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2012-02-02 23:47:04 -0500 answered a question Elevators and Multifloor Navigation

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

The codes are in jsk-ros-pkg (, 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.

2012-01-27 04:04:46 -0500 marked best answer rosjava on Android device with local network address

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...

2011-11-13 18:02:06 -0500 commented answer rosjava on Android device with local network address
Thanks for your answer. Making a web service is a better approach, but developing web application with high transparency to ROS network is difficult for me. No authentication may become a problem in the future indeed. Tunneling seems to be a only way to use android.rosjava applications.
2011-11-12 18:48:40 -0500 asked a question rosjava on Android device with local network address

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.

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

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2011-09-29 01:33:46 -0500 answered a question smach introspection server fails in electric

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

File "/opt/ros/electric/stacks/executive_smach/smach_msgs/src/smach_msgs/msg/", 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, the error does not occur.

diff -r 46cddfcd1bf3 smach_ros/src/smach_ros/
--- a/smach_ros/src/smach_ros/  Tue Aug 02 10:31:19 2011 -0700
+++ b/smach_ros/src/smach_ros/  Thu Sep 29 22:31:48 2011 +0900
@@ -219,7 +219,7 @@
-                    pickle.dumps(self._container.userdata._data,2),
+                    "",
             # Publish message
2011-05-31 04:31:35 -0500 commented answer Unable to clear obstacles marking of costmap_2d
Hi TayXR, To check the scan data in rviz, scan a flat plane and select the data in rviz. Then, choose XYZ type to the point color type. Set the min and max value near the distance from sensor to target plane. you will see the noize point as a different color.
2011-05-28 22:30:40 -0500 answered a question Unable to clear obstacles marking of costmap_2d

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.

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