definitive's profile - activity

Let's suppose I want to install scikit-image 0.15.0. I'm checking scikit-image lib within rosdep db (returns python-skimage-pip -> scikit-image). Then fill package.xml (as described here) with

  <exec_depend version_eq="0.15.0">python-skimage-pip</exec_depend>

and type

rosdep install --from-path src/my_package

As a result I got scikit-image with newest version (0.18.1). How to force rosdep to follow defined version?

I just find some answers already: For now Autoware are develop all packages under universe signature -> https://git

I just find some answers already: For now Autoware are develop all packages under universe signature -> https://git

[Autoware] Universe & Core vs Auto I'm struggling with a new Autoware release. I know Autoware.core & Autoware.u

[Autoware] Universe & Core vs Auto I'm struggling with a new Autoware release. I know Autoware.core & Autoware.u

joy node use random buttons & axis mapping How to force joy to use always the same axes and buttons mapping? Every t

Let's assume we have 10 nodes performing various operations. We run all the nodes with one launch file at a time. We also have one topic "/mode" in which we specify the value of int. Now we want certain nodes to execute depending on the value of "/mode". Is there any better way to do this in the ROS environment than subscribe the "/mode" topic, check the value, and if it is incorrect, we just do return in callbacks? Can I freeze the nodes somehow depending on topic value? I mean, nodes should be in standby mode and wait for specific output of "/mode" topic and run callbacks until "/mode" is correct. I want to run and stop node several times through topic value.

I want to run rviz node with two robots using different namespaces in a single environment. Currently, by providing minor changes in config files, I am able to run robots in two separate GUI windows:

rviz_node_1 = Node(
    namespace="arm_1",
    package="rviz2",
    condition=IfCondition(launch_rviz),
    executable="rviz2",
    name="rviz2_moveit_1",
    output="log",
    arguments=["-d", rviz_config_file],
    parameters=[
        robot_description_1,
        robot_description_semantic_1,
        ompl_planning_pipeline_config_1,
        robot_description_kinematics_1
    ],
)
rviz_node_2 = Node(
    namespace="arm_2",
    package="rviz2",
    condition=IfCondition(launch_rviz),
    executable="rviz2",
    name="rviz2_moveit_2",
    output="log",
    arguments=["-d", rviz_config_file],
    parameters=[
        robot_description_2,
        robot_description_semantic_2,
        ompl_planning_pipeline_config_2,
        robot_description_kinematics_2
    ],
)

In this case, everything works properly. Removing namespaces and pushing all parameter to single node is impossible - arguments have same parameters keys. On the other hand pushing namespace directly in dicts doesn't work, e.g.:

from

robot_description_1 = {"robot_description": robot_description_content_1}
robot_description_2 = {"robot_description": robot_description_content_2}

to

robot_description_rviz = {"arm_1": {"robot_description": robot_description_content_1},
                          "arm_2": {"robot_description": robot_description_content_2}}

MotionPlanning is not able to initialize scene. Of course "Move group namespace" within rviz Display panel is already changed, but it doesn't change anything. How to run rviz node with possibility to run two MotionPlanning visualization in different namespaces?

@edit I don't know why, but it was necessary to change namespace in .rviz config. Doing it by hand using GUI doesn't work. In addition with two remappings I am able to get interactive marker within rviz.

    ("/get_planner_params", "/arm_1/get_planner_params")
    ("/query_planner_interface", "/arm_1/query_planner_interface")

So I guess there is a conflict between rviz node services & actions I/O. Rviz node while running with namespace (NODE_NS_DESC):

