Hey all, I have a rookie question.. I have a C-Turtle installation (installed with the "sudo apt-get install ros-cturtle-base" command) on a Ubuntu 10.04 machine and want to make some customizations to the ROS navigation stack. How do I proceed? A "rosmake" does not build this stack with the changes that I made to "move_base.cpp", probably due to the presence of "ROS_NOBUILD"? I am quite not sure about the next steps... Please suggest. Thanks and regards, Debjyoti Bera. ________________________________________ From: ros-users-bounces@code.ros.org [ros-users-bounces@code.ros.org] On Behalf Of ros-users-request@code.ros.org [ros-users-request@code.ros.org] Sent: Tuesday, February 15, 2011 9:00 PM To: ros-users@code.ros.org Subject: ros-users Digest, Vol 12, Issue 17 Send ros-users mailing list submissions to ros-users@code.ros.org To subscribe or unsubscribe via the World Wide Web, visit https://code.ros.org/mailman/listinfo/ros-users or, via email, send a message with subject or body 'help' to ros-users-request@code.ros.org You can reach the person managing the list at ros-users-owner@code.ros.org When replying, please edit your Subject line so it is more specific than "Re: Contents of ros-users digest..." Today's Topics: 1. Re: unable to get valid path when calling/ompl_planning/plan_kinematic_path (Felix Messmer) 2. Re: swissranger_camera package not found (blueskin) 3. omniwheel design in urdf (kadir) 4. Re: understanding ros topic tutorial teleop_key problem (Melonee Wise) 5. Build Architecture Question (William Woodall) 6. Re: Plume Sim in ROS (Brian Gerkey) 7. Re: Merging Player with ROS (Brian Gerkey) 8. Re: Example of SLAM using mono or stere camera (rinosh1989) 9. Re: OS X ogre x86_64 patch (Brian Gerkey) 10. Re: Best option for communication over an unreliable link? (Ken Conley) 11. Re: OS X ogre x86_64 patch (William Woodall) 12. Re: Merging Player with ROS (Rich Mattes) 13. Re: Build Architecture Question (Ken Conley) 14. Re: How to use wiimote as an imu for robot_pose_ekf (Wim Meeussen) 15. flicker of gazebo world display area (shujun gong) 16. Re: flicker of gazebo world display area (Mrinal Kalakrishnan) 17. Re: Dynamic updating map for move_base (Zhiping) 18. (no subject) (Nutan Chen) 19. Re: Merging Player with ROS (Aslund) 20. stereo proc (Asghari Oskoei, Mohammadreza) 21. a problem about rosrun rviz rviz--kinect&openni (Nutan Chen) 22. Re: ROS Diamondback Release Candidate 1 (Armin Hornung) 23. stereo image sync (Asghari Oskoei, Mohammadreza) 24. problem when install rgbdslam (liuwei@cmu.edu) 25. rosrun rviz rviz--kinect&openni (Nutan Chen) 26. Re: rosinstall problems on Debian (Taylor Veltrop) 27. ccny: asctec_autopilot serial interface communication (Steven Bellens) 28. Re: rosinstall problems on Debian (Taylor Veltrop) 29. Converting PointCloud to LaserScan (Yilmaz B?nyamin) 30. Re: Converting PointCloud to LaserScan (Ugo Cupcic) 31. Re: rosinstall problems on Debian (Willy Lambert) 32. Re: ROS Diamondback Release Candidate 1 (Willy Lambert) 33. Adding a New Stereo System to ROS (Adi Shavit) 34. libusb-1.0.8 for OpenNI Driver Problem (shahmi) 35. Re: Converting PointCloud to LaserScan (Yilmaz B?nyamin) 36. Re: Using ROS for a Delta Robot (Martin G?nther) 37. Re: ROS Diamondback Release Candidate 1 (Gon?alo Cabrita) 38. Re: Converting PointCloud to LaserScan (Nathaniel Lewis) 39. Re: (no subject) (Billy Okal) 40. Re: Plume Sim in ROS (Gon?alo Cabrita) 41. Re: Adding a New Stereo System to ROS (koen buys) 42. Re: rosinstall problems on Debian (Willy Lambert) 43. Re: ccny: asctec_autopilot serial interface communication (Bill Morris) 44. Re: your urgent respond (MUBARACK RAHEEM ALI) 45. Re: Adding a New Stereo System to ROS (Jack O'Quin) 46. Re: ROS Diamondback Release Candidate 1 (Wim Meeussen) 47. Re: stereo image sync (Blaise Gassend) 48. vslam installation need cturtle version (garratt gallagher) 49. Re: Adding a New Stereo System to ROS (Adi Shavit) 50. Re: Adding a New Stereo System to ROS (Adi Shavit) 51. Re: Adding a New Stereo System to ROS (Stefan Kohlbrecher) 52. Re: Adding a New Stereo System to ROS (Adi Shavit) 53. Re: manipulation stack problems (Gil Jones) ---------------------------------------------------------------------- Message: 1 Date: Mon, 14 Feb 2011 22:19:02 +0100 From: Felix Messmer Subject: Re: [ros-users] unable to get valid path when calling/ompl_planning/plan_kinematic_path To: ros-users Message-ID: <4D599C46.9000300@web.de> Content-Type: text/plain; charset=ISO-8859-1; format=flowed Thanks Sachin, I commented that out since I didn't know what value to set here. I guess 50.0 is a little too pessimistic...;-) Also, I opened a ticket: https://code.ros.org/trac/ros-pkg/ticket/4787 Best regards, Felix On 2011-02-14 18:20, Sachin Chitta wrote: > You have to give it some allowed planning time. Right now, planning time > will default to 0 since you have commented this line: > //req.motion_plan_request.allowed_planning_time=ros::Duration(50.0); > > The ros output for this case does need fixing though. Please open a ticket > against me to that effect. > > Regards, > Sachin > > > On Mon, Feb 14, 2011 at 4:41 AM, Felix Messmer wrote: > > > > > Dear community, > > > > I feel a little desperate since I don't know what I'm doing wrong here: > > From within our grasp_planner, I want to call the > > "/plan_kinematic_path" service from the ompl package. > > > > Here is how I set it all up: > > > > > > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > > ros::service::waitForService("/ompl_planning/plan_kinematic_path"); > > > > ros::ServiceClient client = > > > > n.serviceClient("/ompl_planning/plan_kinematic_path"); > > > > motion_planning_msgs::GetMotionPlan::Request req; > > motion_planning_msgs::GetMotionPlan::Response res; > > > > std::vector names(7); > > names[0] = "arm_1_joint"; > > names[1] = "arm_2_joint"; > > names[2] = "arm_3_joint"; > > names[3] = "arm_4_joint"; > > names[4] = "arm_5_joint"; > > names[5] = "arm_6_joint"; > > names[6] = "arm_7_joint"; > > > > > > > > req.motion_plan_request.goal_constraints.joint_constraints.resize(names.size()); > > for (unsigned int i = 0 ; i < names.size(); ++i) > > { > > > > req.motion_plan_request.goal_constraints.joint_constraints[i].joint_name > > = names[i]; > > > > req.motion_plan_request.goal_constraints.joint_constraints[i].position = > > 0.0; > > > > > > req.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_below > > = 0.1; > > > > > > req.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_above > > = 0.1; > > } > > > > //req.motion_plan_request.planner_id=""; > > req.motion_plan_request.group_name="arm"; > > req.motion_plan_request.num_planning_attempts=1; > > //req.motion_plan_request.allowed_planning_time=ros::Duration(50.0); > > > > > > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > > > > I.e. I just want a plan that brings the arm back into its home position > > at (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0). > > > > The output from the planner is the following (with Debub output): > > > > > > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > > [ INFO] [1297684313.476421959, 56.604000000]: Received request for planning > > [ INFO] [1297684313.476537217, 56.604000000]: Selected motion planner: > > 'kinematic::LBKPIECE[LBKPIECEkConfig2cob]', with priority 11 > > [DEBUG] [1297684313.476605128, 56.604000000]: No workspace bounding > > volume was set > > [ INFO] [1297684313.479051337, 56.604000000]: ompl planning for group arm > > [DEBUG] [1297684313.479230006, 56.604000000]: Start states before > > normalization 0 val 0.537644 > > [DEBUG] [1297684313.479279888, 56.604000000]: Start states before > > normalization 1 val -1.20871 > > [DEBUG] [1297684313.479314884, 56.604000000]: Start states before > > normalization 2 val 0.204787 > > [DEBUG] [1297684313.479346079, 56.604000000]: Start states before > > normalization 3 val 0.943959 > > [DEBUG] [1297684313.479377832, 56.604000000]: Start states before > > normalization 4 val -0.0503284 > > [DEBUG] [1297684313.479408952, 56.604000000]: Start states before > > normalization 5 val 0.00951776 > > [DEBUG] [1297684313.479439600, 56.604000000]: Start states before > > normalization 6 val -0.00680026 > > [DEBUG] [1297684313.479473040, 56.604000000]: Start states after > > normalization 0 val 0.537644 > > [DEBUG] [1297684313.479504849, 56.604000000]: Start states after > > normalization 1 val -1.20871 > > [DEBUG] [1297684313.479534850, 56.604000000]: Start states after > > normalization 2 val 0.204787 > > [DEBUG] [1297684313.479564637, 56.604000000]: Start states after > > normalization 3 val 0.943959 > > [DEBUG] [1297684313.479594670, 56.604000000]: Start states after > > normalization 4 val -0.0503284 > > [DEBUG] [1297684313.479625155, 56.604000000]: Start states after > > normalization 5 val 0.00951776 > > [DEBUG] [1297684313.479655881, 56.604000000]: Start states after > > normalization 6 val -0.00680026 > > [DEBUG] [1297684313.480120098, 56.604000000]: Kinematic state space > > settings: > > - dimension = 7 > > - start states: > > 0.537644 -1.20871 0.204787 0.943959 -0.0503284 0.00951776 -0.00680026 > > Goal state, threshold = 1e-12, memory address = 0x7fb9b40adb00, state = > > 0 0 0 0 0 0 0 > > Joint constraints: > > [-0.1, 0.1] [-0.1, 0.1] [-0.1, 0.1] [-0.1, 0.1] [-0.1, 0.1] [-0.1, 0.1] > > [-0.1, 0.1] > > - bounding box: > > [-2.957, 2.957](0.05914) [-2.0843, 2.0843](0.041686) [-2.957, > > 2.957](0.05914) [-2.0843, 2.0843](0.041686) [-2.957, 2.957](0.05914) > > [-2.0844, 2.0844](0.0416879) [-2.957, 2.957](0.05914) > > Path constraints: > > 0 kinematic constraints > > > > > > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > > > > > > What irritates me is that "Ompl says ok".......because it's not...=) > > Still the solution trajectory is empty and the error_code.val is 0. > > > > > > I can use the "/plan_kinematic_path" service successfully when it is > > called from within the move_arm_action! > > But since I don't want the robot to move at this point, I just want to > > call the planner and execute the trajectory later. > > I also checked how the move_arm_action_server sets up the > > /plan_kinematic_path request and I couldn't find a difference. > > > > Is there anything that I missed while setting the request? > > How else can I get the solution trajectory to a joint_goal without > > executing the movement? > > > > Thanks for your help! > > > > > > > > Best, > > Felix > > > > _______________________________________________ > > ros-users mailing list > > ros-users@code.ros.org > > https://code.ros.org/mailman/listinfo/ros-users > > > > > > -- > Sachin Chitta > Research Scientist > Willow Garage > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > ------------------------------ Message: 2 Date: Mon, 14 Feb 2011 14:39:32 -0800 (PST) From: blueskin Subject: Re: [ros-users] swissranger_camera package not found To: ros-users@code.ros.org Message-ID: <1297723172415-2496662.post@n3.nabble.com> Content-Type: text/plain; charset=us-ascii Hello Rodrigo, I've been working with Kinect for sometime so forgot about the SR4000, Anyways, i run the following roslaunch swissranger_camera sr_usb.launch and I get [ INFO] [1297720701.371263065]: [SwissRanger device::open] Number of images available: 3 [ INFO] [1297720701.371430408]: [] Connected to device with ID: 3D-SR4000 [ INFO] [1297720701.371476069]: [] libmesasr version: 1.0.14.653 Then I run rosrun rviz rviz, then changing some settings gives me the PointCloud data and intensity image. Thank you. That was helpful. Best, CV -- View this message in context: http://ros-users.122217.n3.nabble.com/swissranger-camera-package-not-found-tp2230173p2496662.html Sent from the ROS-Users mailing list archive at Nabble.com. ------------------------------ Message: 3 Date: Mon, 14 Feb 2011 14:52:53 -0800 (PST) From: kadir Subject: [ros-users] omniwheel design in urdf To: ros-users@code.ros.org Message-ID: <1297723973145-2496778.post@n3.nabble.com> Content-Type: text/plain; charset=us-ascii Hi everyone, Do you know any ros-package including an omni-wheel urdf? Or does anyone happen to design an omniwheel in urdf? I just don't want to re-invent the wheel :) By the way, what I mean by omni-wheel is the one having a main wheel and several roller wheels -mostly perpendicularly aligned-. Like the ones on the robotino platform. I don't prefer using two motors for each wheel that can imitate an omniwheel (=omni-drive) or changing the friction properties of the surfaces in gazebo. These are some of the tricks that I'm aware of. Thanks... -Kadir- -- View this message in context: http://ros-users.122217.n3.nabble.com/omniwheel-design-in-urdf-tp2496778p2496778.html Sent from the ROS-Users mailing list archive at Nabble.com. ------------------------------ Message: 4 Date: Mon, 14 Feb 2011 15:26:54 -0800 From: Melonee Wise Subject: Re: [ros-users] understanding ros topic tutorial teleop_key problem To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hey Joe- I recently moved turtle_teleop_key from the turtle_teleop package to turtlesim which is probably the problem you're seeing.. you found the correct solution, the debs were just out of date. -Melonee On Thu, Feb 10, 2011 at 12:39 AM, joe wrote: > > hiya, > > very new to ROS installed on Ubu 10.10, ros cturtle as per install > instructions. > > Fresh install of ROS, roswtf no issues > > working through tutorials fine until I get to > > understanding ros topic > > > We'll also need something to drive the turtle around with. Please run > in a new terminal: > > $ rosrun turtlesim turtle_teleop_key > > get following error > > [rosrun] Couldn't find executable named turtle_teleop_key below > /opt/ros/cturtle/stacks/ros_tutorials/turtlesim > > > > played around, searched for a bit and found...... > > http://www.ros.org/wiki/turtle_teleop > http://www.ros.org/wiki/turtle_teleop > > (1) rosdep install turtle_teleop > (2) roscd turtle_teleop > (3) roslaunch launch/turtle_keyboard.launch > > this seems