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2014-03-26 22:03:01 -0500 commented answer How to write a driver for Hokuyo Laser Scanner?

I want to connect the laser scanner to an embedded board that doesn't have ros and send laser data through udp. I have another program in ROS that receive udp data and publish as LaserScan topic.

2014-03-26 22:02:28 -0500 commented answer How to write a driver for Hokuyo Laser Scanner?

I checked "rostopic echo" but there is no difference between my program and urg_node. yes ,you're right.i should use existing drivers but in my situation i think i don't have another choice.

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2014-03-25 02:39:10 -0500 asked a question How to write a driver for Hokuyo Laser Scanner?

I want to write a driver for laser scanner and publish data on /scan topic. I write this code for initializing:

    sensor_msgs::LaserScan laser_data;
    laser_data.header.frame_id="laser";
    laser_data.angle_max=((210.234375)/180)*M_PI;
    laser_data.angle_min=((-29.53125)/180)*M_PI;
    laser_data.angle_increment=(0.3515625/180)*M_PI;
    laser_data.header.stamp=ros::Time::now();
    laser_data.scan_time=0.10000000149;
    laser_data.time_increment=9.76562732831e-05;
    laser_data.range_min=0.019999999553;
    laser_data.range_max=5.59999990463;
    laser_data.ranges.resize(682);

and put my data on ranges array.

I can see laser data in Rviz but when i used it for hector_slam , It's not worked and I saw this error:

[ INFO] [1395750671.645863427]: lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.

[ERROR] [1395750671.815635459]: Trajectory Server: Transform from /map to scanmatcher_frame failed: "map" passed to lookupTransform argument target_frame does not exist

another warning that i saw in Rviz in Global Status box is :

No tf data. Actual error: Fixed Frame [laser] does not exist

This is my tf_tree when run hector_slam:

image description

When i try with urg_node , hector_slam worked correctly. This is the tf tree with urg_node:

image description

I used a Hokuyo 04LX laser scanner.

Does anyone has any suggestion about this problem?

Thank you

2014-03-17 01:42:43 -0500 commented answer Adding trajectory to hector_geotiff output

yes, after i change the "trajectory_source_frame_name" from map to base_link , it worked! Thank you very Much :)

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2014-03-16 23:36:33 -0500 edited question Adding trajectory to hector_geotiff output

I have a Hokuyo URG-04LX and I use Hector_Slam for mapping. I use hector_geotiff for saving the map as a .tiff file but it doesn't contain trajectory. Is there any way for add trajectory to .tiff file? Or is there another package for having these options?

this is my launch file after adding the line that @Stefan Kohlbrecher said :

<launch>
   <arg name="trajectory_source_frame_name" default="/map"/>
   <arg name="trajectory_update_rate" default="4"/>
   <arg name="trajectory_publish_rate" default="0.25"/>
   <arg name="map_file_path" default="$(find hector_geotiff)/maps"/>
   <arg name="map_file_base_name" default="hector_slam_map"/>

  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
    <param name="target_frame_name" type="string" value="/map" />
    <param name="source_frame_name" type="string" value="$(arg trajectory_source_frame_name)" />
    <param name="trajectory_update_rate" type="double" value="$(arg trajectory_update_rate)" />
    <param name="trajectory_publish_rate" type="double" value="$(arg trajectory_publish_rate)" />
  </node>

  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
    <remap from="map" to="/dynamic_map" />
    <param name="map_file_path" type="string" value="$(arg map_file_path)" />
    <param name="map_file_base_name" type="string" value="$(arg map_file_base_name)" />
    <param name="geotiff_save_period" type="double" value="1" />
    <param name="draw_background_checkerboard" type="bool" value="true" />
    <param name="draw_free_space_grid" type="bool" value="true" />
    <param name="plugins" type="string" value="hector_geotiff_plugins/TrajectoryMapWriter" />
  </node>

</launch>

This is my output after running this launch file : image description

the yellow arrow drew at start point and didn't move!

2014-03-16 23:34:06 -0500 commented answer Adding trajectory to hector_geotiff output

I did what you said but the tiff file didn't include the trajectory. just an arrow added to the tiff file. this arrow is in starting point.