/arm_1/rviz2_moveit
  Subscribers:
    /display_planned_path: moveit_msgs/msg/DisplayTrajectory
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /arm_1/recognized_object_array: object_recognition_msgs/msg/RecognizedObjectArray
    /arm_1/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback: visualization_msgs/msg/InteractiveMarkerFeedback
  Publishers:
    /clicked_point: geometry_msgs/msg/PointStamped
    /goal_pose: geometry_msgs/msg/PoseStamped
    /initialpose: geometry_msgs/msg/PoseWithCovarianceStamped
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /arm_1/attached_collision_object: moveit_msgs/msg/AttachedCollisionObject
    /arm_1/planning_scene: moveit_msgs/msg/PlanningScene
    /arm_1/planning_scene_world: moveit_msgs/msg/PlanningSceneWorld
    /arm_1/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update: visualization_msgs/msg/InteractiveMarkerUpdate
    /arm_1/trajectory_execution_event: std_msgs/msg/String
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /arm_1/rviz2_moveit/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /arm_1/rviz2_moveit/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /arm_1/rviz2_moveit/get_parameters: rcl_interfaces/srv/GetParameters
    /arm_1/rviz2_moveit/list_parameters: rcl_interfaces/srv/ListParameters
    /arm_1/rviz2_moveit/set_parameters: rcl_interfaces/srv/SetParameters
    /arm_1/rviz2_moveit/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
    /arm_1/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/get_interactive_markers: visualization_msgs/srv/GetInteractiveMarkers
  Service Clients:
    /arm_1/clear_octomap: std_srvs/srv/Empty
    /arm_1/compute_cartesian_path: moveit_msgs/srv/GetCartesianPath
    /arm_1/get_planner_params: moveit_msgs/srv/GetPlannerParams
    /arm_1/query_planner_interface: moveit_msgs/srv/QueryPlannerInterfaces
    /arm_1/set_planner_params: moveit_msgs/srv/SetPlannerParams
  Action Servers:

  Action Clients:
    /arm_1/execute_trajectory: moveit_msgs/action/ExecuteTrajectory
    /arm_1/move_action: moveit_msgs/action/MoveGroup

Rviz node without namespace (NODE_DESC) looks similar, except arm_1 occurrence. Remapping all of those stuff mentioned above is pointless and doesn't work - I still need second part of clients, services, pubs and subs for next robot. How to force a single rviz node to run two instances of moveit_rviz_plugin/MotionPlanning class with namespaces around NODE_DESC? Two instances of MotionPlanning with different Move Group Namespace and Name in rviz config is not enough. It seems to overwrite NODE_DESC.

Run ros2 node using launch file with delay Let's suppose we want to have a single launch file for our project. Some of o

ROS2 design - resource directory I am curious about the importance of the resource folder in the package branch. In most

I'm trying to pass custom map using map publisher and lanelet2 map provider configs. Using recorded pointcloud data, ndt mapper and vector map builder I already created a new pcd map with corresponding semantic map. Then I changed mentioned above config to load new files.

1. I couldn't load pcd map. Looking into default .pcd file I noticed some differences. Ndt mapper produce pointcloud map using 4 channels (x, y, z, intensity). So I just remove the last channel and map was loaded successfully. But is it possible to load properly 4 channels .pcd file?
2. I still can't load .osm file. Again, there are some differences:

• part of autoware included file:

<osm version='0.6' generator='JOSM'>

<node id='1001' visible='true' version='1' lat='37.38143282929' lon='-121.90825956337'>

<tag k='ele' v='-1.4483755826950073' />

</node>

• part of my custom file (created with vector map builder):

<osm generator="VMB">

<MetaInfo format_version="1" map_version="4"/>

<node id="1" lat="" lon="">

<tag k="mgrs_code" v="99XXX000000"/>

<tag k="local_x" v="52.9384"/>

<tag k="local_y" v="38.5049"/>

<tag k="ele" v="0"/>

</node>

In rviz I can see new pcd map without semantic map. The /had_maps/viz_had_map topic returns error Contains invalid floating point values (nans or infs). Are these differences in the .osm file version causing the maps to load incorrectly?

Is it possible to get string representation of parameter? LaunchConfiguration('arg_name') returns LaunchConfiguration object, while I need string to perform several actions.

[Autoware] Create custom map - osm file version I'm trying to pass custom map using map publisher and lanelet2 map provi

[Autoware] Create custom map - osm file version I'm trying to pass custom map using map publisher and lanelet2 map provi

[Autoware] Create custom map - osm file version I'm trying to pass custom map using map publisher and lanelet2 map provi

[Autoware] Create custom map - osm file version I'm trying to pass custom map using map publisher and lanelet2 map provi