to work.....with turtlesim > > am I doing something obviously wrong, it's just I found alot of the robot > frameworks seem to have broken dependencies on Maverick, or tutorials are > out of date and it affects uptake. > > Thanks > > Dave > > > > > > > > > -- > View this message in context: > http://ros-users.122217.n3.nabble.com/understanding-ros-topic-tutorial-teleop-key-problem-tp2464622p2464622.html > Sent from the ROS-Users mailing list archive at Nabble.com. > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- Senior Engineer Intern Program Director Willow Garage 68 Willow Rd. Menlo Park, Ca 94025 -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110214/f406682e/attachment.html ------------------------------ Message: 5 Date: Mon, 14 Feb 2011 18:47:53 -0600 From: William Woodall Subject: [ros-users] Build Architecture Question To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" So I have been working on using IRI's segway library to implement a segway driver for ROS, and I have run into a situation where I don't know how to proceed. IRI is setting up a port of their stuff for ROS, so at this point it is more educational for me. So, the IRI segway library relies on some of their other libraries. My ROS Node depends on iri_segway_rmp200. iri_segway_rmp200 depends on iricomms and iriutils. iricomms depends on iriutils. All of the IRI stuff is in SVN and is LGPL licensed, my stuff can be considered MIT. They are setup to build dynamically linked libraries (.so on linux and .dylib on osx). The way I see it there are a few ways to approach this setup in ROS: (Maybe there is a 4th, correct setup) 1. Put a script in rosdep.yaml to (svn co; make; sudo make install) each of the libraries from IRI. - This is good because the libraries are installed and no further configuration is required, but requires root access - Also, they install Find.cmake files in the cmake shared Modules folder, which is nice 2. Create a ROS pkg for each library and use rosmake to build them, using the svn_checkout.mk make script and patches to build and install them to the pkg dir - This is nice because the libraries are contained in the ros pkg - But, you need to export cpp flags to include and link directories - How do you handle runtime dynamic linking? 3. Download/Distribute and build the libraries in your ROS pkg and statically link your node to the libraries - Doesn't allow multiple nodes to link to a single source for the libraries (build the libs for each node that uses them) So here are my questions: 1. What is the preferred method of build architecture? 2. How do you handle dynamic linking at runtime? (the .so file is in package A, and how does a binary in package B find it at runtime?) 3. How can you handle installing and referencing Find.cmake files that libraries have? (use manifext.xml's instead, is my guess) 4. What if any licensing concerns are there? (patches and static linking, etc) Sorry if some of these questions are silly, I am still learning these more complicated build systems (rosmake/cmake). Thanks, ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ William Woodall Graduate Software Engineering Auburn University w@auburn.edu wjwwood@gmail.com ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110214/006c7218/attachment-0001.htm ------------------------------ Message: 6 Date: Mon, 14 Feb 2011 17:52:36 -0800 From: Brian Gerkey Subject: Re: [ros-users] Plume Sim in ROS To: User discussions Message-ID: Content-Type: text/plain; charset=ISO-8859-1 On Sat, Feb 12, 2011 at 7:50 PM, Arkapravo Bhaumik wrote: > I have used plume sim in Player/Stage - now I want to use it in ROS. > However, I am not able to get much of a clue about installing it and using > it. The documentation: http://www.ros.org/wiki/plumesim points you at the repository for the ROS version of plumesim: http://isr-uc-ros-pkg.googlecode.com/svn/trunk/unstable/simulator_plumesim/plumesim brian. ------------------------------ Message: 7 Date: Mon, 14 Feb 2011 18:01:16 -0800 From: Brian Gerkey Subject: Re: [ros-users] Merging Player with ROS To: User discussions Message-ID: Content-Type: text/plain; charset=ISO-8859-1 On Sun, Feb 13, 2011 at 11:46 AM, Aslund wrote: > While an option is to use the ROS Player driver, then I want to avoid it. I > have already Player installed on my robot and had quite some problems with > it, which is now solved, but it scared me from doing any changes to it, so I > want to maintain the robot as it is. > My idea is to have a second computer to process the algorithms, which > communicates through Player on a local network to my robot. > I used the Publisher example from the tutorial to create a base to work > with, if I add the following lines to my CMakeLists.txt: > > include_directories(/usr/local/include/player-3.1) > link_directories(/usr/local/lib) > > then I am able to compile the example including the header file of Player ( > #include "libplayerc++/playerc++.h" ), but when I add Player functions, then > rosmake returns that there are undefined references, which could indicate > that I need a way of adding the library files into my CMakeLists.txt list. > My problem is that I do not know how to add? .so-library files into > CMakeLists.txt inorder to make the compiler able to use Player functions, I > hope someone can help me resolving this problem. I would use pkg-config to get the build flags for Player. Assuming that you're trying to build a client program against libplayerc++, do something like: include(FindPkgConfig) pkg_check_modules(PLAYERCPP REQUIRED playerc++) include_directories(${PLAYERCPP_INCLUDE_DIRS}) link_directories(${PLAYERCPP_LIBRARY_DIRS}) # Assuming that you're building an executable named foo target_link_libraries(foo ${PLAYERCPP_LIBRARIES}) Note that you may have to add /usr/local/lib/pkgconfig to your PKG_CONFIG_PATH. brian. ------------------------------ Message: 8 Date: Mon, 14 Feb 2011 18:02:19 -0800 (PST) From: rinosh1989 Subject: Re: [ros-users] Example of SLAM using mono or stere camera To: ros-users@code.ros.org Message-ID: <1297735339524-2497799.post@n3.nabble.com> Content-Type: text/plain; charset=us-ascii Could anyone tell me how to use monoslam package in vslam_sytems -- View this message in context: http://ros-users.122217.n3.nabble.com/Example-of-SLAM-using-mono-or-stere-camera-tp920634p2497799.html Sent from the ROS-Users mailing list archive at Nabble.com. ------------------------------ Message: 9 Date: Mon, 14 Feb 2011 18:06:08 -0800 From: Brian Gerkey Subject: Re: [ros-users] OS X ogre x86_64 patch To: User discussions Message-ID: Content-Type: text/plain; charset=ISO-8859-1 hi William, Thanks for the patch! Can you put it in a ticket, so we don't lose track of it? brian. On Sun, Feb 6, 2011 at 12:24 PM, William Woodall wrote: > I have managed to get ROS's ogre package to compile on OS X, which lets > ogre_tools compile and gets rviz a little closer to compiling. > I used the patch on this orgre forum post and modified a few lines in > it:?http://www.ogre3d.org/forums/viewtopic.php?f=5&t=59370 > I attached an ogre pkg patch that adds this modified patch for ogre and adds > it to the tarball_patches in the make file for the ROS package. > I have _not_ tested this patch on linux, or actually using rviz, so I don't > know if it has any adverse effects. ?I will follow up post about the linking > error I am getting with rviz soon. > Thanks, > > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > William Woodall > Graduate Software Engineering > Auburn University > w@auburn.edu > wjwwood@gmail.com > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > ------------------------------ Message: 10 Date: Mon, 14 Feb 2011 18:22:39 -0800 From: Ken Conley Subject: Re: [ros-users] Best option for communication over an unreliable link? To: User discussions Message-ID: Content-Type: text/plain; charset=ISO-8859-1 On Mon, Feb 14, 2011 at 1:01 AM, Stefan Kohlbrecher wrote: > So without going into detail, there have been approaches from > different people for different systems, but a standard approach > obviously did not emerge so far. The part of the Building Manager > project dealing with multi-robot applications sounds very good: > http://www.ros.org/wiki/Projects/Building%20Manager/Overview . Ken, > can you specify a (even if very) approximate time frame of realization > the multi-robot comms portion? We're still in an exploratory phase as the project really only started in late December. We do have a prototype infrastructure up and we plan on iterating quickly using our "turtle bots" (Create + Kinect platform). We're open to collaboration, especially to enable other's to drive their own priorities. The project page defines some of the basic infrastructure elements, though there is further breakdown necessary on the ROS infrastructure side, e.g. the wifi comm issues, etc... - Ken > Multi-robot communication is a major part of many projects (a working > solution would evaluation of ROS on our Humanoid KidSize robots > feasible for example) and it would be great to see it gaining > momentum. > > regards, > Stefan > > > > 2011/2/14 Raymond Sheh : >> ?On 13/02/2011 5:15 AM, Ken Conley wrote: >>> On Fri, Feb 11, 2011 at 4:40 PM, Raymond Sheh ?wrote: >>>> ? Hi all! >>>> >>>> We are looking at using ROS on a set of robots, which run autonomously >>>> and independently but at times require some collaboration, >>>> teleoperation, remote logging and monitoring over a link that is >>>> unreliable. I understand that ROS's network communications stack >>>> natively assumes reliable, complete connectivity so we'd need to somehow >>>> supplement its capabilities. >>> roscpp implements a UDP transport as well, so you can do roscpp-roscpp >>> unreliable. >>> >>>> Ideally, as the link degrades we'd like the ability to, depending on the >>>> data, selectively drop or buffer and detect (from both ends) what kinds >>>> of delays may be present and when the link has dropped completely so >>>> that they can react accordingly. We'd also need to have some form of QoS >>>> mechanism. >>>> >>>> Does anyone have any suggestions as to the best way of going about doing >>>> this with ROS? If there's already a quasi-standard way of doing this >>>> kind of thing within ROS we'd prefer to avoid reinventing the wheel! :-) >>>> >>>> I'm still getting up to speed with ROS (I've just come from an >>>> environment based mainly around Player, Ice and some custom >>>> error-tolerant "stuff"). My current thinking is to have each robot run >>>> completely separate ROS "clusters" (what's the collective noun for a >>>> group of computers/nodes that all talk ROS to each other?) each with an >>>> independent master. We'd then develop a node that acts as a >>>> communications relay with the ability to provide this kind of graceful >>>> degradation and QoS. The "clusters" will talk to each other via these >>>> relay nodes. One obvious downside would be that we'd lose the ability to >>>> transparently move nodes from one robot to another although given the >>>> control we need over what happens on the link I'd assume there isn't >>>> really a sensible way of keeping this completely transparent whatever we >>>> do. >>>> >>>> I notice some discussion mid last year about using foreign_relay to do a >>>> vaguely similar thing but would I be correct to conclude that the goal >>>> of foreign_relay is more to handle the unreliable link in a way that is >>>> largely transparent to the nodes involved? Would an alternative be to >>>> somehow extend foreign_relay to include the capabilities that we need? >>> foreign_relay is a relay node implemented on top of roscpp's UDP >>> transport mechanism. ?At the very least, it's a good starting point >>> for you might relay between different clusters. >>> >>> As part of our "Building Manager" project [1], we hope to investigate >>> other mean of maintaining communication between different robots over >>> wifi links, but we haven't started that particular feature >>> investigation yet and would appreciate any insight you have. >>> >>> Hope this helps, >>> Ken >>> >>> [1]: www.ros.org/wiki/Projects/Building Manager >> >> Thanks for your info! I'll have another look at the UDP transport and >> foreign_relay and I'll keep an eye on the building manager project. >> >> I'm still at the stage of getting to know what ROS can do and how it >> fits in with what we'd like to do overall - it'll be another couple of >> months at least before we're in a position to seriously implement >> something. >> >> As for insights, I've got some ideas for what to do (and not to do!) >> based on our previous experience but I am also looking around at how >> other projects have handled unreliable links and QoS issues. I'd >> appreciate any pointers that you (or anyone else for that matter) could >> offer to other projects that are worth looking at for ideas! :-) >> >> Cheers! >> >> - Raymond >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > ------------------------------ Message: 11 Date: Mon, 14 Feb 2011 21:00:11 -0600 From: William Woodall Subject: Re: [ros-users] OS X ogre x86_64 patch To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" Done. https://code.ros.org/trac/ros-pkg/ticket/4788 -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ William Woodall Graduate Software Engineering Auburn University w@auburn.edu wjwwood@gmail.com ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ On Mon, Feb 14, 2011 at 8:06 PM, Brian Gerkey wrote: > hi William, > > Thanks for the patch! Can you put it in a ticket, so we don't lose track > of it? > > brian. > > On Sun, Feb 6, 2011 at 12:24 PM, William Woodall > wrote: > > I have managed to get ROS's ogre package to compile on OS X, which lets > > ogre_tools compile and gets rviz a little closer to compiling. > > I used the patch on this orgre forum post and modified a few lines in > > it: http://www.ogre3d.org/forums/viewtopic.php?f=5&t=59370 > > I attached an ogre pkg patch that adds this