Thank you for your response. I have tried installing HARK from
FlowDesigner and ManyEars. I'm still quite a novice at ROS and Ubuntu but
Austen S. Hagio
> Send ros-users mailing list submissions to
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>
> Today's Topics:
>
> 1. Re: roscore respawn problem (Michael Krainin)
> 2. C Turtle Alpha 3 now available (Ken Conley)
> 3. Hark (austen hagio)
> 4. visualization_common 1.1.2, visualization 1.1.2 released to
> cturtle (Josh Faust)
> 5. Re: Actuating a wheeled robot URDF model in gazebo
> (David Feil-Seifer)
> 6. PCL package (JEREMIE VERDALLE-CAZES)
> 7. Re: exception in transform listener
> (Michal.Stolba@cis.strath.ac.uk)
> 8. Problems with viewing a USB camera feed in RVIZ
> (Benoit Larochelle)
> 9. Re: Problems with viewing a USB camera feed in RVIZ (Bill Morris)
> 10. Imace center param in vslam (hudvin)
> 11. how many points in 3D cloud? (Michal.Stolba@cis.strath.ac.uk)
> 12. Re: Hark (ros_user@yahoo.co.jp)
> 13. Re: exception in transform listener (Brian Gerkey)
> 14. Re: how many points in 3D cloud? (Radu Bogdan Rusu)
> 15. Re: exception in transform listener (Tully Foote)
> 16. Re: Actuating a wheeled robot URDF model in gazebo (John Hsu)
> 17. ros_realtime 0.4.0 released to cturtle (Josh Faust)
> 18. Tilting Hokuyo (Sanja Popovic)
> 19. Re: Problems with viewing a USB camera feed in RVIZ (Josh Faust)
> 20. Re: Problems with viewing a USB camera feed in RVIZ (Rob Wheeler)
> 21. Re: roscore respawn problem (Michael Krainin)
> 22. Re: Problems with viewing a USB camera feed in RVIZ (Bill Morris)
> 23. Re: Tilting Hokuyo (Vijay Pradeep)
> 24. can't find pr2_apps? (Adam Leeper)
> 25. Re: can't find pr2_apps? (Ken Conley)
> 26. Re: can't find pr2_apps? (Jeremy Leibs)
> 27. Re: roscore respawn problem (Josh Faust)
>
>
> ----------------------------------------------------------------------
>
> Message: 1
> Date: Thu, 1 Jul 2010 13:16:55 -0700
> From: Michael Krainin <mkrainin@cs.washington.edu>
> Subject: Re: [ros-users] roscore respawn problem
> To: ros-users@code.ros.org
> Message-ID:
> <AANLkTims0Hn39fKbW7ned67WdpOwMxFLk4I_CD7ujbYN@mail.gmail.com>
> Content-Type: text/plain; charset=ISO-8859-1
>
> I'll give that a try. It may take a while since everything runs
> properly most of the time.
> -Mike
>
> > rosout dying shouldn't affect this unless it's somehow deadlocked those
> nodes... can you attach gdb to them and get traces from all their threads
> with "thread apply all bt"?
> >
> > Josh
>
>
> ------------------------------
>
> Message: 2
> Date: Thu, 1 Jul 2010 16:25:01 -0700
> From: Ken Conley <kwc@willowgarage.com>
> Subject: [ros-users] C Turtle Alpha 3 now available
> To: ros-users <ros-users@code.ros.org>
> Message-ID:
> <AANLkTinBafXAwKOdlYRJWRvg8lfdpaWNtlnuEThtNjzn@mail.gmail.com>
> Content-Type: text/plain; charset=ISO-8859-1
>
> C Turtle Alpha 3 is now available. The full announcement is here:
>
> http://www.ros.org/news/2010/07/ros-c-turtle-alpha-3-released.html
>
> We are currently having issues building binaries for Ubuntu Karmic
> 64-bit, but the other binaries are now available.
>
> -- your friendly ROS C Turtle Team
>
>
> ------------------------------
>
> Message: 3
> Date: Thu, 1 Jul 2010 17:59:33 -0700
> From: austen hagio <hagio@usc.edu>
> Subject: [ros-users] Hark
> To: ros-users@code.ros.org
> Message-ID:
> <AANLkTimq_nWQi_e1fO_N7JjojLKQ8xs_x0xRyNTrzQOc@mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> Hi,
>
> I'm interested in installing sound localization on a few robots. Is anyone
> currently running hark? If so, what hardware are you using for the
> microphone array?
