manabu's profile - activity

I am a developer of navigation system with taking elevators in JSK.

The codes are in jsk-ros-pkg (http://jsk-ros-pkg.svn.sourceforge.net/), and the main package is elevator_move_base_pr2. We are using Euslisp programming language for describing procedure of taking elevator and geometrical elevator call button models.

And navigating between multiple maps, we have to change grid map in move_base and amcl. These scripts are in jsk_maps package.

Most mobile service providers (at least here in germany) are using network adress translation for the mobile clients. Since ROS needs bidirectional direct connectivity between alle nodes, i would guess that there is indeed no other option than using some sort of tunneling.

Maybe you can find a solution that doesn't need ROS-Nodes directly on the mobile clients, but have a server offering some of the functionality as a webservice, which is then called by the mobile clients.

In fact i would prefer the (web-)service approach, since ROS itself provides no sort of authentication and/or authorization, so any client would be able to publish and subscribe to any topic they want...

I'm trying to use rosjava on Android devices with 3G network connection. But some devices obtain local IP addresses.

I think we have to use VPN or SSH tunneling for communicating other nodes.

http://answers.ros.org/question/2007/how-to-set-up-vpn-between-ros-machines
http://answers.ros.org/question/2124/ssh-tunnels-and-ros

But I think these ways are not good to force users to do. Is there any other solution?

I'm also in this trouble. This occurs when run the patched user_data2.py and subscribing "/server_name/smach/container_status" topic.

File "/opt/ros/electric/stacks/executive_smach/smach_msgs/src/smach_msgs/msg/_SmachContainerStatus.py", line 120, in serialize
    buff.write(struct.pack('<I%ss'%length, length, _x.encode()))
UnicodeDecodeError: 'ascii' codec can't decode byte 0x80 in position 0: ordinal not in range(128)

When I modified the introspection.py, the error does not occur.

diff -r 46cddfcd1bf3 smach_ros/src/smach_ros/introspection.py
--- a/smach_ros/src/smach_ros/introspection.py  Tue Aug 02 10:31:19 2011 -0700
+++ b/smach_ros/src/smach_ros/introspection.py  Thu Sep 29 22:31:48 2011 +0900
@@ -219,7 +219,7 @@
                     path,
                     self._container.get_initial_states(),
                     self._container.get_active_states(),
-                    pickle.dumps(self._container.userdata._data,2),
+                    "",
                     info_str)
             # Publish message
             self._status_pub.publish(state_msg)

If point clouds and tilt range data have enough noise, some obstacles are not removed. I think the "observation_persistence" parameter in costmap_2d is related to this problem.