modified patch for ogre and > adds > > it to the tarball_patches in the make file for the ROS package. > > I have _not_ tested this patch on linux, or actually using rviz, so I > don't > > know if it has any adverse effects. I will follow up post about the > linking > > error I am getting with rviz soon. > > Thanks, > > > > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > > William Woodall > > Graduate Software Engineering > > Auburn University > > w@auburn.edu > > wjwwood@gmail.com > > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > > > > _______________________________________________ > > ros-users mailing list > > ros-users@code.ros.org > > https://code.ros.org/mailman/listinfo/ros-users > > > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110214/3e2fc6bb/attachment-0001.htm ------------------------------ Message: 12 Date: Mon, 14 Feb 2011 23:11:56 -0500 From: Rich Mattes Subject: Re: [ros-users] Merging Player with ROS To: ros-users@code.ros.org Message-ID: <4D59FD0C.9030707@gmail.com> Content-Type: text/plain; charset=ISO-8859-1; format=flowed On 02/14/2011 09:01 PM, Brian Gerkey wrote: > On Sun, Feb 13, 2011 at 11:46 AM, Aslund wrote: >> While an option is to use the ROS Player driver, then I want to avoid it. I >> have already Player installed on my robot and had quite some problems with >> it, which is now solved, but it scared me from doing any changes to it, so I >> want to maintain the robot as it is. >> My idea is to have a second computer to process the algorithms, which >> communicates through Player on a local network to my robot. >> I used the Publisher example from the tutorial to create a base to work >> with, if I add the following lines to my CMakeLists.txt: >> >> include_directories(/usr/local/include/player-3.1) >> link_directories(/usr/local/lib) >> >> then I am able to compile the example including the header file of Player ( >> #include "libplayerc++/playerc++.h" ), but when I add Player functions, then >> rosmake returns that there are undefined references, which could indicate >> that I need a way of adding the library files into my CMakeLists.txt list. >> My problem is that I do not know how to add .so-library files into >> CMakeLists.txt inorder to make the compiler able to use Player functions, I >> hope someone can help me resolving this problem. > I would use pkg-config to get the build flags for Player. Assuming > that you're trying to build a client program against libplayerc++, do > something like: > > include(FindPkgConfig) > pkg_check_modules(PLAYERCPP REQUIRED playerc++) > include_directories(${PLAYERCPP_INCLUDE_DIRS}) > link_directories(${PLAYERCPP_LIBRARY_DIRS}) > # Assuming that you're building an executable named foo > target_link_libraries(foo ${PLAYERCPP_LIBRARIES}) > > Note that you may have to add /usr/local/lib/pkgconfig to your PKG_CONFIG_PATH. > > brian. > If you're using cmake, you may also find the following helpful: http://playerstage.sourceforge.net/wiki/Player_and_CMake http://playerstage.sourceforge.net/wiki/Compiling_Player_3_clients_and_plugins Rich ------------------------------ Message: 13 Date: Mon, 14 Feb 2011 20:19:29 -0800 From: Ken Conley Subject: Re: [ros-users] Build Architecture Question To: User discussions Message-ID: Content-Type: text/plain; charset=ISO-8859-1 Howdy everyone, William has agreed to be the guinea pig for our new answers.ros.org site that Tully and Melonee put together. It's based on an open-source, Stack Overflow-style system. Please follow up on this thread here: http://answers.ros.org/question/9/build-architecture-question Answer/vote/tag to your delight! cheers, Ken On Mon, Feb 14, 2011 at 4:47 PM, William Woodall wrote: > So I have been working on using IRI's segway library to implement a segway > driver for ROS, and I have run into a situation where I don't know how to > proceed. > IRI is setting up a port of their stuff for ROS, so at this point it is more > educational for me. > > So, the IRI segway library relies on some of their other libraries. > My ROS Node depends on iri_segway_rmp200. > iri_segway_rmp200 depends on iricomms and iriutils. > iricomms depends on iriutils. > All of the IRI stuff is in SVN and is LGPL licensed, my stuff can be > considered MIT. ?They are setup to build dynamically linked libraries (.so > on linux and .dylib on osx). > The way I see it there are a few ways to approach this setup in ROS: (Maybe > there is a 4th, correct setup) > > Put a script in rosdep.yaml to (svn co; make; sudo make install) each of the > libraries from IRI. > > This is good because the libraries are installed and no further > configuration is required, but requires root access > Also, they install Find.cmake files in the cmake shared Modules folder, > which is nice > > Create a ROS pkg for each library and use rosmake to build them, using the > svn_checkout.mk make script and patches to build and install them to the pkg > dir > > This is nice because the libraries are contained in the ros pkg > But, you need to export cpp flags to include and link directories > How do you handle runtime dynamic linking? > > Download/Distribute and build the libraries in your ROS pkg and statically > link your node to the libraries > > Doesn't allow multiple nodes to link to a single source for the libraries > (build the libs for each node that uses them) > > So here are my questions: > > What is the preferred method of build architecture? > How do you handle dynamic linking at runtime? (the .so file is in package A, > and how does a binary in package B find it at runtime?) > How can you handle installing and referencing Find.cmake files that > libraries have? (use manifext.xml's instead, is my guess) > What if any licensing concerns are there? (patches and static linking, etc) > > Sorry if some of these questions are silly, I am still learning these more > complicated build systems (rosmake/cmake). > Thanks, > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > William Woodall > Graduate Software Engineering > Auburn University > w@auburn.edu > wjwwood@gmail.com > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > ------------------------------ Message: 14 Date: Mon, 14 Feb 2011 22:43:44 -0800 From: Wim Meeussen Subject: Re: [ros-users] How to use wiimote as an imu for robot_pose_ekf To: User discussions Message-ID: Content-Type: text/plain; charset=ISO-8859-1 > Hi, I'm trying to do the same thing - I'm trying to combine the wiimote IMU > data with visual odometry from the vslam package. ?I've tried all the > troubleshooting tips and I still can't figure out. ?As Alessio mentioned, I > had to remap imu_data to imu/data in the robot_pose_ekf package. ?Here's my > output when I run the script wtf.py in the robot_pose_ekf package. > > ?* Odometry sensor > ? - is NOT active > ? - received 0 messages > ? - listens to topic > ?* IMU sensor > ? - is NOT active > ? - received 1569 messages > ? - listens to topic /imu/data > ?* Visual Odometry sensor > ? - is NOT active > ? - received 62 messages > ? - listens to topic /vo > Output: > ?* Robot pose ekf filter > ? - is active > ? - sent 20 messages > ? - pulishes on topics /robot_pose_ekf/odom_combined and /tf The filter is active, which means that at some point one or more of your sensors were active too. The robot pose ekf automatically enables sensors when new data is received, and disables them when not data is received in a time interval specified by the "sensor_timeout" parameter. I think your sensors are getting activated and deactivated all the time. You should get lots of useful information in rxconsole, just try to run the robot pose ekf with rxconsole on. Hope this helps, Wim -- Wim Meeussen Willow Garage Inc. Subject: [ros-users] flicker of gazebo world display area To: ros-users@code.ros.org Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hello, everyone! My video card is ATI radeon 4350, and the driver is working very well. When I "launch gazebo_worlds empty_world.launch" the problem come out. There are not error even warning. The world display area of gazebo is flickering. So what is the problem and how can I fix it? Thanks for your time! Best regards! -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/7b9856e2/attachment-0001.htm ------------------------------ Message: 16 Date: Mon, 14 Feb 2011 23:36:55 -0800 From: Mrinal Kalakrishnan Subject: Re: [ros-users] flicker of gazebo world display area To: User discussions Message-ID: Content-Type: text/plain; charset=ISO-8859-1 Hi Shujun, This is a common problem when running compiz. Try turning it off (on Ubuntu: System -> Preferences -> Appearance -> Visual Effects -> None). Others have recommended running "unset LIBGL_ALWAYS_INDIRECT" before starting rviz, but I haven't tested this. Hope this helps, Mrinal On Mon, Feb 14, 2011 at 11:12 PM, shujun gong wrote: > > Hello, everyone! > > My video card is ATI radeon 4350, and the driver is working very well. > > When I "launch gazebo_worlds empty_world.launch" the problem come out. There > are not error even warning. The world display area of gazebo is flickering. > So what is the problem and how can I fix it? > > Thanks for your time! > > Best regards! > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > ------------------------------ Message: 17 Date: Mon, 14 Feb 2011 23:49:01 -0800 (PST) From: Zhiping Subject: Re: [ros-users] Dynamic updating map for move_base To: ros-users@code.ros.org Message-ID: <1297756141050-2499044.post@n3.nabble.com> Content-Type: text/plain; charset=us-ascii Thanks for the advice. I tried to edit the Move_base.launch by replacing this statement from to The program works very well initally but over time the system just crash. I was wondering whether it's because of the laptop limitation ? My current laptop spec is core2 Duo with 2G ram and 128mb dedicated graphic card with thanks, Zhiping -- View this message in context: http://ros-users.122217.n3.nabble.com/Dynamic-updating-map-for-move-base-tp2492865p2499044.html Sent from the ROS-Users mailing list archive at Nabble.com. ------------------------------ Message: 18 Date: Tue, 15 Feb 2011 16:30:41 +0800 From: Nutan Chen Subject: [ros-users] (no subject) To: ros-users@code.ros.org Message-ID: Content-Type: text/plain; charset="iso-8859-1" hi, can i ask question there? -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/e001af79/attachment-0001.htm ------------------------------ Message: 19 Date: Tue, 15 Feb 2011 09:58:19 +0100 From: Aslund Subject: Re: [ros-users] Merging Player with ROS To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hey Yesterday I figured out how to use target_link_libraries to add libraries, but only one library at the time. A great thanks to Brian's CMake style approach, just what I seeked, also thanks to Rich for the links, nice with additional information of the use of CMake. Regards Sebastian On 15 February 2011 05:11, Rich Mattes wrote: > On 02/14/2011 09:01 PM, Brian Gerkey wrote: > > On Sun, Feb 13, 2011 at 11:46 AM, Aslund > wrote: > >> While an option is to use the ROS Player driver, then I want to avoid > it. I > >> have already Player installed on my robot and had quite some problems > with > >> it, which is now solved, but it scared me from doing any changes to it, > so I > >> want to maintain the robot as it is. > >> My idea is to have a second computer to process the algorithms, which > >> communicates through Player on a local network to my robot. > >> I used the Publisher example from the tutorial to create a base to work > >> with, if I add the following lines to my CMakeLists.txt: > >> > >> include_directories(/usr/local/include/player-3.1) > >> link_directories(/usr/local/lib) > >> > >> then I am able to compile the example including the header file of > Player ( > >> #include "libplayerc++/playerc++.h" ), but when I add Player functions, > then > >> rosmake returns that there are undefined references, which could > indicate > >> that I need a way of adding the library files into my CMakeLists.txt > list. > >> My problem is that I do not know how to add .so-library files into > >> CMakeLists.txt inorder to make the compiler able to use Player > functions, I > >> hope someone can help me resolving this problem. > > I would use pkg-config to get the build flags for Player. Assuming > > that you're trying to build a client program against libplayerc++, do > > something like: > > > > include(FindPkgConfig) > > pkg_check_modules(PLAYERCPP REQUIRED playerc++) > > include_directories(${PLAYERCPP_INCLUDE_DIRS}) > > link_directories(${PLAYERCPP_LIBRARY_DIRS}) > > # Assuming that you're building an executable named foo > > target_link_libraries(foo ${PLAYERCPP_LIBRARIES}) > > > > Note that you may have to add /usr/local/lib/pkgconfig to your > PKG_CONFIG_PATH. > > > > brian. > > > > If you're using cmake, you may also find the following helpful: > > http://playerstage.sourceforge.net/wiki/Player_and_CMake > > http://playerstage.sourceforge.net/wiki/Compiling_Player_3_clients_and_plugins > > Rich > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/be11e64a/attachment-0001.htm ------------------------------ Message: 20 Date: Tue, 15 Feb 2011 09:00:16 +0000 From: "Asghari Oskoei, Mohammadreza" Subject: [ros-users] stereo proc To: User discussions Message-ID: Content-Type: text/plain; charset="us-ascii" Hi, I run stereo_image_proc by It crashes and returns the below message when I attempt to view the images by stereo_view process[stereo/stereo_image_proc-1]: started with pid [6045] stereo_image_proc: /tmp/buildd/ros-diamondback-vision-opencv-1.4.0/debian/ros-diamondback-vision-opencv/opt/ros/diamondback/stacks/vision_opencv/image_geometry/include/image_geometry/pinhole_camera_model.h:288: std::string image_geometry::PinholeCameraModel::tfFrame() const: Assertion `initialized()' failed. [stereo/stereo_image_proc-1] process has died [pid 6045, exit code -6]. log files: /home/reza/.ros/log/967559ac-38dd-11e0-bc77-00808288094c/stereo/stereo_image_proc-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done Reza, -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/3191203e/attachment-0001.htm ------------------------------ Message: 21 Date: Tue, 15 Feb 2011 17:01:22 +0800 From: Nutan Chen Subject: [ros-users] a problem about rosrun rviz rviz--kinect&openni To: ros-users@code.ros.org Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hi, I have some problems to ask your help! I use kinect with openni. after running rosrun rviz rviz, the log shows, [ INFO] [1297759443.332189019]: Loading general config from [/home/nutan/.rviz/config] [ INFO] [1297759443.342981796]: Loading display config from [/home/nutan/.rviz/display_config] [ERROR] [1297759444.477791717]: No techniques available for material [PointCloudMaterial0BillboardSphere] [ERROR] [1297759444.479695234]: No techniques available for material [PointCloudMaterial0Billboard] [ERROR] [1297759444.558933075]: No techniques available for material [PointCloudMaterial0Billboard] Although RViz appears, flashing green light on the kinect sensor(may be because the sensor is connected but it can't be verified. Then, I set the Fixed Frame to openni_depth_optical_frame, and added a Point Cloud2 display, and set the topic to /camera/depth/points2. Turning the background to light gray. In another terminal, i used rosrun image_view image_view image_view image:=/camera/rgb/image_color, and the log is, terminate called after throwing an instance of 'image_transport::TransportLoadException' what(): Unable to load plugin for transport 'image_view', error string: According to the loaded plugin descriptions the class image_transport/image_view_sub with base class type image_transport::SubscriberPlugin does not exist. Declared types are image_transport/raw_sub Aborted Please help me check the mistakes!