>
> I'm have trouble running the python files after I make the hark. How do you
> run these python files?
>
> listener.py playerPA.py playerPA.sh player.py rangePublisher.py
> talker.py
>
> Thank you,
>
> Austen
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> ------------------------------
>
> Message: 4
> Date: Thu, 1 Jul 2010 20:55:55 -0700
> From: Josh Faust <jfaust@willowgarage.com>
> Subject: [ros-users] visualization_common 1.1.2, visualization 1.1.2
> released to cturtle
> To: ros-users@code.ros.org
> Message-ID:
> <AANLkTincqDTOBvQKfDg9Z_H3ypkbh3utSMYbU82XP8Fh@mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> These didn't make it into the alpha 3 debs unfortunately. They're mostly
> bugfix releases, but they also include a new member in the
> visualization_msgs/Marker message to fix an oversight in the MESH_RESOURCE
> marker, and support for it in rviz.
>
> For more details see the changelists:
> visualization_common:
> http://www.ros.org/wiki/visualization_common/ChangeList
> visualization: http://www.ros.org/wiki/visualization/ChangeList/1.1
>
> Josh
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>
> ------------------------------
>
> Message: 5
> Date: Fri, 2 Jul 2010 01:12:36 -0700
> From: David Feil-Seifer <david.feilseifer@gmail.com>
> Subject: Re: [ros-users] Actuating a wheeled robot URDF model in
> gazebo
> To: ros-users <ros-users@code.ros.org>
> Message-ID:
> <AANLkTikGXjYyUWsCGe6uCBxC4ZTxv63swQ17bYSKyrbv@mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> OK, I tried using the erratic model, with no luck. I got the following
> message:
>
> Node: /gazebo_1278058054452352000
> Time: 12.532000000
> Severity: Warn
> Location:
> ros/stacks/pr2_mechanism/pr2_mechanism_model/src/robot.cpp:RobotState::RobotState:170
> Published Topics: /rosout, /clock, /base_scan,
> /base_pose_ground_truth, /joint_states, /mechanism_statistics
>
> None of the joints in the robot desription matches up to a motor. The
> robot is uncontrollable.
>
> I tried adding a transmission, even though this was stated to be
> pr2-only on the wiki (see attached file), and that made the above
> error go away, but there was still no way to control the robot. While
> it was publishing a /base_pose_ground_truth topic, there was no
> subscription to anything other than /clock and /time. Is there some
> other way to defined motors in urdf for gazebo?
>
> A related question. The rear caster wheel is un-actuated. Is there any
> way for that joint to be published by default to a certain angle?
> Unless gazebo publishes an angle (which currently it will not without
> a transmission), the links will not show up in rviz. Obviously, this
> is not nearly as important, but a cosmetic issue.
>
> Thanks in advance,
> Dave
>
> On Tue, Jun 29, 2010 at 12:01 PM, John Hsu <johnhsu@willowgarage.com>
> wrote:
> > There is an erratic model in gazebo with 2dnav stack hooked up.
> > You'll need to get the unreleased wg-ros-pkg repository for this to work,
> >
> > svn co https://code.ros.org/svn/wg-ros-pkg/trunk wg-ros-pkg-unreleased
> >
> > The package is:
> >
> >
> /u/johnhsu/projects/cturtle_wg_all/wg-ros-pkg-unreleased/stacks/wg_robots_gazebo/erratic_gazebo
> >
> > This is an unreleased stack, but should be in working state:
> >
> > rosmake erratic_gazebo
> > roslaunch erratic_gazebo erratic_2dnav_demo.launch
> >
> > Let me know if you run into any issues.
> > John
> >
> >
> > On Tue, Jun 29, 2010 at 11:53 AM, David Feil-Seifer
> > <david.feilseifer@gmail.com> wrote:
> >>
> >> I am trying to make a urdf model for the pioneer 3dx robot that can be
> >> used in gazebo. The robot is a 2-wheeled diff drive robot with a singe
> >> rear caster.I have the robot visualizing correctly in rviz. However, I
> >> want this robot to be drivable. I am a little unclear from the wiki
> >> tutorials regarding gazebo and urdf on how to accomplish this? Is the
> >> GazeboRosDiffdrive node something that I could use for the pioneer as
> >> well as the erratic? What information do I need to have about the
> >> pioneer in order to make a urdf model work in gazebo?
