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2013-11-19 18:09:01 -0500 commented answer how to use ethzasl_icp_mapping with velodyne?

Hey, is odometry input (wheel, GPS, IMU) really necessary for node ethzasl_icp_mapping to work? I tried the node with velodyne 32E pcap file without any odometry input. But it couldn't output direction or move forward for more than 5m. After which it stopped at a point and kept adding points at the same place.

2013-10-20 23:34:51 -0500 asked a question ethzasl_icp_mapping not moving forward while registering.

Initially map moves forward a little bit but after that it just keep on adding points standing still at the same place. Is there problem with the launch file? I am using velodyne-32-E and configuration file from artor.

this is the launch file I am using:

    <launch> 
<node pkg="velodyne_driver" type="velodyne_node" name="velodyne_driver">
    <param name="model" value="32E"/>
    <param name="pcap" value="/home/administrator/Desktop/data/tunnel.pcap"/>
    <param name="read_once" value="true"/>
    <param name="frame_id" value="velodyne"/>
</node>

<node pkg="velodyne_pointcloud" type="cloud_node" name="cloud_node">
    <param name="calibration" value="$(find velodyne_pointcloud)/params/32db.yaml"/>
    <param name="min_range" value="3.0"/>
    <param name="max_range" value="130.0"/>
</node>


<node name="mapper" type="mapper" pkg="ethzasl_icp_mapper" output="screen" >
    <remap from="cloud_in" to="/velodyne_points" />
    <param name="subscribe_scan" value="false"/>
    <param name="subscribe_cloud" value="true"/>
    <param name="icpConfig" value="$(find ethzasl_icp_mapper)/launch/artor/icp.yaml" />
    <param name="inputFiltersConfig" value="$(find ethzasl_icp_mapper)/launch/artor/input_filters.yaml" />
    <param name="mapPostFiltersConfig" value="$(find ethzasl_icp_mapper)/launch/artor/map_post_filters.yaml" />
    <param name="odom_frame" value="/velodyne" />
    <param name="map_frame" value="/map" />
    <param name="useROSLogger" value="true" />
    <param name="useConstMotionModel" value="false" />
    <param name="localizing" value="true" />
    <param name="mapping" value="true" />
    <param name="minOverlap" value="0.8" />
    <param name="maxOverlapToMerge" value="0.9" />
    <param name="tfRefreshPeriod" value="0.01" />
    <param name="vtkFinalMapName" value="finalMap.vtk" />
    <param name="useROSLogger" value="true" />
    <param name="minReadingPointCount" value="1000" />
    <param name="minMapPointCount" value="10000" />
    <param name="inputQueueSize" value="1" /> 
</node>

</launch>
2013-10-20 23:23:23 -0500 received badge  Editor (source)
2013-10-20 23:22:33 -0500 asked a question in ethzasl_icp_mapping map not moving forward.

Initially map moves forward a little bit but after that it just keep on adding points standing still at the same place. Is there problem with the launch file? I am using velodyne-32-E and configuration file from artor.

this is the launch file I am using: <launch> <node pkg="velodyne_driver" type="velodyne_node" name="velodyne_driver"> </node> <node pkg="velodyne_pointcloud" type="cloud_node" name="cloud_node"> </node> <node name="mapper" type="mapper" pkg="ethzasl_icp_mapper" output="screen" &gt;="" <remap="" from="cloud_in" to="/velodyne_points"/> </node> </launch>

2013-10-20 08:57:31 -0500 asked a question I am trying to use velodyne_height_map for velodyne HDL-32E.

Actually I am new to ROS. I read velodyne_height_map link given on ros wiki carefully but may not have understood it completely so here is what is did.

  1. roslaunch velodyne_pointcloud 32e_points.launch calibration:=/home/user/32db.yaml (i.e. calling the velodyne point cloud which i think is subscriber and velodyne basic driver)
  2. rosrun nodelet nodelet standalone velodyne_height_map/HeightMapNodelet (for using height based algo to get obstacles.) But, Its constantly showing this error

ERROR:

2013-10-18 01:53:56 -0500 commented answer how to use ethzasl_icp_mapping with velodyne?

I am using groovy and velodyne 32E for ethzasl_icp_mapper, but it keep on showing this error ERROR: cannot launch node of type [point_cloud_converter/point_cloud_converter]: point_cloud_converter artor file in launch folder i.e. artor_mapper.launch mentions this <remap from="cloud_in" to="/velodyne/assembled_cloud2"/> which really doesn't exist.

2013-10-17 20:25:22 -0500 commented answer 3D SLAM & Velodyne HDL-32E

but I am not able to post question error says "LOW KARMA"

2013-10-15 08:23:17 -0500 received badge  Supporter (source)
2013-10-15 00:56:13 -0500 commented answer 3D SLAM & Velodyne HDL-32E

I am trying to use velodyne_height_map for velodyne HDL-32E. Actually I am new to ROS and to the website also thatswhy posting my question here as the website says I nee dto increase my karma to post it on the website. I read this link(http://wiki.ros.org/velodyne_height_map) carefully but may not have understood it completely so here is what is did. 1. roslaunch velodyne_pointcloud 32e_points.launch calibration:=/home/user/32db.yaml (i.e. calling the velodyne point cloud which i think is subscriber and velodyne basic driver) 2. rosrun nodelet nodelet standalone velodyne_height_map/HeightMapNodelet (for using height based algo to get obstacles.) But, Its constantly showing this error ERROR: [ INFO] [1381872765.269655830]: height map parameters: 320x320, 0.5m cells, 0.25m threshold, not publishing full clouds