** -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/6909b384/attachment-0001.htm ------------------------------ Message: 22 Date: Tue, 15 Feb 2011 10:55:16 +0100 From: Armin Hornung Subject: Re: [ros-users] ROS Diamondback Release Candidate 1 To: User discussions Message-ID: <4D5A4D84.5010001@informatik.uni-freiburg.de> Content-Type: text/plain; charset=ISO-8859-1; format=flowed Hi Wim, >> I added a quick overview over the Nao humanoid to the robot portals: >> http://www.ros.org/wiki/Robots/Nao > I added the Nao to the install page > . Cool, that's a nice overview page that I haven't seen before! In fact, I was just looking for diamondback instructions yesterday to find the recommended .deb variants and couldn't find it on the default installation instructions (http://www.ros.org/wiki/ROS/Installation). Maybe it's time to put a cturtle / diamondback switch there, as it reached RC1 now? Armin -- Armin Hornung Humanoid Robots Lab, Albert-Ludwigs-Universit?t Freiburg Contact: http://www.informatik.uni-freiburg.de/~hornunga ------------------------------ Message: 23 Date: Tue, 15 Feb 2011 10:47:54 +0000 From: "Asghari Oskoei, Mohammadreza" Subject: [ros-users] stereo image sync To: User discussions Message-ID: Content-Type: text/plain; charset="us-ascii" Hi, I setup a pair of prosilica camera, in mode 640x480 in two exposure rates 5 and 0.5 , When I subscribe to their topics by either "rostopic hz /stereo/left/image_rect_color" or "rostopic hz /stereo/left/image_raw" In exposure rate 0.5, receive all messages without missing any and then it repeats again In exposure rate 5, receive just 1 message and miss other 4 messages then it repeats again I tried this in different rates and found out that I just can receive two messages (one left and one right) per second (or per ROS refresh rate), and any more messages would be missed by ROS. The other point is that when I run stereo_image_proc it crashes as soon as starting to subscribe to it by either stereo_view or face_detector. Anyone can help, please? Reza, -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/a7e7418d/attachment-0001.htm ------------------------------ Message: 24 Date: Tue, 15 Feb 2011 05:57:07 -0500 From: "liuwei@cmu.edu" Subject: [ros-users] problem when install rgbdslam To: ros-users Message-ID: Content-Type: text/plain; charset="windows-1252" Hi, when I run rosmake --rosdep-install rgbdslam, I get the problem that, /opt/ros/unstable/stacks/perception_pcl/pcl/include/pcl/common/eigen.h:238: error: request for member ?row? in ?tmp?, which is of non-class type ?int? /opt/ros/unstable/stacks/perception_pcl/pcl/include/pcl/common/eigen.h:240: error: request for member ?squaredNorm? in ?vec1?, which is of non-class type ?Eigen::Vector3f? /opt/ros/unstable/stacks/perception_pcl/pcl/include/pcl/common/eigen.h:241: error: request for member ?squaredNorm? in ?vec2?, which is of non-class type ?Eigen::Vector3f? . . . there are 55 packages need to be installed, with one falls. But when I installed it in my desktop computer a few days ago, only 54 packages is needed, and it is correctly installed. I find that eigen package caused the error. I don't know how to deal with it. Wei -- Wei Liu Research Scholar Robotics Institute NSH1202 Carnegie Mellon University -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/46a00475/attachment-0001.htm ------------------------------ Message: 25 Date: Tue, 15 Feb 2011 19:02:28 +0800 From: Nutan Chen Subject: [ros-users] rosrun rviz rviz--kinect&openni To: ros-users@code.ros.org Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hi, I have some problems to ask your help! I use kinect with openni. after running rosrun rviz rviz, the log shows, [ INFO] [1297759443.332189019]: Loading general config from [/home/nutan/.rviz/config] [ INFO] [1297759443.342981796]: Loading display config from [/home/nutan/.rviz/display_config] [ERROR] [1297759444.477791717]: No techniques available for material [PointCloudMaterial0BillboardSphere] [ERROR] [1297759444.479695234]: No techniques available for material [PointCloudMaterial0Billboard] [ERROR] [1297759444.558933075]: No techniques available for material [PointCloudMaterial0Billboard] Although RViz appears, flashing green light on the kinect sensor(may be because the sensor is connected but it can't be verified. Then, I set the Fixed Frame to openni_depth_optical_frame, and added a Point Cloud2 display, and set the topic to /camera/depth/points2. Turning the background to light gray. In another terminal, i used rosrun image_view image_view image_view image:=/camera/rgb/image_color, and the log is, terminate called after throwing an instance of 'image_transport::TransportLoadException' what(): Unable to load plugin for transport 'image_view', error string: According to the loaded plugin descriptions the class image_transport/image_view_sub with base class type image_transport::SubscriberPlugin does not exist. Declared types are image_transport/raw_sub Aborted Please help me check the mistakes!** -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/70b1ca05/attachment-0001.htm ------------------------------ Message: 26 Date: Tue, 15 Feb 2011 20:36:42 +0900 From: Taylor Veltrop Subject: Re: [ros-users] rosinstall problems on Debian To: User discussions Message-ID: <9539DC83-55C5-4E30-8DF0-82680D72D19E@veltrop.com> Content-Type: text/plain; charset="us-ascii" After upgrading to Debian 6.0 the rosinstall script works fine. The new problem is that nothing would compile: "gcc fails to compile simple program" gcc was linked to gcc-4.3 so I had to do a rm /usr/bin/gcc and ln -s / usr/bin/gcc-4.3 /usr/bin/gcc Is there a more correct way of doing this? Now things seem to be moving along. This happened with both cturtle and diamondback by the way. On Feb 15, 2011, at 12:57 AM, Willy Lambert wrote: > Debian installation is quite new and might not work on every > installation (that's why there is a WORK IN PROGRESS on top of > it ;) ). Please do not hesitate to share your problem here, you'll > receive help and you'll help Debian becoming a fully working > installation. > > Yes Squeeze is officially a stable version for a week, so now, lenny > may be (IMO) considered as an "old install". > > If you dare, I suggest you to try the next coming version of ROS > because dependencies are better managed. It is currently in a > release candidate state, so it's close to be the new newest version. > > > > > 2011/2/14 Taylor Veltrop > Ok, looks like I'll have to do a dist upgrade. > > Wow, I didn't know that squeeze was officially released! > > Thanks for the heads up Ugo! > > On Feb 14, 2011, at 9:05 PM, Ugo Cupcic wrote: > >> Hi, >> >> Yes on lenny you get python 2.5 and for this you need python 2.6 at >> least. >> >> Installing ros on lenny was a bit of a pain (well in our case). If >> you uprgade to the latest debian, then it should make your life a >> LOT easier with ROS :) >> >> Cheers, >> >> Ugo >> >> On Mon, Feb 14, 2011 at 12:00 PM, Taylor Veltrop >> wrote: >> Embarrassed to say that I can't get the newest rosinstall working >> on my machine, using Debian lenny 5.0.8 and the standard source >> based install instructions at http://www.ros.org/wiki/cturtle/Installation/Debian >> . Python version is 2.5.2. >> >> Executed: >> sudo apt-get install build-essential python-yaml cmake subversion >> wget python-setuptools >> and: >> sudo easy_install -U rosinstall >> >> When I run: >> rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=base&overlay=no >> " >> >> Here is the output: >> veltrobot:~ $ rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=ros_only&overlay=no >> " >> /usr/lib/python2.5/site-packages/rosinstall-0.5.15-py2.5.egg/ >> rosinstall/vcs/svn.py:49: Warning: 'with' will become a reserved >> keyword in Python 2.6 >> Traceback (most recent call last): >> File "/usr/bin/rosinstall", line 5, in >> pkg_resources.run_script('rosinstall==0.5.15', 'rosinstall') >> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line >> 448, in run_script >> self.require(requires)[0].run_script(script_name, ns) >> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line >> 1173, in run_script >> exec script_code in namespace, namespace >> File "/usr/bin/rosinstall", line 28, in >> >> File "/usr/lib/python2.5/site-packages/rosinstall-0.5.15- >> py2.5.egg/rosinstall/vcs/svn.py", line 49 >> with open(os.devnull, 'w') as fnull: >> ^ >> SyntaxError: invalid syntax >> >> If I download the old http://www.ros.org/rosinstall and do a >> ./rosinstall ~/ros "http://www.ros.org/rosinstalls/cturtle_base.rosinstall >> " >> then it all works out fine as it used to. >> >> I found an old thread with the same error message from an ArchLinux >> user. They fixed it by changing a python 3 symlink to a 2.7 >> symlink. That does not apply in my case. >> >> Sorry if this has been covered before, I feel like it's something >> obvious but I haven't been able to find a solution. >> >> Is Debian lenny's python the problem? >> >> >> Taylor Veltrop >> >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> >> >> >> -- >> Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com >> Software Engineer | 251 Liverpool Road | >> need a Hand? | London N1 1LX | +44 20 7700 2487 >> http://www.shadowrobot.com/hand/ @shadowrobot >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/5075025b/attachment-0001.htm ------------------------------ Message: 27 Date: Tue, 15 Feb 2011 13:08:52 +0100 From: Steven Bellens Subject: [ros-users] ccny: asctec_autopilot serial interface communication To: User discussions Message-ID: Content-Type: text/plain; charset=ISO-8859-1 Hi, Been a while since I used the asctec_autopilot node for communication with the Pelican. I build the master branch and tried to launch it, but somehow communication is not setup properly - it gives me some error about 'insufficient data' when I try to read from the Pelican. I switched back to the code I was working on last year (somewhere mid august) which works fine (/origin/sbellens). Checking the diff I see a lot of the low-level communication commands have been rewritten and header fields are added to the ROS messages. Can someone confirm whether the current code works with the Pelican helicopter? Do I have to add something in my client code to get up-to-date? I'm still using the XBee communication interface. regards, Steven ------------------------------ Message: 28 Date: Tue, 15 Feb 2011 21:15:38 +0900 From: Taylor Veltrop Subject: Re: [ros-users] rosinstall problems on Debian To: User discussions Message-ID: <8F40504B-8333-4A94-97C5-5A873782E059@veltrop.com> Content-Type: text/plain; charset="us-ascii" Correction, it was initially linked to gcc 4.4. Also, the Debian Squeeze dependencies for boost and log4cxx should be set to libboost1.42-all-dev liblog4cxx10-dev On Feb 15, 2011, at 8:36 PM, Taylor Veltrop wrote: > After upgrading to Debian 6.0 the rosinstall script works fine. > > The new problem is that nothing would compile: "gcc fails to compile > simple program" > > gcc was linked to gcc-4.3 so I had to do a rm /usr/bin/gcc and ln - > s /usr/bin/gcc-4.3 /usr/bin/gcc > Is there a more correct way of doing this? > > Now things seem to be moving along. > > This happened with both cturtle and diamondback by the way. > > On Feb 15, 2011, at 12:57 AM, Willy Lambert wrote: > >> Debian installation is quite new and might not work on every >> installation (that's why there is a WORK IN PROGRESS on top of >> it ;) ). Please do not hesitate to share your problem here, you'll >> receive help and you'll help Debian becoming a fully working >> installation. >> >> Yes Squeeze is officially a stable version for a week, so now, >> lenny may be (IMO) considered as an "old install". >> >> If you dare, I suggest you to try the next coming version of ROS >> because dependencies are better managed. It is currently in a >> release candidate state, so it's close to be the new newest version. >> >> >> >> >> 2011/2/14 Taylor Veltrop >> Ok, looks like I'll have to do a dist upgrade. >> >> Wow, I didn't know that squeeze was officially released! >> >> Thanks for the heads up Ugo! >> >> On Feb 14, 2011, at 9:05 PM, Ugo Cupcic wrote: >> >>> Hi, >>> >>> Yes