> >> _______________________________________________
> >> 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
> >
> >
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>
> ------------------------------
>
> Message: 6
> Date: Fri, 2 Jul 2010 10:36:16 +0100
> From: JEREMIE VERDALLE-CAZES <VERDALLE-CAZESJ@cardiff.ac.uk>
> Subject: [ros-users] PCL package
> To: ros-users@code.ros.org
> Message-ID:
> <
> OF810330C0.D6388579-ON80257754.0034C224-80257754.0034C23B@cardiff.ac.uk>
>
> Content-Type: text/plain; charset="iso-8859-1"
>
> Hello,
>
> I am trainee at the Cardiff University and I am working on a 3d camera (the
> Swissranger 4000).
> So
> I am interesting in your PCL package, I am looking for an algorithm to
> track feature points (for example: points of an arm).
> Can I find this kind of alforithm? I saw there are table_object_detector
> but I don't know how to use it?
> Thanks for your comprehension.
>
> Jeremie VERDALLE-CAZES
>
> -------------- next part --------------
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>
> ------------------------------
>
> Message: 7
> Date: Fri, 2 Jul 2010 11:42:06 +0100 (BST)
> From: Michal.Stolba@cis.strath.ac.uk
> Subject: Re: [ros-users] exception in transform listener
> To: ros-users@code.ros.org
> Message-ID:
> <34017.130.159.185.96.1278067326.squirrel@webmail.cis.strath.ac.uk>
> Content-Type: text/plain;charset=iso-8859-15
>
> Hi,
>
> thanks for the reply. Gmapping is configured with <param name="odom_frame"
> value="odom_combined"/>
>
> i'm launching this configuration:
>
> <launch>
> <include file="$(find pr2_machine)/$(env ROBOT).machine" />
> <include file="$(find hi_level_navigation)/launch/slam_gmapping.xml" />
> <include file="$(find pr2_navigation_teleop)/teleop.xml" />
> <include file="$(find pr2_navigation_perception)/lasers_and_filters.xml"
> />
> <include file="$(find pr2_navigation_perception)/ground_plane.xml" />
> <include file="$(find pr2_navigation_slam)/move_base.xml" />
> </launch>
>
> where slam_gmapping.xml is:
>
> <launch>
> <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping"
> output="screen">
> <remap from="scan" to="base_scan"/>
> <param name="odom_frame" value="odom_combined"/>
> <param name="map_update_interval" value="5.0"/>
> <param name="maxUrange" value="16.0"/>
> <param name="sigma" value="0.05"/>
> <param name="kernelSize" value="1"/>
> <param name="lstep" value="0.05"/>
> <param name="astep" value="0.05"/>
> <param name="iterations" value="5"/>
> <param name="lsigma" value="0.075"/>
> <param name="ogain" value="3.0"/>
> <param name="lskip" value="0"/>
> <param name="srr" value="0.01"/>
> <param name="srt" value="0.02"/>
> <param name="str" value="0.01"/>
> <param name="stt" value="0.02"/>
> <param name="linearUpdate" value="1.0"/>
> <param name="angularUpdate" value="0.436"/>
> <param name="temporalUpdate" value="5.0"/>
> <param name="resampleThreshold" value="0.5"/>
> <param name="particles" value="80"/>
> <param name="xmin" value="-50.0"/>
> <param name="ymin" value="-50.0"/>
> <param name="xmax" value="50.0"/>
> <param name="ymax" value="50.0"/>
> <param name="delta" value="0.05"/>
> <param name="llsamplerange" value="0.01"/>
> <param name="llsamplestep" value="0.01"/>
> <param name="lasamplerange" value="0.005"/>
> <param name="lasamplestep" value="0.005"/>
> </node>
> </launch>
>
> sometimes (quite rarely) the transform is received correctly.
>
> Thanks very much,
>
> Michal
>
> > Perhaps gmapping is configured with odom_frame == base_footprint?
> >
> > brian.
> >
> > On Fri, Jun 25, 2010 at 10:32 AM, Wim Meeussen
> > <meeussen@willowgarage.com> wrote:
> >> Michal,
> >>
> >>> RESULTS: for /map to /base_footprint
> >>> Chain is: /map -> /base_footprint -> /odom_combined
> >>> Net delay ? ? avg = 0.020768: max = 0.064
> >>
> >> [...]
