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2014-01-28 17:22:31 -0500 marked best answer Using the household_objects_database with diamondback

Hello

I'd like to use the grasping-database on our PR2 (or gazebo to start with). I installed the database according to this tutorial: http://www.ros.org/wiki/household_obj...

and the node via the object_manipulation-package.

This is my server config and launchfile for the db:

household_objects_database:
  database_host: localhost
  database_port: 5432
  database_user: willow
  database_pass: willow
  database_name: household-objects-0.4 (was 0.2 in earlier version)

and

<launch>
  <!-- load database connection parameters -->
  <rosparam command="load" 
            file="$(find object_detection)/config/my_server.yaml"/>
  <!-- start the database wrapper node -->
  <node pkg="household_objects_database" name="objects_database_node" 
        type="objects_database_node" respawn="true" output="screen"/>
</launch>

A first check on the DB looks good:

rosservice call /objects_database_node/get_model_list REDUCED_MODEL_SET
return_code: 
  code: -1
model_ids: [18665, 18685, 18691, (...)]

But I can't get any gripping positions:

rosservice call /objects_database_node/database_grasp_planning "{arm_name: right_arm, target: {type: 1, model_pose:{model_id: 18744 } } }"
ERROR: Incompatible arguments to call service:
No field name [target.model_pose]
Provided arguments are:
 * {'arm_name': 'right_arm', 'target': {'model_pose': {'model_id': 18744}, 'type': 1}} (type dict)

Service arguments are: [arm_name target.reference_frame_id target.potential_models target.cluster.header.seq (...) ]

If I use the db within the pick&place-demo, the demo aborts with the message

Object manipulator failed to call planner at /objects_database_node/database_grasp_planning

which seems rather related to the db error.

Has anyone used the db with diamondback and can give me a hint?

Nikolas

// Update (see comments)

In Standalone: rosservice call /objects_database_node/database_grasp_planning "{arm_name: right_arm, target: {potential_models: [{ model_id: 18744 }] } }"

returns

grasps: []
error_code: 
  value: 2

and the service itself prints those messages:

[ERROR] [1307478152.866188465, 25974.284000000]: Database grasp planning: database query error
[ERROR] [1307478758.305219944, 26535.359000000]: Hand description: could not find parameter /hand_description/right_arm/hand_database_name
[ERROR] [1307478758.305614745, 26535.360000000]: Database get list: query failed. Error: ERROR:  column "grasp_compliant_copy" does not exist
LINE 1: ...sp_cluster_rep, grasp_table_clearance, hand_name, grasp_comp...
                                                             ^

[ERROR] [1307478758.305675838, 26535.360000000]: Database grasp planning: database query error

// Update 2: Results for the 0.4-2 db:

grasps: []
error_code: 
  value: 0

and

[ERROR] [1307617317.355176736]: Hand description: could not find parameter /hand_description/right_arm/hand_database_name
[ INFO] [1307617317.359785243]: Database object node: retrieved 0 grasps from database
[ INFO] [1307617317.359861977]: Database grasp planner: pruned 0 grasps for table collision or gripper angle above threshold
[ INFO] [1307617317.359905145]: Database grasp planner: returning 0 grasps
2014-01-28 17:22:20 -0500 marked best answer Problems using the given bag in the vlsam-tutorial

Hello

I've installed the vslam via

sudo apt-get install ros-diamondback-vslam

and tried to run the bag file given in the tutorial Tutorials/RunningVslamOnStereoData

If is start the bag-file I only get

[ERROR] [1309158942.182362673]: Client [/wide_stereo/stereo_vslam_node] wants topic /wide_stereo/right/camera_info to have datatype/md5sum [sensor_msgs/CameraInfo/c9a58c1b0b154e0e6da7578cb991d214], but our version has [sensor_msgs/CameraInfo/1b5cf7f984c229b6141ceb3a955aa18f]. Dropping connection.
[ERROR] [1309158942.295048099]: Client [/wide_stereo/stereo_vslam_node] wants topic /wide_stereo/left/camera_info to have datatype/md5sum [sensor_msgs/CameraInfo/c9a58c1b0b154e0e6da7578cb991d214], but our version has [sensor_msgs/CameraInfo/1b5cf7f984c229b6141ceb3a955aa18f]. Dropping connection.

Was there a change in the code which is not reflected in the bag-file?

Nikolas

2014-01-09 03:59:03 -0500 commented answer GUI Catkin Qt5 Cmake

Hey! I have the same problem (Qt5 and Qt4 installed). Have you managed to find a solution?

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2013-05-01 23:57:34 -0500 commented answer rosserial_python can't connect to Arduino Leonardo

I first tried it without the serial.println but could also not connect properly. I experimented with different baudrates (and checked that both ends use the same rate) but was not able to connect.