on lenny you get python 2.5 and for this you need python 2.6 >>> at least. >>> >>> Installing ros on lenny was a bit of a pain (well in our case). If >>> you uprgade to the latest debian, then it should make your life a >>> LOT easier with ROS :) >>> >>> Cheers, >>> >>> Ugo >>> >>> On Mon, Feb 14, 2011 at 12:00 PM, Taylor Veltrop >>> wrote: >>> Embarrassed to say that I can't get the newest rosinstall working >>> on my machine, using Debian lenny 5.0.8 and the standard source >>> based install instructions at http://www.ros.org/wiki/cturtle/Installation/Debian >>> . Python version is 2.5.2. >>> >>> Executed: >>> sudo apt-get install build-essential python-yaml cmake subversion >>> wget python-setuptools >>> and: >>> sudo easy_install -U rosinstall >>> >>> When I run: >>> rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=base&overlay=no >>> " >>> >>> Here is the output: >>> veltrobot:~ $ rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=ros_only&overlay=no >>> " >>> /usr/lib/python2.5/site-packages/rosinstall-0.5.15-py2.5.egg/ >>> rosinstall/vcs/svn.py:49: Warning: 'with' will become a reserved >>> keyword in Python 2.6 >>> Traceback (most recent call last): >>> File "/usr/bin/rosinstall", line 5, in >>> pkg_resources.run_script('rosinstall==0.5.15', 'rosinstall') >>> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line >>> 448, in run_script >>> self.require(requires)[0].run_script(script_name, ns) >>> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line >>> 1173, in run_script >>> exec script_code in namespace, namespace >>> File "/usr/bin/rosinstall", line 28, in >>> >>> File "/usr/lib/python2.5/site-packages/rosinstall-0.5.15- >>> py2.5.egg/rosinstall/vcs/svn.py", line 49 >>> with open(os.devnull, 'w') as fnull: >>> ^ >>> SyntaxError: invalid syntax >>> >>> If I download the old http://www.ros.org/rosinstall and do a >>> ./rosinstall ~/ros "http://www.ros.org/rosinstalls/cturtle_base.rosinstall >>> " >>> then it all works out fine as it used to. >>> >>> I found an old thread with the same error message from an >>> ArchLinux user. They fixed it by changing a python 3 symlink to a >>> 2.7 symlink. That does not apply in my case. >>> >>> Sorry if this has been covered before, I feel like it's something >>> obvious but I haven't been able to find a solution. >>> >>> Is Debian lenny's python the problem? >>> >>> >>> Taylor Veltrop >>> >>> >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >>> >>> >>> -- >>> Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com >>> Software Engineer | 251 Liverpool Road | >>> need a Hand? | London N1 1LX | +44 20 7700 2487 >>> http://www.shadowrobot.com/hand/ @shadowrobot >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users > -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/de1becbd/attachment-0001.htm ------------------------------ Message: 29 Date: Tue, 15 Feb 2011 13:20:22 +0100 From: "Yilmaz B?nyamin" Subject: [ros-users] Converting PointCloud to LaserScan To: ros community Message-ID: Content-Type: text/plain; charset=iso-8859-1 Hello, i want to convert PointCloud to LaserScan. I have a Topic wich publishs point cloud. if i try to make a map like this: rosrun gmapping slam_gmapping scan:=point_cloud i become a warning: [WARN] 1297772305.065463: Could not process inbound connection: topic types do not match: [sensor_msgs/LaserScan] vs. [sensor_msgs/PointCloud]{'topic': '/point_cloud', 'tcp_nodelay': '0', 'md5sum': '90c7ef2dc6895d81024acba2ac42f369', 'type': 'sensor_msgs/LaserScan', 'callerid': '/slam_gmapping'} So now i want convert pointcloud to laserscan. Or if there is another way to make a map, with pointcloud? Greetings, B?nyamin ------------------------------ Message: 30 Date: Tue, 15 Feb 2011 12:34:00 +0000 From: Ugo Cupcic Subject: Re: [ros-users] Converting PointCloud to LaserScan To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hi, I think you can use this to convert from pointcloud to laserscan http://www.ros.org/wiki/pointcloud_to_laserscan Cheers, Ugo 2011/2/15 "Yilmaz B?nyamin" > Hello, > i want to convert PointCloud to LaserScan. > I have a Topic wich publishs point cloud. > if i try to make a map like this: > > rosrun gmapping slam_gmapping scan:=point_cloud > > i become a warning: > [WARN] 1297772305.065463: Could not process inbound connection: topic types > do not match: [sensor_msgs/LaserScan] vs. [sensor_msgs/PointCloud]{'topic': > '/point_cloud', 'tcp_nodelay': '0', 'md5sum': > '90c7ef2dc6895d81024acba2ac42f369', 'type': 'sensor_msgs/LaserScan', > 'callerid': '/slam_gmapping'} > > So now i want convert pointcloud to laserscan. Or if there is another way to make a map, with pointcloud? > > Greetings, > B?nyamin > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com Software Engineer | 251 Liverpool Road | need a Hand? | London N1 1LX | +44 20 7700 2487 http://www.shadowrobot.com/hand/ @shadowrobot -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/393f6841/attachment-0001.htm ------------------------------ Message: 31 Date: Tue, 15 Feb 2011 13:46:17 +0100 From: Willy Lambert Subject: Re: [ros-users] rosinstall problems on Debian To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" I agree with boost, I don't know what is stated for log4cxx but what you suggest seems correct. I'll post a patch for it tonight 2011/2/15 Taylor Veltrop > Correction, it was initially linked to gcc 4.4. > > Also, the Debian Squeeze dependencies for boost and log4cxx should be set > to libboost1.42-all-dev liblog4cxx10-dev > > > On Feb 15, 2011, at 8:36 PM, Taylor Veltrop wrote: > > After upgrading to Debian 6.0 the rosinstall script works fine. > > The new problem is that nothing would compile: "gcc fails to compile simple > program" > > gcc was linked to gcc-4.3 so I had to do a rm /usr/bin/gcc and ln -s > /usr/bin/gcc-4.3 /usr/bin/gcc > Is there a more correct way of doing this? > > Now things seem to be moving along. > > This happened with both cturtle and diamondback by the way. > > On Feb 15, 2011, at 12:57 AM, Willy Lambert wrote: > > Debian installation is quite new and might not work on every installation > (that's why there is a WORK IN PROGRESS on top of it ;) ). Please do not > hesitate to share your problem here, you'll receive help and you'll help > Debian becoming a fully working installation. > > Yes Squeeze is officially a stable version for a week, so now, lenny may be > (IMO) considered as an "old install". > > If you dare, I suggest you to try the next coming version of ROS because > dependencies are better managed. It is currently in a release candidate > state, so it's close to be the new newest version. > > > > > 2011/2/14 Taylor Veltrop > >> Ok, looks like I'll have to do a dist upgrade. >> >> Wow, I didn't know that squeeze was officially released! >> >> Thanks for the heads up Ugo! >> >> On Feb 14, 2011, at 9:05 PM, Ugo Cupcic wrote: >> >> Hi, >> >> Yes on lenny you get python 2.5 and for this you need python 2.6 at least. >> >> Installing ros on lenny was a bit of a pain (well in our case). If you >> uprgade to the latest debian, then it should make your life a LOT easier >> with ROS :) >> >> Cheers, >> >> Ugo >> >> On Mon, Feb 14, 2011 at 12:00 PM, Taylor Veltrop wrote: >> >>> Embarrassed to say that I can't get the newest rosinstall working on my >>> machine, using Debian lenny 5.0.8 and the standard source based install >>> instructions at http://www.ros.org/wiki/cturtle/Installation/Debian. >>> Python version is 2.5.2. >>> >>> Executed: >>> sudo apt-get install build-essential python-yaml cmake subversion wget >>> python-setuptools >>> and: >>> sudo easy_install -U rosinstall >>> >>> When I run: >>> rosinstall ~/ros " >>> http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=base&overlay=no >>> " >>> >>> Here is the output: >>> veltrobot:~ $ rosinstall ~/ros " >>> http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=ros_only&overlay=no >>> " >>> /usr/lib/python2.5/site-packages/rosinstall-0.5.15-py2.5.egg/rosinstall/vcs/svn.py:49: >>> Warning: 'with' will become a reserved keyword in Python 2.6 >>> Traceback (most recent call last): >>> File "/usr/bin/rosinstall", line 5, in >>> pkg_resources.run_script('rosinstall==0.5.15', 'rosinstall') >>> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line 448, in >>> run_script >>> self.require(requires)[0].run_script(script_name, ns) >>> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line 1173, in >>> run_script >>> exec script_code in namespace, namespace >>> File "/usr/bin/rosinstall", line 28, in >>> >>> File >>> "/usr/lib/python2.5/site-packages/rosinstall-0.5.15-py2.5.egg/rosinstall/vcs/svn.py", >>> line 49 >>> with open(os.devnull, 'w') as fnull: >>> ^ >>> SyntaxError: invalid syntax >>> >>> If I download the old http://www.ros.org/rosinstall and do a >>> ./rosinstall ~/ros " >>> http://www.ros.org/rosinstalls/cturtle_base.rosinstall" >>> then it all works out fine as it used to. >>> >>> I found an old thread with the same error message from an ArchLinux user. >>> They fixed it by changing a python 3 symlink to a 2.7 symlink. That does >>> not apply in my case. >>> >>> Sorry if this has been covered before, I feel like it's something obvious >>> but I haven't been able to find a solution. >>> >>> Is Debian lenny's python the problem? >>> >>> >>> Taylor Veltrop >>> >>> >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >> >> >> -- >> Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com >> Software Engineer | 251 Liverpool Road | >> need a Hand? | London N1 1LX | +44 20 7700 2487 >> http://www.shadowrobot.com/hand/ @shadowrobot >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/54d3c017/attachment-0001.htm ------------------------------ Message: 32 Date: Tue, 15 Feb 2011 13:47:50 +0100 From: Willy Lambert Subject: Re: [ros-users] ROS Diamondback Release Candidate 1 To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" It's maybe a noobish question but do I need to do something special to switch from a Beta installation to RC1 ? I tried a rosinstall ~/ros and it didn't seem to have changed anything 2011/2/15 Armin Hornung > Hi Wim, > >> I added a quick overview over the Nao humanoid to the robot portals: > >> http://www.ros.org/wiki/Robots/Nao > > I added the Nao to the install page > > . > > Cool, that's a nice overview page that I haven't seen before! > > In fact, I was just looking for diamondback instructions yesterday to > find the recommended .deb variants and couldn't find it on the default > installation instructions (http://www.ros.org/wiki/ROS/Installation). > Maybe it's time to put a cturtle / diamondback switch there, as it > reached RC1 now? > > Armin > > -- > Armin Hornung > Humanoid Robots Lab, Albert-Ludwigs-Universit?t Freiburg > Contact: http://www.informatik.uni-freiburg.de/~hornunga > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/458109ba/attachment-0001.htm ------------------------------ Message: 33 Date: Tue, 15 Feb 2011 14:50:25 +0200 From: Adi Shavit Subject: [ros-users] Adding a New Stereo System to ROS To: ROS Users Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hi, I am new to ROS. I have a 4 camera stereo set using 4 synchronized cameras that are not supported by ROS. This is not unlike what PR2 uses. I would like to use these camera with ROS. What is the best way to do this? 1. Do I need to write my own "driver"? That is code that interfaces with the camera APIs and publishes to ROS? 2. In that case, what do I publish? Do I give only raw image output or is there a way to publish a stereo pair? 3. Are there any examples for how to do this, e.g. from some other stereo cameras? 4. What is the easiest way to do this? As I said I am new to ROS. Thanks, Adi -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/6b2a9c7c/attachment-0001.htm ------------------------------ Message: 34 Date: Tue, 15 Feb 2011 21:10:42 +0800 (SGT) From: shahmi Subject: [ros-users] libusb-1.0.8 for OpenNI Driver Problem To: User discussions Message-ID: <958812.42669.qm@web76609.mail.sg1.yahoo.com> Content-Type: text/plain; charset="iso-8859-1" Hi, I have? a problem when installing libusb-1.0.8. This usb driver is needed for those who are using Ubuntu 10.04 aiming at installing OpenNI Kinect driver.? What could be the problem? BTW, below is the output of the command "make" in the ibusb-1.0.8 directory: shah@shah-laptop:~/Downloads/libusb-1.0.8$ ./configure --prefix=/usr && > make checking for a BSD-compatible install... /usr/bin/install -c checking whether build environment is sane... yes checking for a thread-safe mkdir -p... /bin/mkdir -p checking for gawk... gawk checking whether make sets $(MAKE)... yes checking for gcc... gcc checking whether the C compiler works... yes checking for C compiler default output file name... a.out checking for suffix of executables... checking whether we are cross compiling... no checking for suffix of object files... o checking whether we are using the GNU C compiler... yes checking whether gcc accepts -g... yes checking for gcc option to accept ISO C89... none needed checking for style of include used by make... GNU checking dependency style of gcc... gcc3 checking build system type... x86_64-unknown-linux-gnu checking host system type... x86_64-unknown-linux-gnu checking for a sed that does not truncate output... /bin/sed checking for grep that handles long lines and -e... /bin/grep checking for egrep... /bin/grep -E checking for fgrep... /bin/grep -F checking for ld used by gcc... /usr/bin/ld checking if the linker (/usr/bin/ld) is GNU ld... yes checking for BSD- or MS-compatible name lister (nm)... /usr/bin/nm -B checking the name lister (/usr/bin/nm -B) interface... BSD nm checking whether ln -s works... yes checking the maximum length of command line arguments... 