AmirSaman's profile - activity

Thank you Samuel this helps a lot.

Hi Simone, just to clarify you are running Ubuntu OS 20.04 on a virtualizer such as Oracle VM VirtualBox or vmware works

Hi Simone, just to clarify you are running Ubuntu OS 20.04 on a virtualizer such as Oracle VM VirtualBox or vmware works

I am running Ubuntu 20.04 server on RPI4 with ros 1 noetic without any problem.

H Clemens, did you find any solution for this issue ?

Hi Naman did you find any solution for this issue ?

Hi,

I'm trying to integrate an ultrasonic sensor to the costmap using range_sensor_layer, I am able to form and marking the obstacle in the costmap. I have enabled clear_on_max_reading to TRUE, thus any obstacle will be cleared on max reading without any issue.

Ultrasonic model : Grove- Ultrasonic Ranger

Now, there is one problem with my setup: 1. If the obstacle become too close to the sensor, the marking (orb/arc) formed right in front of sensor (goes behind it too) and within robot footprint's body, and removing the obstacle does not clear the marking. this cause the robot wont move due to unclear path.

Below: Costmap with range_sensor_layer plugin active, I move the object until it become too close to the sensor and remove the object, the obstacle marking still there (the rest of the obstacle marking successfully removed):

That abnormal orb does not cause any issue to mark new obstacles, and this new obstacles can be remove without problem.

Below is portion of parameter for ultrasonic sensor. costmap_common_params.yaml:

robot_radius: 0.2
map_type: voxel
obstacle_layer:
  enabled:              true
  max_obstacle_height:  0.6
  origin_z:             0.0
  z_resolution:         0.2
  z_voxels:             2
  unknown_threshold:    15
  mark_threshold:       0
  combination_method:   1
  track_unknown_space:  true
  obstacle_range: 2.5
  raytrace_range: 3.0
  origin_z: 0.0
  z_resolution: 0.2
  z_voxels: 2
  publish_voxel_map: false
  observation_sources:  scan bump

  range_sensor_layer:
     clear_threshold:    0.46
     mark_threshold:     0.98
     clear_on_max_reading: true
     clearing: true
     topics: ['/sonic']

Is there some important parameter that I overlook or miss?

I have tried to increase the min_range in my ultrasonic.py to 0.1, this will clip any value in between 0 to 0.1 hence solve the problem, but this will add '0.1' blind spot in front of robot (ultrasonic attached infront) itself. Which I would like to explore the possibilities to use min_range = 0.0 without causing any leftover marking when cleared.

Ultrasonic sensor with range_sensor_layer forming obstacle behind sensor line in RVIZ Hi, I'm trying to integrate an ul

Hi There, Did you find any solution to this ?

Saving the Map explore_lite Hi guys I am currently using ros noetic and explore_lite package for doing the auto mapping

Saving the Map explore_lite Hi guys I am currently using ros noetic and explore_lite package for doing the auto mapping

Auto Mapping on ROS Noetic Hi guys, Currently I am using ROS Noetic and Ubuntu 20.04 with gmapping and I can manually m

Auto Mapping on ROS Noetic Hi guys, Currently I am using ROS Noetic and Ubuntu 20.04 with gmapping and I can manually m

Auto Mapping on ROS Noetic Hi guys, Currently I am using ROS Noetic and Ubuntu 20.04 with gmapping and I can manually m

Actually I dont have a solution to this yet I am just commenting to bring up this question. since i also have same probl

Use same name for your published topic and the URDF for example if you are publishing on /right_wheel make sure you hav

Hi guys,

I have a real robot with 4 diffrent ultrasonic sensors publishing on 4 different topics. I used the same name in my URDF file as publishers however when i want to display it on RVIZ the location is wrong. is there any guidline that i can refer to ? or anyone has idea what i am doing wrong ?

This is the topic echo

ubuntu@ubuntu:~$ rostopic echo /lSonic

header:
  seq: 4023
  stamp:
    secs: 1615356239
    nsecs: 343081474
  frame_id: "/base_footprint"
radiation_type: 0
field_of_view: 0.25999999046325684
min_range: 0.0
max_range: 7.0
range: 5.357534885406494
---

This is the topic info

ubuntu@ubuntu:~$ rostopic info /lSonic
Type: sensor_msgs/Range

Publishers:
 * /ultrasonic (http://ubuntu:42959/)

Subscribers:
 * /rviz_1615277321083748871 (http://vm-ubuntu-20:42115/)

This is ultrasonic publisher code

r = Range()
r.header.stamp = rospy.Time.now()
r.header.frame_id = "/base_footprint"
r.radiation_type = 0
r.field_of_view = 0.26
r.min_range = 0.0
r.max_range = 7.0
r.range = measurementInCM(GPIO_SIGPIN)/100
publisher.publish(r)
rospy.sleep(1.0)

I found the soultion, the problem was in this line frame_id: "/base_footprint" I had to remove the "/" and now everyt

Thank you for your answer, I already modify the code accordingly now it become better however the location is still wron

ultrasonic sensor does not match with URDF Hi guys, I have a real robot with 4 diffrent ultrasonic sensors publishing o

@gvdhoom I converted t he values to meter and now i can not see anything on RVIZ

ultrasonic sensor does not match with URDF Hi guys, I have a real robot with 4 diffrent ultrasonic sensors publishing o

ultrasonic sensor does not match with URDF Hi guys, I have a real robot with 4 diffrent ultrasonic sensors publishing o

ultrasonic sensor does not match with URDF Hi guys, I have a real robot with 4 diffrent ultrasonic sensors publishing o

Hi guys,

I am running Ros noetic on a RP4 and ubuntu 20 and connect to it using another ubuntu running in VM. I can see the reading from lidar in VM rviz however the color is white when i run the rviz on the RP4 directly the color is red I also can change the color to something else however on the VM no matter what i do I am unable to do that. any idea what could be the issue and how to solve it ?

Thank you

I am not sure if I understrand your problem however are you trying to remap it ? if yes you can use the following code i

@gvdhoorn I am just suggesting those ways in case if OP not aware of it which could enable him to do the catkin_make and