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I want to send raw velocity commands to joints of pr2 instead of high level joint action commands. I want to apply a reinforcement learning to pr2 arm manipulation. So I need to send raw velocities to pr2 gazebo simulator.

I googled and found that I can use robot_mechanism_controllers/JointVelocityController

But I don't know how to use it to send a velocity command to /r_shoulder_pan_joint. Could anyone provide me with a simple command line example to publish a such command?

I am testing this on pr2_gazebo for now. I hope a solution would work on gazebo, too.

And are there better ways to send raw velocities rather than robot_mechanism_controllers/JointVelocityController?

I could finally publish raw joint velocity command to a joint. Here are what I did: create a parameter yaml file as fo

I could finally publish raw joint velocity command to a joint. Here are what I did: create a parameter yaml file as fo

How to send raw velocity commands to joints of pr2 I want to send raw velocity commands to joints of pr2 instead of high

Hi, I am trying to run dvo_slam and clams ( http://alexteichman.com/octo/clams ) I succeeded to build dvo_slam (dvo_core, dvo_ros, dvo_slam, dvo_benchmark) and clams. But, I have a runtime error when running the dvo_slam. My environment is as follows:

Ubuntu 12.04 32bit ROS version: Fuerte dvo_slam git version: 7502514

The runtime error is as follows: (the gdb backtrace) Program received signal SIGSEGV, Segmentation fault. 0xb7fa4797 in dvo::core::computeWeightsSse(__gnu_cxx::__normal_iterator<Eigen::Matrix<float, 2, 1, 0, 2, 1>*, std::vector<Eigen::Matrix<float, 2, 1, 0, 2, 1>, Eigen::aligned_allocator_indirection<Eigen::Matrix<float, 2, 1, 0, 2, 1> > > > const&, __gnu_cxx::__normal_iterator<Eigen::Matrix<float, 2, 1, 0, 2, 1>*, std::vector<Eigen::Matrix<float, 2, 1, 0, 2, 1>, Eigen::aligned_allocator_indirection<Eigen::Matrix<float, 2, 1, 0, 2, 1> > > > const&, __gnu_cxx::__normal_iterator<float*, std::vector<float, std::allocator<float> > > const&, Eigen::Matrix<float, 2, 1, 0, 2, 1> const&, Eigen::Matrix<float, 2, 2, 0, 2, 2> const&) () from /home/nosan/ros_packages/dvo_slam/dvo_core/lib/libdvo_core.so (gdb) up #1 0xb7f9c8e6 in dvo::DenseTracker::match(dvo::core::PointSelection&, dvo::core::RgbdImagePyramid&, dvo::DenseTracker::Result&) () from /home/nosan/ros_packages/dvo_slam/dvo_core/lib/libdvo_core.so It seems that the source of the error is arguments for dvo::core::computeWeightsSse. Sometimes the function was called correctly a few times. is it due to the rgb/depth data that I took?

Any advice will be appreciated.

I've got the similar output as yours when typing df -ah | grep user. And I tried your suggestions, but it did not work. So, I re-installed ubuntu and then installed python2.7-dev before binding /usr, /opt. Then everything worked smoothly. Thank you for your help.

I have been doing the same thing.. I had problems in dependency. Thank you so much for posting this!

I followed your method, but I got errors in setting up python while doing "sudo apt-get install ros-indigo-ros-base" Installing ros was almost working, but at last, the dpkg errors occurred. Help! plz.

E: Sub-process /usr/bin/dpkg returned an error code (1) Failed to perform requested operation on package. Trying to recover: Setting up python2.7-minimal (2.7.9-2ubuntu3) ... Could not find platform independent libraries <prefix> Consider setting $PYTHONHOME to <prefix>[:<exec_prefix>] python2.7: can't open file '/usr/lib/python2.7/py_compile.py': [Errno 2] No such file or directory dpkg: error processing package python2.7-minimal (--configure): subprocess installed post-installation script returned error exit status 2 dpkg: dependency problems prevent configuration of python2.7: python2.7 depends on python2.7-minimal (= 2.7.9-2ubuntu3); however: Package python2.7-minimal is not configured yet.

dpkg: error processing package python2.7 (--configure): dependency problems - leaving unconfigured dpkg: dependency problems prevent configuration of python2.7-dev: python2.7-dev depends on python2.7 (= 2.7.9-2ubuntu3); however: Package python2.7 is not configured yet.

dpkg: error processing package python2.7-dev (--configure): dependency problems - leaving unconfigured Errors were encountered while processing: python2.7-minimal python2.7 python2.7-dev

For Indigo, you need to modify the following file or related file /opt/ros/indigo/share/turtlebot_description/urdf/turtlebot_properties.urdf.xacro

You can find the following lines in the file: <property name="cam_px" value="-0.087"/> <property name="cam_py" value="-0.0125"/> <property name="cam_pz" value="0.2870"/> <property name="cam_or" value="0"/> <property name="cam_op" value="0"/> <property name="cam_oy" value="0"/>

If you want use a different sensor like asus_xtion_pro, you may directly modify the following file: /opt/ros/indigo/share/turtlebot_description/urdf/sensors/asus_xtion_pro.urdf.xacro

I think you can see the point cloud if you add PointCloud2 with the topic name: e.g. /camera/depth/points

I am using the frontier_exploration [indigo]. I had troubles to use it, but now I know how to use it with limited settings. What I really want to do is the unbounded exploration. The wiki reads "To run an unbounded exploration task, simply leave the boundary blank." I don't know what this means. When I set polygon regions using "Publish Points" in rviz, the robot seemed to stop even though there are unknown regions, saying "Finished exploration room" message. Could you help me run the unbounded exploration?

Here are my settings: - Ubuntu 14.04 (64 bit) - Turtlebot gazebo simulator - Gmapping for map building - ROS: Indigo

Have you tested the run_posest.cpp under test directory? It should work well.

I am trying to play back a bag file of rgb and depth images of prime sensor. The rgb image is played well, but the depth image isn't. When I played back the bag of depth image with rxbag, the following error occurred:

Can't convert: Error loading image on topic /camera/depth/image: local variable 'mode' referenced before assignment
Failed to load: ('/camera/depth/image', 1314152344.8639498, 0.15948963317384371, (151,))

I can see the depth image with the following command:

rosrun image_view image_view image:=/camera/depth/image

But, I cannot see depth image in the rxbag display.

Also, I downloaded a bag of other person and tried to play back it. I could see the rgb image but not the depth image.

Could you give an advice on this error?