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2014-02-28 04:39:23 -0500 commented answer connect ROS With Serial port

Ship Khat! :D

2014-02-28 04:38:58 -0500 answered a question connect ROS With Serial port

Maybe this question can help you! :)

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2014-01-28 17:32:50 -0500 marked best answer How can i make a qt project that has qexserialport library?

I write a program in qt for recieving data from serial port.I use qextserialport. I build this library(qextserialport) with qmake and use it. but when i want to build this qt project with rosmake to use it in ros, i see this error :

In file included from /home/user/ros_workspace/qt_test/qextserialport_test/widget.cpp:1:0: /home/user/ros_workspace/qt_test/qextserialport_test/widget.h:5:28: fatal error: qextserialport.h: No such file or directory

what should i do?

2014-01-28 17:32:42 -0500 marked best answer What is the best way for recieving data through serial port in hydro?

What is the best way for recieving data through serial port in hydro? Does hydro supports cereal_port package?

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2014-01-05 08:58:42 -0500 answered a question Navigation in an existing map.

Maybe Hector Navigation can help you!

I explain it here!

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2013-12-26 21:02:12 -0500 answered a question How can i run hector navigation for exploration?

Finally I found the answer!

you can find hector_navigation here :

[https://github.com/tu-darmstadt-ros-pkg/hector_navigation]

after download it , make it:

rosmake  hector_navigation_master

after that you need a launch file

nav.launch:

<launch>
<node pkg="hector_costmap" type="hector_costmap" name="hector_costmap" output="screen" respawn="false">
    <param name="cost_map_topic" value="cost_map" />
    <param name="map_frame_id" value="map" />
    <param name="local_transform_frame_id" value="base_footprint" />
    <param name="initial_free_cells_radius" value="0.3" />
    <param name="update_radius" value="4.0"/>
    <param name="costmap_pub_freq" value="4.0" />
    <param name="sys_msg_topic" value="syscommand" />

    <param name="use_grid_map" value="true" />
    <param name="grid_map_topic" value="scanmatcher_map" />

    <param name="use_elevation_map" value="true" />
    <param name="elevation_map_topic" value="elevation_map_local" />

    <param name="use_cloud_map" value="false" />
    <param name="cloud_topic" value="openni/depth/points" />

<!-- Not necessary to set, set by dynamic reconfigure -->
    <!--param name="max_delta_elevation" value="0.08"/-->
    <!--param name="allow_elevation_map_to_clear_occupied_cells" value="true" /-->
    <!--param name="max_clear_size" value="4" /-->
    <!--param name="slize_min_height" value="0.3" /-->
    <!--param name="slize_max_height" value="0.4" /-->
<!-- Not necessary to set, set by scanmatcher -->
    <!--param name="map_resolution" value="0.05" /-->
    <!--param name="max_grid_size_x" value="1024" /-->
    <!--param name="max_grid_size_y" value="1024" /-->
<!-- Not necessary to set, set by elvation_mapping -->
    <!-- param name="elevation_resolution" value="0.01" / -->
</node>

<node pkg="hector_driving_aid_markers" type="driving_aid_marker_node" name="hector_driving_aid_markers" output="screen">
    <param name="left_side_y_outer" value="0.205"/>
    <param name="left_side_y_inner" value="0.11"/>
    <param name="right_side_y_outer" value="-0.205"/>
    <param name="right_side_y_inner" value="-0.11"/>
</node>

