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2014-01-28 17:29:51 -0500 marked best answer Has anyone used a 'Dr Robot' platform with ROS?

I'm investigating indoor/outdoor capable platforms and stumbled upon a Canadian robotics manufacturer that has some seemingly "rugged" platforms that output a "communication raw protocol" for talking to linux PC payloads (like an ubuntu ROS machine)

Has anyone used one of these? Are there existing ROS bindings?

They list first class support for a number of software development SDKs, so creating some bindings shouldn't be too hard--I just don't want to reinvent the wheel if someone has already gone through the trouble.

2014-01-28 17:25:45 -0500 marked best answer moving to catkin from rosmake

I have a bunch of packages that are using the old rosmake build system and they no longer compile, so I'd like to move to catkin--is there a howto I missed somewhere? This works as a reference, but it's not very straight forward...

2014-01-28 17:25:45 -0500 marked best answer rosmake fails to find rosbuild.cmake on fuerte

after following the install instructions for Ubuntu 12.04 & ROS fuerte here: http://www.ros.org/wiki/fuerte/Installation/Ubuntu

I'm unable to build any rosbuild-based packages. I receive the following error during "rosmake":

  mkdir -p bin
  cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find rosbuild`/rostoolchain.cmake  ..
  -- The C compiler identification is GNU
  -- The CXX compiler identification is GNU
  -- Check for working C compiler: /usr/bin/gcc
  -- Check for working C compiler: /usr/bin/gcc -- works
  -- Detecting C compiler ABI info
  -- Detecting C compiler ABI info - done
  -- Check for working CXX compiler: /usr/bin/c++
  -- Check for working CXX compiler: /usr/bin/c++ -- works
  -- Detecting CXX compiler ABI info
  -- Detecting CXX compiler ABI info - done
  CMake Error at CMakeLists.txt:2 (include):
    include could not find load file:

      /opt/ros/fuerte/core/rosbuild/rosbuild.cmake

  CMake Error at CMakeLists.txt:4 (rosbuild_init):
    Unknown CMake command "rosbuild_init".

rospack find rosbuild returns:

/opt/ros/fuerte/share/ros/core/rosbuild

so it looks like the /share/ros is missing from all my cmake files. A bug? or am I supposed to do something special with my old CMakeLists.txt files?

I've observed this behavior under both Ubuntu 12.04 (from official debs) and Mac OSX (from source)

2014-01-28 17:24:44 -0500 marked best answer teleop_base deprecated, need generic teleop package

Hi All,

It looks like teleop_base is deprecated according to its manifest.

So my question is this: is pr2_teleop the new "generic" teleop package? If so, why the "pr2" prefix? I have a bunch of heterogeneous robots, whats the best "universal" teleop package? I need joystick and keyboard support at a minimum.

2014-01-28 17:21:57 -0500 marked best answer answer.ros.org askbot inbox icon is red when inbox is empty

The envelope icon next to the username on the askbot site is stuck red. I cleared my inbox (dismissed all notifications) but the icon is still red (it used to be white).

Update: This is a bug. A bug has been filed upstream. A fix was checked into askbot April 25th to prevent further occurances. However to fix stale inbox counts on the current install the following command must be run:

python manage.py fix_inbox_counts

Can some admin please run this?

2014-01-28 17:21:55 -0500 marked best answer quaternion from IMU interpreted incorrectly by ROS

I have a new CH Robotics UM6 IMU that outputs Quaternion which the datasheet labels as [a,b,c,d]. When I pass the Quaternion to ROS the X and Z axes are swapped, also pointing the IMU UP points the quat DOWN in rviz. I thought Quaternions didn't have "handedness"?

Here is a video of the behavior.

Anyhow, how do I swap axes without converting to Euler angles and introducing singularities?

From the datasheet:

All UM6 angle measurements are made with respect to a North-East-Down (NED) inertial frame. The inertial frame x-axis is aligned with magnetic north, the y-axis is aligned with magnetic east, and the z-axis points down toward the center of the Earth. The "pitch" angle represents positive rotation about the x-axis, "roll" represents positive rotation about the y-axis, and "yaw" represents positive rotation about the z-axis.rotation about the z-axis.

PS I'm using python so numpy code would be great!

2014-01-28 17:21:47 -0500 marked best answer what IMUs work with ROS?

I'm investigating adding an IMU to my 3DOF robot platform to improve odometry through robot_pose_ekf

What IMUs are available that output sensor_msgs/Imu messages?

Here's what I found so far:

What solution would work best for the least amount of money (taking into account I only have 3DOF on my robot)?

(for example, has anyone used Wiimote IMU data for robot_pose_ekf?)

2014-01-28 17:21:46 -0500 marked best answer How do I compute the covariance matrix for an orientation sensor?

If I'm writing a driver for an orientation sensor that outputs quaternions, how do I calculate the orientation covariance matrix? I don't even know the units for covariance in the context of the quat's cov matrix (rad^2 maybe?). obviously, I'm lost.

The purpose of the driver (at least in my use-case) is for using it with robot_pose_ekf so I believe I need a valid cov matrix for robot_pose_ekf to do its magic...

2014-01-28 17:21:40 -0500 marked best answer where do I get a gazebo diff drive plugin?

So I was previously using the erratic diff drive plugin here: http://ua-ros-pkg.googlecode.com/svn/...

but it looks like it moved. bummer.

So I see that there seems to be code that does something similar in gazebo_plugins/src/gazebo_ros_diffdrive.cpp

however, it doesn't get built as a .so for some reason, instead it's a binary in /bin that doesn't seem to do anything. Any idea how to get a basic diff drive robot running in gazebo?