> >>
> >>> the only weird thing is, that in rviz the transform arrows shows like
> >>> this: /base_footprint -> /odom_combined -> /map
> >>> might this be a sign of some problem?
> >>
> >> Yes, This is most likely your problem. It appears that you have a tf
> >> publisher from map to base_footprint, and another publisher from
> >> odom_combined to base_footprint. So the base_footprint frame has two
> >> parents. ?In our setup we have amcl publish the transform from map to
> >> odom combined, and the robot pose ekf publish the transform from
> >> odom_combined to base_footprint. ?What setup are you running? Did you
> >> reconfigure amcl to publish a different tf transform?
> >>
> >> Wim
> >>
> >>
> >>
> >>
> >>
> >> --
> >> Wim Meeussen
> >> Willow Garage Inc.
> >> <http://www.willowgarage.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
> >
>
>
>
>
> ------------------------------
>
> Message: 8
> Date: Fri, 2 Jul 2010 13:27:31 +0200
> From: "Benoit Larochelle" <Benoit.Larochelle@dfki.de>
> Subject: [ros-users] Problems with viewing a USB camera feed in RVIZ
> To: <ros-users@code.ros.org>
> Message-ID: <0184BFB73BFC478B86CC06C9CAE6CB62@MBookProBenoit>
> Content-Type: text/plain; charset="iso-8859-1"
>
> Hello,
>
> I'm trying to set-up RVIZ so that I can view the feed from my USB camera. I
> am using the usb_cam package to produce the feed, but RVIZ seems to have a
> few problems reading it. I set-up the Fixed Frame to /head_camera, and Image
> Topic to /usb_cam/image_raw.
>
> 1) I get a global warning: No tf data. Actual error: Fixed Frame
> [/head_camera does not exist]. I don't know exactly what transforms and
> frames are, I just want to see my camera image (in RVIZ).
>
> 2) In the Camera section, I get a Status Error, under CameraInfo:
> CameraInfo/P resulted in an invalid position calculation (nans or infs)
>
> 3) After 15 minutes or so, RVIZ crashes with the error message:
> /opt/ros/boxturtle/ros/bin/rosrun: line 35: 304 Killed $exepath "$@" (before
> lunch, I started RVIZ and image_view and when I came back RVIZ had crashed
> and image_view was still going)
>
> 4) The image is much darker than with the package image_view
>
> Benoit
> -------------- next part --------------
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> ------------------------------
>
> Message: 9
> Date: Fri, 02 Jul 2010 07:59:59 -0400
> From: Bill Morris <morris@ee.ccny.cuny.edu>
> Subject: Re: [ros-users] Problems with viewing a USB camera feed in
> RVIZ
> To: ros-users@code.ros.org
> Message-ID: <1278071999.3570.84.camel@mia>
> Content-Type: text/plain; charset="UTF-8"
>
> On Fri, 2010-07-02 at 13:27 +0200, Benoit Larochelle wrote:
> > Hello,
> >
> > I'm trying to set-up RVIZ so that I can view the feed from my USB
> > camera. I am using the usb_cam package to produce the feed, but RVIZ
> > seems to have a few problems reading it. I set-up the Fixed Frame
> > to /head_camera, and Image Topic to /usb_cam/image_raw.
> >
> > 1) I get a global warning: No tf data. Actual error: Fixed Frame
> > [/head_camera does not exist]. I don't know exactly what transforms
> > and frames are, I just want to see my camera image (in RVIZ).
>
> A frame is a coordinate frame, in this case the local coordinate frame
> of the camera and the world coordinate frame. tf is the transform that
> allows points to be mapped from one to the other.
>
> This should explain it.
> http://www.ros.org/wiki/tf/Tutorials/Introduction%20to%20tf
>
> A static transform needs to be published between the world coordinate
> from and the camera frame. You also need to set the frame in rviz to be
> same as the one that was set in usb_cam.
> In the launch file camera_frame_id defaults to /camera.
> <param name="camera_frame_id" value="/camera"/>
> Rviz defaults to /head_camera which is probably confusing things.
