jan's profile - activity

I got some problems using the soundplay_node of the sound_drivers stack.

First of all: My speakers are Logitech USB speakers and are connected, activated, not muted, volume is adjusted, no red LED and THEY ARE WORKING. I used aplay to play some .wav files and I also successfully used the mpg123-player to listen to .mp3 tracks.

When I startup with

roslaunch sound_play soundplay_node.launch

I always get this error message:

[ERROR] [WallTime: 1315304498.071437] Exception in sound startup, will retry once per second. Is the speaker connected? Have you configured ALSA? Can aplay play sound? See the wiki if there is a red light on the Logitech speaker. Have a look at http://pr.willowgarage.com/wiki/sound_play/Troubleshooting Error message: No available audio device

If I start in an extra terminal

rosrun sound_play say.py "hello world"

no errors occur but you can't hear anything.

The message is

Saying: hello world

and it is exiting normally.

I tried a lot of things I found in the world wide web but nothing helped. I did the troubleshoot more than 10 times but nothing helped. I read everything about alsa and how to configure. I configured alsa that it uses the correct device (device 1). Here you can see my /etc/asound.conf (I tried a lot with these parameters perhaps I made some mistakes...):

defaults.pcm.card 1
defaults.ctl.card 0
defaults.pcm.device 0
defaults.pcm.subdevice 0
defaults.pcm.nonblock 1
defaults.pcm.ipc_key 5678293
defaults.pcm.ipc_gid audio
defaults.pcm.ipc_perm 0660
defaults.pcm.dmix.max_periods 0
defaults.pcm.dmix.rate 48000
defaults.pcm.dmix.format "unchanged"
defaults.pcm.dmix.card defaults.pcm.card
defaults.pcm.dmix.device defaults.pcm.device
defaults.pcm.dsnoop.card defaults.pcm.card
defaults.pcm.dsnoop.device defaults.pcm.device
defaults.pcm.front.card defaults.pcm.card
defaults.pcm.front.device defaults.pcm.device
defaults.pcm.rear.card defaults.pcm.card
defaults.pcm.rear.device defaults.pcm.device
defaults.pcm.center_lfe.card defaults.pcm.card
defaults.pcm.center_lfe.device defaults.pcm.device
defaults.pcm.side.card defaults.pcm.card
defaults.pcm.side.device defaults.pcm.device
defaults.pcm.surround40.card defaults.pcm.card
defaults.pcm.surround40.device defaults.pcm.device
defaults.pcm.surround41.card defaults.pcm.card
defaults.pcm.surround41.device defaults.pcm.device
defaults.pcm.surround50.card defaults.pcm.card
defaults.pcm.surround50.device defaults.pcm.device
defaults.pcm.surround51.card defaults.pcm.card
defaults.pcm.surround51.device defaults.pcm.device
defaults.pcm.surround71.card defaults.pcm.card
defaults.pcm.surround71.device defaults.pcm.device
defaults.pcm.iec958.card defaults.pcm.card
defaults.pcm.iec958.device defaults.pcm.device
defaults.pcm.modem.card defaults.pcm.card
defaults.pcm.modem.device defaults.pcm.device

I configured the asound.conf file directly. Before this I edited the ~/.asoundrc-file but without success.

Can you help me get the sound output work?

EDIT: Here the group-rights of my pioneer bot. Is this ok?

uid=1000(pioneer) gid=1000(pioneer) Gruppen=4(adm),20(dialout),24(cdrom),29(audio),46(plugdev),105(lpadmin),112(netdev),116(pulse-access),119(admin),122(sambashare),1000(pioneer)

We are running a similar setup, and at the moment actively developing ROS integration for the Katana arm. The arm we use is the Katana 450, so in order to use the Katana 300 you will have to modify some things. Anyway, the katana_driver stack could be a good place to start.

Could you post your URDF files, so we can have a look at it?

Edit: Thanks for posting the files. They are the unchanged files from p2os_urdf, so I did the following:

svn co https://usc-ros-pkg.svn.sourceforge.net/svnroot/usc-ros-pkg/trunk/p2os
cd p2os/
rosmake
roslaunch p2os_urdf/launch/pioneer3dx_urdf.launch
rosrun rviz rviz

For me, the model looks perfectly alright. Did you make sure to click on "global frame" in RViz and select some existing frame (e.g., base_link)?

Judging from your TF tree, you seem to have other stuff running, too (like the openni_kinect drivers).

