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2013-10-04 05:10:40 -0500 commented answer 2 nodes publishing on same topic - merge?

"Are they sending the same values?" -> no, data1 has values [ a b c d ] while a and b are always 0 (that's my problem). data2 has values [a b] with the desired values. But I still need c, d from data1. That is why not sending 1 doesn't work. And the first message is (automatically) published by the joint_state_publisher due to the joint properties("revolute") in the urdf model of the robot , isn't it? What I would want is that the 3D model (data1 [a b c d]) is listening to data2 [a b] and then sending out [a b c d] with the desired values for a and b. But How? Sorry for the question but I do not know how to fix it.

2013-10-04 01:04:06 -0500 asked a question 2 nodes publishing on same topic - merge?

Hello,

I have a robot description (urdf file) where the joint state publisher is publishing for all the non-fixed joints a message. I have 4 such joints which are published on topic /joint_states. But 2 of this joints I want to control with a script publishing on a different topic -> /motor/states.
The problem is when I remap from motor/states to joint_states, then the joint state messages switch between this two:

header: 
  seq: 7270
  stamp: 
    secs: 1380880430
    nsecs: 894582033
  frame_id: ''
name: ['motor1', 'left_joint', 'right_joint', 'motor2']
position: [0.0, 0.0, 0.0, 0.0]
velocity: []
effort: []
---
header: 
  seq: 36366
  stamp: 
    secs: 1380880430
    nsecs: 900352954
  frame_id: ''
name: ['motor1', 'motor2']
position: [0.0, 0.0015339807878856412]
velocity: [0.0, 0.0]
effort: []

what I actually want is left_joint and right_joint from the above message but replace the motor1 motor2 in the first by those in the second message.

Thanks for helping!

2013-10-03 23:26:32 -0500 commented answer Remapping of arguments for turtlebot

ok thanks, now it (partly) works. The problem now is that 2 messages are published on joint_states where 1 is the zero position and the other one is the actually desired position. Now robot_state_publisher is jumping between this two states. How can I merge the two topics?

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2013-10-03 01:39:42 -0500 asked a question Remapping of arguments for turtlebot

Hello,

I am building a turtlebot and have designed an URDF Model for that. The robot has a pan and tilt unit to move a camera which can be keyboard controlled with a script. After starting the script I remapped the /joint_states message to /ptu/status (puplished by script), in order to get an visualization of the camera movement in Rviz.

The joint_states message looks the following:

header: 
  seq: 279
  stamp: 
    secs: 1380799404
    nsecs: 76824903
  frame_id: ''
name: ['tilt', 'wheel_left', 'wheel_right', 'pan']
position: [0.0, 0.0, 0.0, 0.0]
velocity: []
effort: []

ptu/status looks like:

header: 
  seq: 11425
  stamp: 
    secs: 1380799470
    nsecs: 45985937
  frame_id: ''
name: ['pan', 'tilt']
position: [0.0, 0.1564660403643354]
velocity: [0.0, 0.0]
effort: []

The problem is that after the mapping I lose the message for wheel_left/right. How can I fix this problem?

Thanks for helping!