2013-05-01 10:37:53 -0500 answered a question rosserial_python can't connect to Arduino Leonardo

Alternative using python directly

I now stopped working on rosserial and implemented an own python based interface:

#!/usr/bin/env python
import rospy
from std_msgs.msg import String

import serial           
import time
ser = serial.Serial('/dev/ttyACM0', 115200)

pub = rospy.Publisher('chatter', String)
rospy.init_node('talker')


while 1:
 a = ser.readline()
 pub.publish(String(a))

If I have an arduino loop of

void loop() {
   Serial.println("OFF");
}

the frequency is enough for my needs:

rostopic hz chatter

gives be above 10kHz.

2013-04-30 06:23:26 -0500 asked a question rosserial_python can't connect to Arduino Leonardo

I am trying to use an Arduino to connect two sensors to ROS Groovy on Ubuntu 12.04 but have problems to talk to it using rosserial. Since I have several sensors, I bought the Arduino Leonardo http://arduino.cc/en/Main/arduinoBoardLeonardo based on the ATmega32u4 since it has four interrupt pins that I need for my sensors.

The first problem was in ArduinoHardware.h

iostream = &Serial;

which I changed to

iostream = &Serial1;

as proposed here: https://github.com/ros-drivers/rosserial/issues/49

Now the HelloWorld.ino compiled and I could upload it to the Arduino. I started

rosrun rosserial_python serial_node.py /dev/ttyACM0

but only get this response:

[INFO] [WallTime: 1367338659.844329] ROS Serial Python Node

[INFO] [WallTime: 1367338659.858269] Connecting to /dev/ttyACM0 at 57600 baud

[ERROR] [WallTime: 1367338676.969867] Lost sync with device, restarting...

Has someone managed to use the Leonardo and can help me?

Nikolas

// update: I adapted by loop to:

void loop(){

Serial.println(1);

if (state){

digitalWrite(led, HIGH); // turn the LED on (HIGH is the voltage level)

}else{

digitalWrite(led, LOW); // turn the LED on (HIGH is the voltage level)

}

state = !state;

delay(1000); // wait for a second

str_msg.data = hello;

chatter.publish( &str_msg );

nh.spinOnce();

}

The led (Pin 13) is blinks with a frequency of .5Hz (1s on 1s off). If (Iff) I start the rosserial_python, the TX-Led also flashes as the pin13-Led changes its state. Therefore there is at least some kind of communication, but no rostopic.

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2012-03-15 06:59:38 -0500 commented answer pr2_navigation_slam rviz_move_base_slam.launch 2d nav goal

Could you say a bit more about your problem and how you solved it? I currently have the same problem on our PR2.

2011-12-11 23:29:31 -0500 answered a question Sift-Tree-File for the Vocabulary-tree

Hello Dejan

I already used this function to create a sift-tree. I'm just not sure which (and how many) images and parameters should be used. I'm mainly working on a different approach, so I currently don't want to spend too much time with experiments on the tree generation. Therefore I hoped that someone could give me some tested tree-files. If I just generate a tree and it doesn't perform too well, I can't be sure if the approach just doesn't work for this problem, or if I just build a bad tree.

2011-11-29 02:15:23 -0500 asked a question Sift-Tree-File for the Vocabulary-tree

Hello

I'd like to know if someone has generated a tree-file for the vocab_tree-stack for other descriptors than only calonder. I would like to use it for loop-closing in the RGBD-Slam. The stack only provides one for calonder-desctiptors, but I'm not really happy with their perfomance, so I'm looking for a way to compare the perfomance of the tree with different descriptors.

Nikolas

2011-11-29 02:10:24 -0500 asked a question Examples for perfomance of kidnapped_robot stack

Hello

I'm working on improving the RGBD-SLAM by finding loops in the pose-graph. I'm currently evaluating the vocab_tree with the Calonder-Descriptors to get potentially matching image-pairs which can then be compared.

Since I took some code from the kidnapped_robot stack I'm not sure if I'm using it correctly. So I'd like to know if there is some kind of testing data available. I imagine a set of images (some hundred) together with the pairs of image_ids the tree would generate.

Nikolas

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2011-08-22 23:27:29 -0500 answered a question rviz window closes itself

I just got this error message and checked my cloud for strange points. My problem were points with huge values (z of 340282346638528859811704183484516925440.000000). This nice number can also be written as (2^24-1)*2^104, which happens to be max_float, so I guess I made a mistake at recognizing nans.

The data came from the kinect.

2011-07-31 00:59:22 -0500 answered a question Using the household_objects_database with diamondback

I now installed the database (household_0.4) on our PR2 and still get some errors, though this time, they are a bit different:

engelhar@marvin:~$ rosservice call /objects_database_node/database_grasp_planning  "{arm_name: right_arm, target: {potential_models: [{ model_id: 18780 }] } }"

 grasps: []
 error_code: 
  value: 2

And the service says:

[ERROR] [1312116981.010510658]: Hand description: could not find parameter /hand_description/right_arm/hand_database_name
[ERROR] [1312116981.011074672]: Database get list: query failed. Error: ERROR:  column "fingertip_object_collision" does not exist
LINE 1: ...rasp_compliant_original_id, grasp_scaled_quality, fingertip_...
                                                             ^

[ERROR] [1312116981.011722189]: Database grasp planning: database query error

I checked for the "grasp_compliant_copy" value and its boolean and false by default.