1572864 checking whether the shell understands some XSI constructs... yes checking whether the shell understands "+="... yes checking for /usr/bin/ld option to reload object files... -r checking for objdump... objdump checking how to recognize dependent libraries... pass_all checking for ar... ar checking for strip... strip checking for ranlib... ranlib checking command to parse /usr/bin/nm -B output from gcc object... ok checking how to run the C preprocessor... gcc -E checking for ANSI C header files... yes checking for sys/types.h... yes checking for sys/stat.h... yes checking for stdlib.h... yes checking for string.h... yes checking for memory.h... yes checking for strings.h... yes checking for inttypes.h... yes checking for stdint.h... yes checking for unistd.h... yes checking for dlfcn.h... yes checking for objdir... .libs checking if gcc supports -fno-rtti -fno-exceptions... no checking for gcc option to produce PIC... -fPIC -DPIC checking if gcc PIC flag -fPIC -DPIC works... yes checking if gcc static flag -static works... yes checking if gcc supports -c -o file.o... yes checking if gcc supports -c -o file.o... (cached) yes checking whether the gcc linker (/usr/bin/ld -m elf_x86_64) supports shared libraries... yes checking whether -lc should be explicitly linked in... no checking dynamic linker characteristics... GNU/Linux ld.so checking how to hardcode library paths into programs... immediate checking whether stripping libraries is possible... yes checking if libtool supports shared libraries... yes checking whether to build shared libraries... yes checking whether to build static libraries... yes checking for inline... inline checking whether gcc and cc understand -c and -o together... yes checking operating system... Linux checking for clock_gettime in -lrt... yes checking sys/timerfd.h usability... yes checking sys/timerfd.h presence... yes checking for sys/timerfd.h... yes checking whether TFD_NONBLOCK is declared... yes checking whether to use timerfd for timing... yes configure: creating ./config.status config.status: creating libusb-1.0.pc config.status: creating Makefile config.status: creating libusb/Makefile config.status: creating examples/Makefile config.status: creating doc/Makefile config.status: creating doc/doxygen.cfg config.status: creating config.h config.status: config.h is unchanged config.status: executing depfiles commands config.status: executing libtool commands make? all-recursive make[1]: Entering directory `/home/shah/Downloads/libusb-1.0.8' Making all in libusb make[2]: Entering directory `/home/shah/Downloads/libusb-1.0.8/libusb' make[2]: Nothing to be done for `all'. make[2]: Leaving directory `/home/shah/Downloads/libusb-1.0.8/libusb' Making all in doc make[2]: Entering directory `/home/shah/Downloads/libusb-1.0.8/doc' make[2]: Nothing to be done for `all'. make[2]: Leaving directory `/home/shah/Downloads/libusb-1.0.8/doc' make[2]: Entering directory `/home/shah/Downloads/libusb-1.0.8' make[2]: Leaving directory `/home/shah/Downloads/libusb-1.0.8' make[1]: Leaving directory `/home/shah/Downloads/libusb-1.0.8' Thanks in advance.. -Shahmi- -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/9cb7980f/attachment-0001.htm ------------------------------ Message: 35 Date: Tue, 15 Feb 2011 14:16:28 +0100 From: "Yilmaz B?nyamin" Subject: Re: [ros-users] Converting PointCloud to LaserScan To: ros-users Message-ID: Content-Type: text/plain; charset=iso-8859-1 Ok thanks, but there is no tutorial, how to use it. How can i use it? On 2011-02-15 12:34, Ugo Cupcic wrote: > Hi, > > > I think you can use this to convert from pointcloud to laserscan > http://www.ros.org/wiki/pointcloud_to_laserscan > > Cheers, > > Ugo > > > 2011/2/15 "Yilmaz B?nyamin" > > > Hello, > > i want to convert PointCloud to LaserScan. > > I have a Topic wich publishs point cloud. > > if i try to make a map like this: > > > > rosrun gmapping slam_gmapping scan:=point_cloud > > > > i become a warning: > > [WARN] 1297772305.065463: Could not process inbound connection: topic types > > do not match: [sensor_msgs/LaserScan] vs. [sensor_msgs/PointCloud]{'topic': > > '/point_cloud', 'tcp_nodelay': '0', 'md5sum': > > '90c7ef2dc6895d81024acba2ac42f369', 'type': 'sensor_msgs/LaserScan', > > 'callerid': '/slam_gmapping'} > > > > So now i want convert pointcloud to laserscan. > > Or if there is another way to make a map, with pointcloud? > > > > Greetings, > > B?nyamin > > > > _______________________________________________ > > ros-users mailing list > > ros-users@code.ros.org > > https://code.ros.org/mailman/listinfo/ros-users > > > > > > -- > Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com > Software Engineer | 251 Liverpool Road | > need a Hand? | London N1 1LX | +44 20 7700 2487 > http://www.shadowrobot.com/hand/ @shadowrobot > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > ------------------------------ Message: 36 Date: Tue, 15 Feb 2011 14:20:29 +0100 From: Martin G?nther Subject: Re: [ros-users] Using ROS for a Delta Robot To: ros-users@code.ros.org Message-ID: <20110215142029.604a3e9b@caprica> Content-Type: text/plain; charset=ISO-8859-1 Am Sun, 13 Feb 2011 21:09:44 +0100 schrieb Wouter van Teijlingen : > Hello list, > > At the moment i'm involved in a project where we are trying to built > a Delta Robot. So i start reading the docs and tutorials and i've a > few questions. > > The kinematic model for the Delta Robot has already been developed; a > inverse and forward model is available to me. > > I'm trying to find out if i'm heading the right way. I've found a > page on the ROS wiki named 'Running arm navigation on non-PR2 arm' > [http://www.ros.org/wiki/arm_navigation/Tutorials/Running%20arm%20navigation%20on%20non-PR2%20arm] > > Is it right to say that if i implement the functions mentioned in the > article above that i can have a working Delta Robot (kinematic model, > that is)? Is there perhaps a better way? > > We are probably going with the Trio Whistle from ElmoMC for > controlling the motors. I think it's best to start with developing > the kinematic model and then implement packages for communication > with the controller. Any tips or ideas on this? I've already found a > package with CANopen support for the Elmo Harmonica > [http://www.ros.org/wiki/cob_canopen_motor] (basically the same as a > whistler)... Hello Wouter, since nobody picked up on your email, I'll try to answer it, although there are probably more qualified people on this list. I'm not quite clear what you are planning to do. I'll assume that you have some kind of gripper mounted on your Delta Robot, and that you want to be able to grasp arbitrary objects in an unstructured environment while avoiding collisions with other objects. The tutorial you mentioned assumes the following: - you have some kind of sensor that gives you a 3D point cloud of the environment (a tilting laser scanner, a Kinect, ...) - you have an URDF description of the robot After you have implemented all the stuff in the tutorial, the typical workflow is the following: - you send a joint goal (vector of desired joint positions) or position goal (in cartesian space) to move_arm - move_arm will call a motion planner, such as ompl, to plan a joint trajectory that will bring your end effector to the desired goal - the resulting trajectory will be smoothed using splines - the smoothed trajectory will be sent to the joint_trajectory_action_controller that you have to implement, to be executed on the robot. During all those steps, the information from your 3D sensor will be used to check the environment to make sure that the final trajectory will not collide with any objects in the environment (or lead to self-collisions, but that will probably not be a problem for a Delta Robot). Move_arm is commonly used to bring your end effector to a position near the object to be grasped. Next, you will have to get the grasping pipeline [1] going to actually plan and execute a grasp. Arm navigation was designed for use with a 6+ degree of freedom robotic arm, and I'm not sure how well it works for a 3 DoF Delta Robot. Perhaps somebody else could chime in on that. Regarding where to start: I would recommend developing the code for communication with your controller first. Better post a separate question for opinions on how to do that. Keep in mind that in the end, you want to pass in joint trajectories [2], and the joints should move along this trajectory. Before getting started on all the motion planning stuff, you can just generate a simple joint trajectory, for example using sin(t), to debug and test your code. In parallel, you can develop an URDF model of your robot [3]. One problem I can imagine you will run into is that a Delta Robot is a 3 DoF closed kinematic chain consisting of 9 joints, and I am not sure how well URDF can represent this at the moment; perhaps OpenRave can handle these things better [4]. Best wishes, Martin [1] http://www.ros.org/wiki/object_manipulator [2] http://www.ros.org/wiki/joint_trajectory_action [3] http://www.ros.org/wiki/urdf/Tutorials [4] http://article.gmane.org/gmane.science.robotics.ros.user/11664 -- Dipl.-Inf. Martin G?nther Universit?t Osnabr?ck Institut f?r Informatik Albrechtstr. 28 (Raum 31/503) D-49076 Osnabr?ck Telefon: +49 (0)541 969 2434 http://www.inf.uos.de/mguenthe/ ------------------------------ Message: 37 Date: Tue, 15 Feb 2011 14:16:56 +0000 From: Gon?alo Cabrita Subject: Re: [ros-users] ROS Diamondback Release Candidate 1 To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hi everyone, I've finished the first draft on the Roomba page http://www.ros.org/wiki/Robots/Roomba It still needs some stuff, I'll add some more content during the next days. Thanks for the heads up on the URDF Jeff, I'll most certainly use that! Gon?alo Cabrita ISR University of Coimbra Portugal On Tue, Feb 15, 2011 at 12:47 PM, Willy Lambert wrote: > It's maybe a noobish question but do I need to do something special to > switch from a Beta installation to RC1 ? > > I tried a rosinstall ~/ros and it didn't seem to have changed anything > > 2011/2/15 Armin Hornung > > Hi Wim, >> >> I added a quick overview over the Nao humanoid to the robot portals: >> >> http://www.ros.org/wiki/Robots/Nao >> > I added the Nao to the install page >> > . >> >> Cool, that's a nice overview page that I haven't seen before! >> >> In fact, I was just looking for diamondback instructions yesterday to >> find the recommended .deb variants and couldn't find it on the default >> installation instructions (http://www.ros.org/wiki/ROS/Installation). >> Maybe it's time to put a cturtle / diamondback switch there, as it >> reached RC1 now? >> >> Armin >> >> -- >> Armin Hornung >> Humanoid Robots Lab, Albert-Ludwigs-Universit?t Freiburg >> Contact: http://www.informatik.uni-freiburg.de/~hornunga >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/d6a76156/attachment-0001.htm ------------------------------ Message: 38 Date: Tue, 15 Feb 2011 06:22:56 -0800 From: Nathaniel Lewis Subject: Re: [ros-users] Converting PointCloud to LaserScan To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" Look at the launch files, its fairly simple to use. My only problem with it is that having a point cloud can generate multiple laser scans (I have one from a kinect for example) but this stack only supports one. I'm working on one for my own purposes at this point, I will post it to github or something when I am done. Nathaniel 2011/2/15 "Yilmaz B?nyamin" > Ok thanks, > but there is no tutorial, how to use it. > How can i use it? > > On 2011-02-15 12:34, Ugo Cupcic wrote: > > Hi, > > > > > > I think you can use this to convert from pointcloud to laserscan > > http://www.ros.org/wiki/pointcloud_to_laserscan > > > > Cheers, > > > > Ugo > > > > > > 2011/2/15 "Yilmaz B?nyamin" > > > > > Hello, > > > i want to convert PointCloud to LaserScan. > > > I have a Topic wich publishs point cloud. > > > if i try to make a map like this: > > > > > > rosrun gmapping slam_gmapping scan:=point_cloud > > > > > > i become a warning: > > > [WARN] 1297772305.065463: Could not process inbound connection: topic > types > > > do not match: [sensor_msgs/LaserScan] vs. > [sensor_msgs/PointCloud]{'topic': > > > '/point_cloud', 'tcp_nodelay': '0', 'md5sum': > > > '90c7ef2dc6895d81024acba2ac42f369', 'type': 'sensor_msgs/LaserScan', > > > 'callerid': '/slam_gmapping'} > > > > > > So now i want convert pointcloud to laserscan. > > > > Or if there is another way to make a map, with pointcloud? > > > > > > Greetings, > > > B?nyamin > > > > > > _______________________________________________ > > > ros-users mailing list > > > ros-users@code.ros.org > > > https://code.ros.org/mailman/listinfo/ros-users > > > > > > > > > > > -- > > Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com > > Software Engineer | 251 Liverpool Road | > > need a Hand? | London N1 1LX | +44 20 7700 2487 > > http://www.shadowrobot.com/hand/ @shadowrobot > > _______________________________________________ > > ros-users mailing list > > ros-users@code.ros.org > > https://code.ros.org/mailman/listinfo/ros-users > > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/97b568da/attachment-0001.htm ------------------------------ Message: 39 Date: Tue, 15 Feb 2011 15:48:04 +0100 From: Billy Okal Subject: Re: [ros-users] (no subject) To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" yes go ahead and ask, just take note of this http://www.ros.org/wiki/Support On 15 February 2011 09:30, Nutan Chen wrote: > hi, can i ask question there? > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/3adec0b8/attachment-0001.htm ------------------------------ Message: 40 Date: Tue, 15 Feb 2011 15:48:52 +0000 From: Gon?alo Cabrita Subject: Re: [ros-users] Plume Sim in ROS To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" I've added a small tutorial for downloading and installing PlumeSim, you can find it here, http://www.ros.org/wiki/plumesim/Tutorials/Download%20and%20install%20PlumeSim I'll add another tutorial soon with some example code of a robot on stage using plumesim. Hope this helps, Gon?alo Cabrita ISR University of Coimbra Portugal On Tue, Feb 15, 2011 at 1:52 AM, Brian Gerkey wrote: > On Sat, Feb 12, 2011 at 7:50 PM, Arkapravo Bhaumik > wrote: > > I have used plume sim in Player/Stage - now I want to use it in ROS. > > However, I am not able to get much of a clue about installing it and > using > > it. > > The documentation: > http://www.ros.org/wiki/plumesim > points you at the repository for the ROS version of plumesim: > > http://isr-uc-ros-pkg.googlecode.com/svn/trunk/unstable/simulator_plumesim/plumesim > > brian. > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/5ef5464f/attachment-0001.htm ------------------------------ Message: 41 Date: Tue, 15 Feb 2011 16:59:54 +0100 From: koen buys Subject: Re: [ros-users] Adding a New Stereo System to ROS To: User discussions Message-ID: Content-Type: text/plain; charset=ISO-8859-1 Hi Adi, What type of camera's do you use? We just included a patch in camera_drivers to allow for synchronized use of prosilica_cameras. My idea is also to expand my implementation to allow for a 'stereo' setup with multiple camera's. My setup typically has a larger baseline than PR2's. Koen On 15 February 2011 13:50, Adi Shavit wrote: > Hi, > ??I am new to ROS. > I have a 4?camera?stereo set using 4 synchronized cameras that are not > supported by ROS. > This is not unlike what PR2 uses. > I would like to use these camera with ROS. > What is the best way to do this? > > Do I need to write my own "driver"? That is code that interfaces with the > camera APIs and publishes to ROS? > In that case, what do I publish? Do I give only raw image output or is there > a way to publish a stereo pair? > Are there any examples for how to do this, e.g. from some other stereo > cameras? > What is the easiest way to do this??As I said I am new to ROS. > > Thanks, > Adi > > ------------------------------ Message: 42 Date: Tue, 15 Feb 2011 17:53:19 +0100 From: Willy Lambert Subject: Re: [ros-users] rosinstall problems on Debian To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" here is it : https://code.ros.org/trac/ros/ticket/3329 there is a patch in case you need it. on my computer I have liblog4cxx10-dev in ros_comm/rosdep.yml (with Diamonback), and it has been corrected here : https://code.ros.org/trac/ros/changeset/13134 I am surprised you were annoyed by this; 2011/2/15 Willy Lambert > I agree with boost, > I don't know what is stated for log4cxx but what you suggest seems correct. > I'll post a patch for it tonight > > 2011/2/15 Taylor Veltrop > > Correction, it was initially linked to gcc 4.4. >> >> Also, the Debian Squeeze dependencies for boost and log4cxx should be set >> to libboost1.42-all-dev liblog4cxx10-dev >> >> >> On Feb 15, 2011, at 8:36 PM, Taylor Veltrop wrote: >> >> After upgrading to Debian 6.0 the rosinstall script works fine. >> >> The new problem is that nothing would compile: "gcc fails to compile >> simple program" >> >> gcc was linked to gcc-4.3 so I had to do a rm /usr/bin/gcc and ln -s >> /usr/bin/gcc-4.3 /usr/bin/gcc >> Is there a more correct way of doing this? >> >> Now things seem to be moving along. >> >> This happened with both cturtle and diamondback by the way. >> >> On Feb 15, 2011, at 12:57 AM, Willy Lambert wrote: >> >> Debian installation is quite new and might not work on every installation >> (that's why there is a WORK IN PROGRESS on top of it ;) ). Please do not >> hesitate to share your problem here, you'll receive help and you'll help >> Debian becoming a fully working installation. >> >> Yes Squeeze is officially a stable version for a week, so now, lenny may >> be (IMO) considered as an "old install". >> >> If you dare, I suggest you to try the next coming version of ROS because >> dependencies are better managed. It is currently in a release candidate >> state, so it's close to be the new newest version. >> >> >> >> >> 2011/2/14 Taylor Veltrop >> >>> Ok, looks like I'll have to do a dist upgrade. >>> >>> Wow, I didn't know that squeeze was officially released! >>> >>> Thanks for the heads up Ugo! >>> >>> On Feb 14, 2011, at 9:05 PM, Ugo Cupcic wrote: >>> >>> Hi, >>> >>> Yes on lenny you get python 2.5 and for this you need python 2.6 at >>> least. >>> >>> Installing ros on lenny was a bit of a pain (well in our case). If you >>> uprgade to the latest debian, then it should make your life a LOT easier >>> with ROS :) >>> >>> Cheers, >>> >>> Ugo >>> >>> On Mon, Feb 14, 2011 at 12:00 PM, Taylor Veltrop wrote: >>> >>>> Embarrassed to say that I can't get the newest rosinstall working on my >>>> machine, using Debian lenny 5.0.8 and the standard source based install >>>> instructions at http://www.ros.org/wiki/cturtle/Installation/Debian. >>>> Python version is 2.5.2. >>>> >>>> Executed: >>>> sudo apt-get install build-essential python-yaml cmake subversion wget >>>> python-setuptools >>>> and: >>>> sudo easy_install -U rosinstall >>>> >>>> When I run: >>>> rosinstall ~/ros " >>>> http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=base&overlay=no >>>> " >>>> >>>> Here is the output: >>>> veltrobot:~ $ rosinstall ~/ros " >>>> http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=ros_only&overlay=no >>>> " >>>> /usr/lib/python2.5/site-packages/rosinstall-0.5.15-py2.5.egg/rosinstall/vcs/svn.py:49: >>>> Warning: 'with' will become a reserved keyword in Python 2.6 >>>> Traceback (most recent call last): >>>> File "/usr/bin/rosinstall", line 5, in >>>> pkg_resources.run_script('rosinstall==0.5.15', 'rosinstall') >>>> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line 448, in >>>> run_script >>>> self.require(requires)[0].run_script(script_name, ns) >>>> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line 1173, >>>> in run_script >>>> exec script_code in namespace, namespace >>>> File "/usr/bin/rosinstall", line 28, in >>>> >>>> File >>>> "/usr/lib/python2.5/site-packages/rosinstall-0.5.15-py2.5.egg/rosinstall/vcs/svn.py", >>>> line 49 >>>> with open(os.devnull, 'w') as fnull: >>>> ^ >>>> SyntaxError: invalid syntax >>>> >>>> If I download the old http://www.ros.org/rosinstall and do a >>>> ./rosinstall ~/ros " >>>> http://www.ros.org/rosinstalls/cturtle_base.rosinstall" >>>> then it all works out fine as it used to. >>>> >>>> I found an old thread with the same error message from an ArchLinux >>>> user. They fixed it by changing a python 3 symlink to a 2.7 symlink. That >>>> does not apply in my case. >>>> >>>> Sorry if this has been covered before, I feel like it's something >>>> obvious but I haven't been able to find a solution. >>>> >>>> Is Debian lenny's python the problem? >>>> >>>> >>>> Taylor Veltrop >>>> >>>> >>>> >>>> _______________________________________________ >>>> ros-users mailing list >>>> ros-users@code.ros.org >>>> https://code.ros.org/mailman/listinfo/ros-users >>>> >>>> >>> >>> >>> -- >>> Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com >>> Software Engineer | 251 Liverpool Road | >>> need a Hand? | London N1 1LX | +44 20 7700 2487 >>> http://www.shadowrobot.com/hand/ @shadowrobot >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/ea927ff2/attachment-0001.htm ------------------------------ Message: 43 Date: Tue, 15 Feb 2011 11:57:32 -0500 From: Bill Morris Subject: Re: [ros-users] ccny: asctec_autopilot serial interface communication To: User discussions Message-ID: <1297789052.2822.21.camel@kia.secret.org> Content-Type: text/plain; charset="UTF-8" I'm not at the lab at the moment, but as far as I know the master branch should be working. You may also want to look at the experimental branch which is getting closer to release. Also, I should have debian packages out by Friday. One thing to watch out for with the XBee interface is that the maximum polling frequency is lower. On Tue, 2011-02-15 at 13:08 +0100, Steven Bellens wrote: > Hi, > > Been a while since I used the asctec_autopilot node for communication > with the Pelican. I build the master branch and tried to launch it, > but somehow communication is not setup properly - it gives me some > error about 'insufficient data' when I try to read from the Pelican. I > switched back to the code I was working on last year (somewhere mid > august) which works fine (/origin/sbellens). > Checking the diff I see a lot of the low-level communication commands > have been rewritten and header fields are added to the ROS messages. > Can someone confirm whether the current code works with the Pelican > helicopter? Do I have to add something in my client code to get > up-to-date? I'm still using the XBee communication interface. > > regards, > > Steven > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users ------------------------------ Message: 44 Date: Tue, 15 Feb 2011 23:18:31 -0800 From: "MUBARACK RAHEEM ALI" Subject: Re: [ros-users] your urgent respond To: "ros-users@code.ros.org" Message-ID: Content-Type: text/plain; charset=iso-8859-1 Dear Friend, I hope and pray that I have the right person who will help me. I have interest of investing in your country as such I am making contact with you for assistance. Before the war in my country (Iraq) I deposited some funds with a Bank for safe keeping which I am looking for a partner that will help me retrieve the funds from the Bank as I cannot travel out at the moment because of my present predicaments /conditions which I will explain to you as we progress. My name is Raheem Mubarak Ali from Iraq. Late Saddam Hussein totally brought destruction / Hell and political instability to our great country and everything is practically difficult now. Please if you accept this offer of assistance you are required to give me your Name, age, occupation, country and address. I will send to you detailed information of this business if you indicate your seriousness to do the business, and also enclosing your telephone fax numbers. I promise you that this deal is valid, real and risk free. What I now need from you are as follows: 1. You should make contact with the Bank to secure the funds as I will be entrusting the business into your care. 2. You will be entitled to 30% of the total sum involved for your assistance. 3. As soon as you have the funds in your custody, we will enter a new arrangement on which sector you will invest my share of the funds in on my behalf to generate enough money for the up keep of my family in your country. 4. This project is 100% risk free, but you must keep it very secret and confidential with strong assurance that you will never let me down at all. Please note that my aim to transfer the funds to you for investment is because I want my wife and 4 kids to join you and stay under your care, hope my family will find comfort, peace and happiness once again in your country. I want to clear you about this, the funds is not from drug deal, its not from arms deals, its not government money and its not for any terrorist or illegal activity, why I am emphasizing on the confidentiality is because I don't want you to be bordered over above issues. Can you help me? Are you trustworthy? Are you capable of handling this money? Can we partner? If yes, please contact me immediately so that I will give you more details about the funds. All you need to do is to claim this money from the Company for our mutual benefits. For your assistance, you will be entitled to 30% of the total sum. You are also obliged to help/advise on the proper and most convenient way of investing this money in your country, hopefully, You will consider this request and respond positively. I expect your prompt reply and let our communication be by email as it is the safest means of communication for now because I suspect telephone lines in Iraq been connected to the US Telecommunication Network for monitoring. Regards, Raheem Mubarak Ali. ------------------------------ Message: 45 Date: Tue, 15 Feb 2011 11:01:58 -0600 From: "Jack O'Quin" Subject: Re: [ros-users] Adding a New Stereo System to ROS To: User discussions Message-ID: Content-Type: text/plain; charset=ISO-8859-1 On Tue, Feb 15, 2011 at 6:50 AM, Adi Shavit wrote: > Hi, > ??I am new to ROS. Welcome! > I have a 4?camera?stereo set using 4 synchronized cameras that are not > supported by ROS. > This is not unlike what PR2 uses. > I would like to use these camera with ROS. > What is the best way to do this? That depends on what kind of cameras they are. > Do I need to write my own "driver"? Yes, unless someone has already written one. > That is code that interfaces with the > camera APIs and publishes to ROS? Yes. > In that case, what do I publish? Do I give only raw image output or is there > a way to publish a stereo pair? There are standard ROS ways to publish stereo data. http://www.ros.org/wiki/stereo_image_proc http://www.ros.org/wiki/camera_calibration http://www.ros.org/wiki/image_pipeline > Are there any examples for how to do this, e.g. from some other stereo > cameras? http://www.ros.org/wiki/bumblebee2 http://www.ros.org/wiki/videre_stereo_cam > What is the easiest way to do this??As I said I am new to ROS. The extra ROS wrapping for publishing camera data does not involve much additional code, but does require a basic understanding of the image pipeline. So, study the interfaces and look at examples of other drivers, then ask more questions. -- ?joq ------------------------------ Message: 46 Date: Tue, 15 Feb 2011 09:08:11 -0800 From: Wim Meeussen Subject: Re: [ros-users] ROS Diamondback Release Candidate 1 To: User discussions Message-ID: Content-Type: text/plain; charset=ISO-8859-1 > I've finished the first draft on the Roomba page > http://www.ros.org/wiki/Robots/Roomba > It still needs some stuff, I'll add some more content during the next days. > Thanks for the heads up on the URDF Jeff, I'll most certainly use that! > Gon?alo Cabrita Awesome! I updated the page Wim -- -- Wim Meeussen Willow Garage Inc. Subject: Re: [ros-users] stereo image sync To: User discussions Message-ID: Content-Type: text/plain; charset=windows-1252 What do you mean that you get one message out of 5? Do you mean that you see messages on the image_raw topic but not on the output of stereo_image_proc, or