JeremieBourque's profile - activity

But is there a way to knwo which nodes run on which machines even if they share the same ROS_DOMAIN_ID?

rosnode machine equivalent for ROS2? Hi, I am using ROS2 and I need to be able to list the nodes running on two machine

To include an XML file, you need to use FrontendLaunchDescriptionSource instead of PythonLaunchDescriptionSource, which

Hi,

A project I am working on involves the use of a mobile robot in an open field using move_base to navigate autonomously and avoiding obstacles.

The obstacles in the costmaps only get cleared with raytracing when an obstacle further away is detected. This is a problem for me since most of the time there is no other obstacle that the sensor can see. For example, if someone were to walk in front of the robot, he would leave a trail in the costmap that never gets cleared because there is nothing behind it.

Does anyone know of a solution to this problem?

Thanks

Update

Here are my configuration files for the costmaps

Common parameters: obstacle_range: 3.0 raytrace_range: 3.5

robot_base_frame: base_footprint
update_frequency: 4.0
publish_frequency: 4.0
transform_tolerance: 0.5

footprint: [[-0.17, -0.18], [-0.17, 0.22], [0.17, 0.22], [0.17, -0.18]]
footprint_padding: 0.0

resolution: 0.05

static_layer:
   map_topic: /map

obstacle_layer:
    observation_sources: laser
    laser: {data_type: LaserScan, topic: /scan, clearing: true, marking: true, inf_is_valid: false, track_unknown_space: true} 

inflation_layer:
    cost_scaling_factor: 2
    inflation_radius: 1

Global parameters:

global_frame: map

rolling_window: true

plugins:
  - {name: static_layer,              type: "costmap_2d::StaticLayer"}
  - {name: inflation_layer,           type: "costmap_2d::InflationLayer"}

Local parameters:

global_frame: odom

rolling_window: true
width: 3
height: 3

plugins:
  - {name: obstacle_layer,            type: "costmap_2d::ObstacleLayer"}
  - {name: inflation_layer,           type: "costmap_2d::InflationLayer"}

Yes that worked for me, thank you! Would you post it as an answer so I can mark it as the solution?

Hi, I have updated my question with my parameters. I will also check the link in your comment, thank you.

move_base obstacle clearing in open field problem Hi, A project I am working on involves the use of a mobile robot in a

move_base obstacle clearing in open field problem Hi, A project I am working on involves the use of a mobile robot in a

Problem with obstacle clearing when using move_base in open field Hi, A project I am working on involves the use of a m

Did you ever find a solution? I am having the same issue in Gazebo when using a different aruco detection package.

What are the advantages of using git submodules over vcstool?

Hi,

In my ROS project, I am using ROS packages that can't be installed with apt and need to be cloned and compiled from source. Because of that, I can't use rosdep to easily download all of the dependencies, which is making things more complicated when the project needs to be setup on a new computer.

What is the strategy people use to make this process easier?

Thank you

Strategy to keep track of third-party ROS packages Hi, In my ROS project, I am using ROS packages that can't be install

I'm guessing you mean a gazebo world instead of rviz?

Try installing camera_calibration with apt: ros-melodic-camera-calibration If that doesn't work, maybe try compiling it

Hi,

I am trying to use moveit_servo with a 4-DOF robot arm in gazebo to control it in real time using twist commands, just like in this tutorial. However, as soon as I launch spacenav_cpp.launch, the arm instantly goes back to it's initial pose (if it was moved prior the launching spacenav) and oscillates (shakes) in place. If I send it a twist command, it will keep shaking, but in the direction specified in the command.

Although it is a 4-DOF arm, I am using a custom IKFast solver which works without any problems with the motion planner so I don't see why it couldn't work with moveit_servo as well.

How to replicate the bug

1. I have put all of the necessary files in this repo which you can clone: https://github.com/JeremieBourque1/op...
2. Start MoveIt along with the gazebo simulation roslaunch open_manipulator_moveit_config demo_gazebo.launch
3. Switch to the joint_group_position_controller, which is used for moveit_servo instead of the arm_controller wich is used by the motion planner. rosservice call /controller_manager/switch_controller "start_controllers: ['joint_group_position_controller'] stop_controllers: ['arm_controller'] strictness: 0 start_asap: false timeout: 0.0"
4. Launch the servo server. If you look closely in gazebo you should se the robot shaking roslaunch open_manipulator_moveit_config spacenav_cpp.launch
   1. Publish a twist command. You should see the arm shaking in the direction specified in the twist command. rostopic pub -r 100 -s /servo_server/delta_twist_cmds geometry_msgs/TwistStamped "header: auto twist: linear: x: 0.0 y: 0.01 z: -0.01 angular: x: 0.0 y: 0.0 z: 0.0"

Additional information

• The two controller are specified in https://github.com/JeremieBourque1/op...
• The spacenav configuration file is located here: https://github.com/JeremieBourque1/op...

No I haven't contributed to the documentation. I am new to MoveIt so I am not yet conffident enough in my knowledge to c

If you want to be able to move the end effector in real time with something like a joystick or gamepad, then your best b

I fixed the issue. The problem was that the joint_state_controller was not spawned. The fix was to add this line to ros_

moveit_servo won't move arm in gazebo, only oscillates Hi, I am trying to use moveit_servo with a 4-DOF robot arm in ga