<node pkg="nodelet" type="nodelet" name="ElevationMapping" args="load hector_elevation_mapping/ElevationMapping openni_nodelet_manager" output="screen">
    <param name="elevation_resolution" value="0.01" />
    <param name="elevation_zero_level" value="16384" />
    <param name="min_observable_elevation" value="-1.0" />
    <param name="max_observable_elevation" value="0.5" />
    <param name="max_observable_distance" value="4.0" /> 
    <param name="sensor_variance" value="0.001" />   
    <param name="map_frame_id" value="map" />
    <param name="local_map_frame_id" value="base_stabilized" />
    <param name="local_elevation_map_topic" value="elevation_map_local" />
    <param name="gloabl_elevation_map_topic" value="elevation_map_global" />
    <param name="point_cloud_topic" value="openni/depth/points"/>
    <param name="grid_map_topic" value="scanmatcher_map"/>
    <param name="sys_msg_topic" value="syscommand" />
    <param name="publish_poseupdate" value="false" />
    <param name="poseupdate_pub_period" value="1.0" />
    <param name="poseupdate_height_covariance" value="0.25" />
    <param name="poseupdate_used_pattern_size" value="3" />
<!-- Not necessary to set, set by scanmatcher -->
    <!--param name="map_resolution" value="0.05" /-->
    <!--param name="max_grid_size_x" value="1024" /-->
    <!--param name="max_grid_size_y" value="1024" /-->
</node>

<node pkg="hector_elevation_mapping" type="ElevationMappingNode" name="ElevationMapping_1"  output="screen">
    <param name="elevation_resolution" value="0.01" />
    <param name="elevation_zero_level" value="16384" />
    <param name="min_observable_elevation" value="-1.0" />
    <param name="max_observable_elevation" value="0.5" />
    <param name="max_observable_distance" value="4.0" /> 
    <param name="sensor_variance" value="0.001" />   
    <param name="map_frame_id" value="map" />
    <param name="local_map_frame_id" value="base_stabilized" />
    <param name="local_elevation_map_topic" value="elevation_map_local" />
    <param name="gloabl_elevation_map_topic" value="elevation_map_global" />
    <param name="point_cloud_topic" value="openni/depth/points"/>
    <param name="grid_map_topic" value="scanmatcher_map"/>
    <param name="sys_msg_topic" value="syscommand" />
    <param name="publish_poseupdate" value="false" />
    <param name="poseupdate_pub_period" value="1.0" />
    <param name="poseupdate_height_covariance" value="0.25" />
    <param name="poseupdate_used_pattern_size" value="3" />
<!-- Not necessary to set, set by scanmatcher -->
    <!--param name="map_resolution" value="0.05" /-->
    <!--param name="max_grid_size_x" value="1024" /-->
    <!--param name="max_grid_size_y" value="1024" /-->
</node>

<node pkg="hector_elevation_visualization" type="hector_elevation_visualization" name="hector_elevation_visualization" output="screen" respawn="false">
    <param name="max_height_levels" value="10" />
    <param name="max_height" value="1 ...
(more)
2013-12-25 19:53:15 -0500 received badge  Popular Question (source)
2013-12-25 05:00:22 -0500 edited question How can i run hector navigation for exploration?

How can i run hector navigation? I run urg_node and hector_slam but i don't know how can i run hector navigation for exploration.I searched very much but i can't find anything...

2013-12-23 18:32:13 -0500 commented question [rosrun] Couldn't find executable named node below /home/user/ros_workspace/src/project

I post it!

2013-12-23 18:30:02 -0500 edited question [rosrun] Couldn't find executable named node below /home/user/ros_workspace/src/project

I build a project with this command:

  • catkin_create_pkg project

after that i edited CMakeLists.txt and package.xml i ran these commands :

  • catkin_make
  • source devel/setup.bash

it didn't say any error but when i want to run the node i see that :

[rosrun] Couldn't find executable named node below /home/user/ros_workspace/src/project

CMakeLists.txt :

cmake_minimum_required(VERSION 2.8.3)
project(project)
find_package(catkin REQUIRED roscpp)
catkin_package()
add_executable(node node.cpp)
target_link_libraries(node ${catkin_LIBRARIES})

Package.xml:

<?xml version="1.0"?>
<package>
  <name>project</name>
  <version>0.0.0</version>
  <description>The project package</description>
  <maintainer <a href="mailto:email="mr_karimi_d@yahoo.com">mohammad</maintainer">email="mr_karimi_d@yahoo.com">mohammad</maintainer</a>>
  <license>TODO</license>
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <run_depend>roscpp</run_depend>
</package>

it doesn't happen just for one project , every new project i build is like that!!!