You should probably spend some time doing the URDF tutorials, they are really good. This should also answer your question why there are only .xacro files and no .urdf files.

After doing that, you can have a look at the turtlebot_description package to see how they added a Kinect to the robot.

Hi all,

I am reffering to the question below:

pioneer 3dx simulation using rviz and stage

My problem is the same as described in the other question but the answers did not help me solving it. I am not using amcl because I use the gmapping for the navigation stack to run. Is there a possibility to get those wheels at the right position without using amcl?

I think my big problem is that I am not good at the whole transform and urdf thing. Where can I adjust some things in the model or add for example a kinect to the top of the bot or a laserscanner. In the end I would like to have a complete simulation of my real robot. (I am using a pioneer 3dx with a SICK LMS 200 and a Katana 300 manipulation arm)

EDIT:

Here you can see my TF-tree. The wheels are missing. I think they have an other specification than the other elements of the robot. Where can i change this spec?

tf-frames.pdf

This is the urdf-model publisher.cc file. Why are there only 4 joints? Is this a problem? How can I add something?

#include <ros/ros.h>
#include <sensor_msgs/JointState.h>

int main( int argc, char* argv[] )
{
  ros::init(argc, argv, "p2os_publisher" );
  ros::NodeHandle n;

  ros::Publisher joint_state_publisher = n.advertise<sensor_msgs::JointState>("joint_states",1000);
  ros::Rate loop_rate(15);
  sensor_msgs::JointState js;

    js.name.push_back(std::string("base_swivel_joint"));
    js.position.push_back(0);
    js.name.push_back(std::string("swivel_hubcap_joint"));
    js.position.push_back(0);
    js.name.push_back(std::string("base_left_hubcap_joint"));
    js.position.push_back(0);
    js.name.push_back(std::string("base_right_hubcap_joint"));
    js.position.push_back(0);

    while( n.ok() )
    {
    js.header.frame_id="/base_link";
    js.header.stamp = ros::Time::now();
        joint_state_publisher.publish(js);
        ros::spinOnce();
        loop_rate.sleep();
    }
}

This is the launch file (pioneer3dx_urdf.launch):

<launch>
    <include file="$(find p2os_urdf)/launch/upload_pioneer3dx.xml"/>
  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
    <remap from="joint_state" to="joint_state"/>
    <param name="publish_frequency" type="double" value="15.0"/>
    <param name="tf_prefix" type="string" value=""/>
  </node>
    <node pkg="p2os_urdf" type="publisher" name="publisher"/>
</launch>

What else do you need?

I am just wondering that I cant find some URDF-specifications in this stack only .xacro-files?! Do you wish to see these files too? Thats a lot of code...

Ok I solved the problem. I had to set the ROS_IP to my own ip. I am using two Ubuntu machines cause the pc on the bot is not powerful enough for rviz and so on. All I had to do was setting the ROS_IP to my local machines IP and the set_2d_nav_goal of rviz worked!

Thank you all for your help

Ok I solved the problem. I had to set the ROS_IP to my own ip. I am using two Ubuntu machines cause the pc on the bot is not powerful enough for rviz and so on. All I had to do was setting the ROS_IP to my local machines IP and the set_2d_nav_goal of rviz worked!

Thank you all for your help

You should make sure that your "inflation_radius" parameter is set to be larger than the radius of the robot. I'm actually surprised that you're not getting a warning about this because you should be.

I get a warning about the inflation_radius but this was not an important warning to me. I set the inflattion to a lower value because there would be no space to move my bot if i do it as big as the robots shape or bigger. This was my first thought to lower the inflation so that it would be possible for the bot to move.

Have you tried to "rostopic echo cmd_vel" to see if move_base is trying to publish velocity commands.

I did echo the cmd_vel but nothing is publsihed. When I start the simple_navigation_goals there is a speed value published on the cmd_vel topic.

Why are you running both gmapping and AMCL? It should probably be one or the other.

I am not sure which topics, nodes and so on to run. I tried it like that. So if I start the gmapping I should not start AMCL with the navigation? Ok I will try this now.

Does the global plan created by the navigation stack look reasonable in rviz?

In RVIZ there is no Global or Local Plan created when I set a navigation goal. So I cant tell you if it is a good plan or not. The plan that is created by the simple_navigation_goals function looks pretty good.

Have you looked at the navigation tuning guide to make sure that things are set up more or less correctly for navigation.

I will do that now but the things have to be set correctly cause I use the param-Files of the p2os_launch stack.