does it mean that the images aren't even arriving on the image_raw topic? In any case, resource limitations of various types can cause a lower than expected frame rate: - CPU overload can cause frames to be dropped. - Insufficient lighting can cause the exposure time to be long, and the frame rate to be lower than requested. - Insufficient network bandwidth can limit how many frames get over the network (seems unlikely in your case). Hard to say more without knowing more about your system. On Tue, Feb 15, 2011 at 2:47 AM, Asghari Oskoei, Mohammadreza wrote: > > > Hi, > > I setup a pair of prosilica camera, in mode 640x480 in two exposure rates 5 > and 0.5 , > > When I subscribe to their topics by either ?rostopic hz > /stereo/left/image_rect_color? or ?rostopic hz /stereo/left/image_raw? > > > > In exposure rate 0.5, receive all messages without missing any ?and then it > repeats again > > In exposure rate 5, receive just 1 message and miss other 4 messages then it > repeats again > > > > I tried this in different rates and found out that I just can receive two > messages (one left and one right) per second (or per ROS refresh rate), and > any more messages would be missed by ROS. > > > > The other point is that when I run stereo_image_proc ?it crashes as soon as > starting to subscribe to it by either stereo_view or face_detector. > > > > Anyone can help, please? > > Reza, > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > ------------------------------ Message: 48 Date: Tue, 15 Feb 2011 13:21:38 -0500 From: garratt gallagher Subject: [ros-users] vslam installation need cturtle version To: ros-users@code.ros.org Message-ID: Content-Type: text/plain; charset="iso-8859-1" I'm trying to install vslam with cturtle via the instructions here: http://www.ros.org/wiki/vslam and I ran into a few problems. First, the unstable version of pcl is not compiling. text here: http://people.csail.mit.edu/garratt/makelogs/pclmakelog.txt Anyway, I switched to using tags/perception_pcl-0.8.0/ Then sba fails, also complaining about eigen. So I switched it to tags/vslam-0.2.2 and it compiles. It seems as though we need to start creating cturtle/diamondback install pages, which give the appropriately tagged versions. I just had to do this for my packages: http://www.ros.org/wiki/mit-ros-pkg/KinectDemos#Software_Setup I even nabbed the appropriate pictures... Garratt -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/966b7dd5/attachment-0001.htm ------------------------------ Message: 49 Date: Tue, 15 Feb 2011 20:31:38 +0200 From: Adi Shavit Subject: Re: [ros-users] Adding a New Stereo System to ROS To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hi Koen, These are the cameras I have VRMagic Multisensor Intelligent Cameras . How would you suggest I proceed? Thanks, Adi On Tue, Feb 15, 2011 at 5:59 PM, koen buys wrote: > Hi Adi, > > What type of camera's do you use? We just included a patch in > camera_drivers to allow for synchronized use of > prosilica_cameras. My idea is also to expand my implementation to > allow for a 'stereo' setup with multiple camera's. > My setup typically has a larger baseline than PR2's. > > Koen > > On 15 February 2011 13:50, Adi Shavit wrote: > > Hi, > > I am new to ROS. > > I have a 4 camera stereo set using 4 synchronized cameras that are not > > supported by ROS. > > This is not unlike what PR2 uses. > > I would like to use these camera with ROS. > > What is the best way to do this? > > > > Do I need to write my own "driver"? That is code that interfaces with the > > camera APIs and publishes to ROS? > > In that case, what do I publish? Do I give only raw image output or is > there > > a way to publish a stereo pair? > > Are there any examples for how to do this, e.g. from some other stereo > > cameras? > > What is the easiest way to do this? As I said I am new to ROS. > > > > Thanks, > > Adi > > > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/6ecbe44a/attachment-0001.htm ------------------------------ Message: 50 Date: Tue, 15 Feb 2011 20:35:22 +0200 From: Adi Shavit Subject: Re: [ros-users] Adding a New Stereo System to ROS To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hi Jack, ... more below... > I am new to ROS. > > Welcome! > Thanks! > > > I have a 4 camera stereo set using 4 synchronized cameras that are not > > supported by ROS. > > This is not unlike what PR2 uses. > > I would like to use these camera with ROS. > > What is the best way to do this? > > That depends on what kind of cameras they are. > VRMagic Multisensor Intelligent Cameras . > > > Do I need to write my own "driver"? > > Yes, unless someone has already written one. > I was afraid you'd say that. ;-) > > > What is the easiest way to do this? As I said I am new to ROS. > > The extra ROS wrapping for publishing camera data does not involve > much additional code, but does require a basic understanding of the > image pipeline. So, study the interfaces and look at examples of other > drivers, then ask more questions. > Thank you, I will. BTW, is there a "mock" camera module, that I can feed AVIs or other video to simulate a camera? This will help me with debugging and also with understanding the whole pipeline. Thanks, Adi -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/e9e15326/attachment-0001.htm ------------------------------ Message: 51 Date: Tue, 15 Feb 2011 20:37:10 +0100 From: Stefan Kohlbrecher Subject: Re: [ros-users] Adding a New Stereo System to ROS To: User discussions Message-ID: Content-Type: text/plain; charset=ISO-8859-1 Hi Adi, my group is working on a driver. Last time I checked (2 days ago ;) ) it was possible to retrieve images from 2 sensors (we only have a two-sensor system) and perform stereo calibration for the first time. It's really very basic at this point, but I'll look into getting it into some publicly accessible Repo. regards, Stefan 2011/2/15 Adi Shavit : > Hi Jack, > ?... more below... >> >> > ??I am new to ROS. >> >> Welcome! > > Thanks! > >> >> > I have a 4?camera?stereo set using 4 synchronized cameras that are not >> > supported by ROS. >> > This is not unlike what PR2 uses. >> > I would like to use these camera with ROS. >> > What is the best way to do this? >> >> That depends on what kind of cameras they are. > > VRMagic Multisensor Intelligent Cameras. > >> >> > Do I need to write my own "driver"? >> >> Yes, unless someone has already written one. > > I was afraid you'd say that. ;-) > >> >> > What is the easiest way to do this??As I said I am new to ROS. >> >> The extra ROS wrapping for publishing camera data does not involve >> much additional code, but does require a basic understanding of the >> image pipeline. So, study the interfaces and look at examples of other >> drivers, then ask more questions. > > Thank you, I will. > BTW, is there a "mock" camera module, that I can feed AVIs or other video to > simulate a camera? > This will help me with debugging and also with understanding the whole > pipeline. > Thanks, > Adi > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > ------------------------------ Message: 52 Date: Tue, 15 Feb 2011 21:50:09 +0200 From: Adi Shavit Subject: Re: [ros-users] Adding a New Stereo System to ROS To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hi Stefan, You mean you are working on a driver for the VRMagic camera? If so that's great. I'd be grateful if you let me know when it's ready. I'll be happy to run tests for debugging if you like. Warm regards, Adi On Tue, Feb 15, 2011 at 9:37 PM, Stefan Kohlbrecher < stefan.kohlbrecher@googlemail.com> wrote: > Hi Adi, > > my group is working on a driver. Last time I checked (2 days ago ;) ) > it was possible to retrieve images from 2 sensors (we only have a > two-sensor system) and perform stereo calibration for the first time. > It's really very basic at this point, but I'll look into getting it > into some publicly accessible Repo. > > regards, > Stefan > > 2011/2/15 Adi Shavit : > > Hi Jack, > > ... more below... > >> > >> > I am new to ROS. > >> > >> Welcome! > > > > Thanks! > > > >> > >> > I have a 4 camera stereo set using 4 synchronized cameras that are not > >> > supported by ROS. > >> > This is not unlike what PR2 uses. > >> > I would like to use these camera with ROS. > >> > What is the best way to do this? > >> > >> That depends on what kind of cameras they are. > > > > VRMagic Multisensor Intelligent Cameras. > > > >> > >> > Do I need to write my own "driver"? > >> > >> Yes, unless someone has already written one. > > > > I was afraid you'd say that. ;-) > > > >> > >> > What is the easiest way to do this? As I said I am new to ROS. > >> > >> The extra ROS wrapping for publishing camera data does not involve > >> much additional code, but does require a basic understanding of the > >> image pipeline. So, study the interfaces and look at examples of other > >> drivers, then ask more questions. > > > > Thank you, I will. > > BTW, is there a "mock" camera module, that I can feed AVIs or other video > to > > simulate a camera? > > This will help me with debugging and also with understanding the whole > > pipeline. > > Thanks, > > Adi > > > > _______________________________________________ > > ros-users mailing list > > ros-users@code.ros.org > > https://code.ros.org/mailman/listinfo/ros-users > > > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/da0dc684/attachment-0001.htm ------------------------------ Message: 53 Date: Tue, 15 Feb 2011 11:51:27 -0800 From: Gil Jones Subject: Re: [ros-users] manipulation stack problems To: User discussions Message-ID: Content-Type: text/plain; charset="iso-8859-1" Hi Ugo, To see what the current state of the environment server is you have to run an another program in the planning environment package. Here's the contents of the launch file in planning_environment/launch/display_planner_collision_model.launch: This node calls services in the environment_server and broadcasts markers with the objects. You should see a marker topic after you launch this, and a collision map topic showing the state of the collision map the environment server uses. Are you sure you are processing the kinect data through the appropriate set of self filters? You need to be filtering the robot and the attached objects out of the point cloud in order for the grasping pipeline to function. I'm attaching a couple very experimental launch files that should process the kinect data through the required pipeline to produce robot-free collision maps. Let me know how it goes. -Gil -- E. Gil Jones (gjones@willowgarage.com) Research Engineer Willow Garage, Inc. 68 Willow Road Menlo Park, CA 94025 650.475.9772 <+16504759772> On Mon, Feb 14, 2011 at 9:34 AM, Ugo Cupcic wrote: > Hi, > > Thanks for your answer. I think that I still haven't figured out how to use > the environment server properly. I still can't view the attached object. > > I pasted the rostopic info for my environment server at the end [1]. If you > have any hints to what may be the problem, they're welcome! > > Cheers, > > Ugo > > > > [1] > rosnode info /environment_server > > -------------------------------------------------------------------------------- > Node [/environment_server] > Publications: > * /environment_server/state_validity > [motion_planning_msgs/DisplayTrajectory] > * /environment_server/allowed_contact_regions_array > [visualization_msgs/MarkerArray] > * /rosout [rosgraph_msgs/Log] > * /environment_server/collision_pose > [motion_planning_msgs/DisplayTrajectory] > * /environment_server_contact_markers [visualization_msgs/Marker] > > Subscriptions: > * /collision_object [mapping_msgs/CollisionObject] > * /tf [tf/tfMessage] > * /collision_map_occ [mapping_msgs/CollisionMap] > * /attached_collision_object [mapping_msgs/AttachedCollisionObject] > * /collision_map_occ_update [mapping_msgs/CollisionMap] > * /joint_states [sensor_msgs/JointState] > > Services: > * /environment_server/tf_frames > * /environment_server/get_state_validity > * /environment_server/get_current_allowed_collision_matrix > * /environment_server/set_logger_level > * /environment_server/get_environment_safety > * /environment_server/revert_allowed_collisions > * /environment_server/get_joints_in_group > * /environment_server/get_loggers > * /environment_server/get_group_info > * /environment_server/get_execution_safety > * /environment_server/get_trajectory_validity > * /environment_server/get_collision_objects > * /environment_server/get_robot_state > * /environment_server/set_allowed_collisions > > > > On Fri, Feb 11, 2011 at 9:32 PM, Kaijen Hsiao wrote: > >> Hi Ugo, >> >> On Mon, Feb 7, 2011 at 10:20 AM, Ugo Cupcic wrote: >> > I'm not sure on which topic I should subscribe to visualize the >> > attached_object in rviz as well. (I looked at the tf but couldn't see >> any tf >> > moving with the model, once the hand has grasped the can). >> >> Just noticed this last bit in your last email. Hopefully you've >> figured it out already, but in case you haven't, you visualize >> attached objects the same way you visualize all the collision models >> that you've added to the collision environment. In our setup, the >> topic is /collision_model_markers/environment_server but yours may >> vary if you've changed your setup significantly. There's no separate >> tf frame associated with the object being broadcast. >> >> -Kaijen >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > > -- > Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com > Software Engineer | 251 Liverpool Road | > need a Hand? | London N1 1LX | +44 20 7700 2487 <+442077002487> > http://www.shadowrobot.com/hand/ @shadowrobot > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -------------- next part -------------- An HTML attachment was scrubbed... URL: /lurker/list/ros-users.html/attachments/20110215/e99c0fa6/attachment-0001.htm -------------- next part -------------- A non-text attachment was scrubbed... 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