Nick Armstrong-Crews's profile - activity

Check out docs embedded in https://svn.code.sf.net/p/jsk-ros-pkg...

Check out docs embedded in https://svn.code.sf.net/p/jsk-ros-pkg...

Hi,

I'm hoping to use opencv in a rosjava android environment. I've had a hard time building these packages together, and/or integrating their pre-compiled versions into an eclipse project I can code/build against. Not surprising, as I've been pulling from unreleased/experimental source repos :)

Anyway, is there an ETA for when a semi-stable version of these packages will be released? Maybe alongside Fuerte? :)

Thanks, -Nick

Hi,

I'm trying to use some features that are specific to pcl 1.3; I believe 1.0 or 1.1 is in the electric release?

So I downloaded/installed the (non-ROS) pcl 1.3 package with apt. But now the build system gets confused, and will compile against the 1.3 headers but link against the 1.0 libraries.

Errors appear as follows (many of these):

CMakeFiles/pcl_test.dir/src/pcl_test.o:
(.rodata._ZTVN3pcl6search17OrganizedNeighborINS_11PointXYZRGBEEE[vtable for pcl::search::OrganizedNeighbor<pcl::PointXYZRGB>]+0x68):
undefined reference to `pcl::search::OrganizedNeighbor<pcl::PointXYZRGB>::radiusSearch(int, double, std::vector<int, std::allocator<int> >&, std::vector<float, std::allocator<float> >&, int) const'

My CMakeLists.txt looks like:

#...
rosbuild_init()
#...
find_package(PCL 1.3 REQUIRED COMPONENTS io)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

rosbuild_add_executable(pcl_test src/pcl_test.cpp)
target_link_libraries(pcl_test ${PCL_LIBRARIES})

manifest.xml declares dependencies on pcl and pcl_ros (I have also tried omitting these deps, in the hopes the linker would then do The Right Thing)

Thanks mucho!

-Nick

Hi, I can't seem to get the Brown University Nao driver to work. I'm using the new Nao h25 model, with NaoQi SDK version 1.10.

When I run (locally on the robot) ./eyes, I am told "Could not get shared memory" (same issue as on [http://code.google.com/p/brown-ros-pkg/issues/detail?id=7]). When I run control.py, I get SOAP errors of the form "setVolume not a member of tts" and "setStiffness not a member of motion" ...

Hi,

I am seeing my urdf model, and all tf frames specified by robot_state_publisher, lag behind the actual robot motion (which the transform /odom->/base_footprint appears to track perfectly). The lag is around 5 seconds.

I have also tried with a simplified .urdf model that uses only fixed joints (and thus removes /joint_state publications as a potential cause). No help.

I have set the ~publish_frequency param of robot_state_publisher to 10 hz, and I have a static_transform_publisher publishing at 10 hz to link the top-level urdf frame (/chassis) to the /base_footprint frame published by the rest of the localization system.

Any bright ideas? Thanks!

PS - using diamondback and Ubuntu 10.10

If it is not possible out of the box, can you suggest some code changes / a high-level approach?

My desired task is to teleoperate the limbs (with nao_ctrl and openni_nao), while having Choregraphe do face recognition and attention / gaze servoing with the head.

Thanks for any tips!

Trying to follow instructions at http://www.ros.org/wiki/nao/Tutorials/Cross-Compiling#A1.10.2B-_and_Diamondback

Not exactly sure how to interleave 1.10 instructions with original instructions... that might be the issue.

In addition to some minor obstacles (detailed below), I was ultimately stymied by not being able to build apr-util (could not link to crti.o)

Help!

Thanks,

-Nick

Setup is Ubuntu 10.10, Nao H25 and nao-cross-toolchain 1.10.52 ( note to others: toolchain is not in the SDK, and is hard to find on new web page, but here's a link: http://users.aldebaran-robotics.com/index.php?option=com_docman&task=cat_view&gid=50 )

Notes:

• needed libmpfr1ldbl package as a prerequisite ( sudo apt-get install libmpfr1ldbl )
• (9.4) Get rosinstall file:
  • sudo easy_install -U rosinstall
  • wget "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=diamondback&variant=ros-base&overlay=no" -O diamondback.rosinstall
  • (as per http://www.ros.org/wiki/diamondback/Installation/rosinstall )
• (9.7) Patch rosbuild - with what patch?
• (9.8) Compile ROS - doesn't this require apr, etc. to be built first? my build complained...
• (4) Cross-compiling of non-ROS modules:
  • apr and apr-util have new versions; I just grabbed the latest ones listed at http://www.powertech.no/apache/dist/apr/
  • As predicted, upon building apr-util, I got error: "cross/geode/bin/../lib/gcc/i586-linux/4.3.3/../../../../i586-linux/bin/ld: crti.o: No such file: No such file or directory" ; however, copying files into /home/opennao/opennao-1-4-x/build/tmp/ did not work. I noticed (via grep) that the nao cross toolchain referred to 1-9-x, so I tried that path instead, but to no avail.

Hi, I can't seem to get the Brown University Nao driver to work, nor the alufr (Freiburg) teleop package to work. I'm using the new Nao h25 model, with NaoQi library included in the linux Choregraphe download (I believe it is version 1.10)

[alufr] What I am able to get is odometry and joint information, via running nao_ctrl/nao_sensors.py remotely. When I run nao_ctrl/nao_walker.py, the robot will respond to "stand up" and "joystick control enabled" buttons, but won't actually walk. I'm using a PS3 joystick, and I checked /joy topic and indeed the walk axes (specified in ps3joystick.yaml) are getting published.

[brown] When I run (locally on the robot) ./eyes, I am told "Could not get shared memory" (same issue as on [http://code.google.com/p/brown-ros-pkg/issues/detail?id=7]). When I run control.py, I get SOAP errors of the form "setVolume not a member of tts" and "setStiffness not a member of motion" ...

Thanks for any assistance!

Thanks Ryohei (and Rosen) for your suggestions - after re-compiling rviz/robot_model from trunk, I was able to see the Barrett hand COLLADA model in rviz.

Then I had our summer intern work furiously to make a COLLADA model of our robot, using Blender. But it seems to only export COLLADA 1.4, and rviz/robot_model seems to only accept COLLADA 1.5.

Any advice on how to use my COLLADA 1.4 model in rviz/robot_model, or an export sequence that will get me from Blender to COLLADA 1.5?

Thanks! -Nick

PS - I would attach the model itself, but I can't due to propriety of information...

From: ros-users-bounces@code.ros.org [mailto:ros-users-bounces@code.ros.org] On Behalf Of Ryohei Ueda

Hi Nick

have you (re-)compiled rviz with the trunk robot_model stack?

-- ryohei

On Wed, Jun 22, 2011 at 10:48 PM, Armstrong-Crews, Nicholas - 0447 - MITLL nickarmstrongcrews@ll.mit.edu > wrote: Has anybody done this successfully? It’s giving me trouble…

I’m following this tutorial: http://www.ros.org/wiki/collada_urdf/... th%20COLLADA

I get the output:

WARNING: unrecognized tag sphinxdoc

…

process[collada_joint_publisher]: started

process[rviz]: started

[ERROR]: No name given for the robot

[ERROR]: No name given for the robot

The model loads fine in the adjacent OpenRAVE 0.4.0 window, but rviz gives me the status error: “URDF failed Model parse”.

I’m using ROS diamondback binaries with jsk-ros-pkg. I’ve tried with both the diamondback release version of robot_model, and the 1.5.1 release from the trunk (as downloaded by jsk_ros_patch). I’ve also tried with one of the stock models from the collada_robots package.

Any bright ideas?

Thanks! -Nick