideas for improvement.

Greetings from Osnabrück, Henning

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2011-05-18 04:28:53 -0500 answered a question OpenRAVE IK fails to find a solution on Katana 6M90a arm

I'm Martin's assistant and just wanted to specifiy our problem a little bit, because I just discovered that the IK solver very rarely suceeded.

I'd run:

rosrun openrave --database inversekinematics --robot=katana6m90a.robot.xml --usecached --iktests=1000 --iktype=translationdirection5d

with the following results:

 openravepy.databases.inversekinematics: success rate: 0.001000, wrong solutions: 0.002000, no solutions: 0.997000, missing solution: 0.000000

Maybe that helps, if anybody has an idea what could be wrong in our approach.