>
> >
> > 2) In the Camera section, I get a Status Error, under CameraInfo:
> > CameraInfo/P resulted in an invalid position calculation (nans or
> > infs)
>
> Rviz needs a calibration matrix to process the image so that other
> sensor data can be displayed on top of the image. If you had a laser it
> could be configured to be displayed over the image.
>
> >
> > 3) After 15 minutes or so, RVIZ crashes with the error
> > message: /opt/ros/boxturtle/ros/bin/rosrun: line 35: 304 Killed
> > $exepath "$@" (before lunch, I started RVIZ and image_view and when I
> > came back RVIZ had crashed and image_view was still going)
>
> It's hard to say why it is crashing. Try a lower frame rate to see if it
> is a buffer problem.
>
> >
> > 4) The image is much darker than with the package image_view
>
> This is due to the alpha setting so that you can see other sensor
> information in the same window.
>
>
>
>
>
> ------------------------------
>
> Message: 10
> Date: Fri, 2 Jul 2010 07:04:34 -0700 (PDT)
> From: hudvin <hudvin@gmail.com>
> Subject: [ros-users] Imace center param in vslam
> To: ros-users@lists.sourceforge.net
> Message-ID: <1278079474924-938606.post@n3.nabble.com>
> Content-Type: text/plain; charset="us-ascii"
>
>
> I can't find any description for this param.
> --
> View this message in context:
> http://ros-users.122217.n3.nabble.com/Imace-center-param-in-vslam-tp938606p938606.html
> Sent from the ROS-Users mailing list archive at Nabble.com.
>
>
> ------------------------------------------------------------------------------
> This SF.net email is sponsored by Sprint
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> _______________________________________________
> ros-users mailing list
> ros-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/ros-users
>
>
> ------------------------------
>
> Message: 11
> Date: Fri, 2 Jul 2010 16:04:17 +0100 (BST)
> From: Michal.Stolba@cis.strath.ac.uk
> Subject: [ros-users] how many points in 3D cloud?
> To: ros-users@code.ros.org
> Message-ID:
> <58067.130.159.185.96.1278083057.squirrel@webmail.cis.strath.ac.uk>
> Content-Type: text/plain;charset=iso-8859-15
>
> Hi,
>
> following a tutorial on laser_pipeline:
>
> http://www.ros.org/wiki/laser_pipeline/Tutorials/IntroductionToWorkingWithLaserScannerData
>
> how do I know how many points are in the resulting 3D point cloud?
>
> Thanks,
>
> Michal
>
>
>
> ------------------------------
>
> Message: 12
> Date: Sat, 3 Jul 2010 00:46:27 +0900 (JST)
> From: <ros_user@yahoo.co.jp>
> Subject: Re: [ros-users] Hark
> To: ros-users@code.ros.org
> Message-ID: <20100702154628.86208.qmail@web4008.mail.ogk.yahoo.co.jp>
> Content-Type: text/plain; charset="iso-2022-jp"
>
> Hi, Austen
>
> I am a user of ROS hark package, and I'd like to tell you a little
> information.
> However, unfortunately, I have to tell you that current ROS hark package
> cannot work only with the files uploaded on the ROS svn.
>
> Firstly, the package needs another software called HARK.
> If you are interested, download the software from following website and
> install it on your computer.
> http://winnie.kuis.kyoto-u.ac.jp/HARK/
>
> However, the hark network file used in the ROS package uses later version
> of sound source separation and localization nodes, so even if you will
> install the latest HARK from the website, the ROS hark package will not
> work.
>
> The newest HARK software is planned to be updated within this year, and
> the HARK will have all the nodes used in the ROS package, so please wait for
> that.
> (The software is now under consideration of its license for the official
> release.)
>
> If you will still be interested in the ROS hark package after the official
> release,
> please throw some questions to this mailing list.
> (about the package usage, hardware requirement etc...)
>
> Hope this information helps.
>
> Keisuke
>
>
> austen hagio <hagio@usc.edu> wrote:
> Hi,
>
> I'm interested in installing sound localization on a few robots. Is anyone
> currently running hark? If so, what hardware are you using for the
> microphone array?
>
> I'm have trouble running the python files after I make the hark. How do you
> run these python files?
>
> listener.py� playerPA.py� playerPA.sh�
> player.py� rangePublisher.py� talker.py
>
> Thank you,
>
> Austen
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
>
>
> ---------------------------------
> 2010 FIFA World Cup News [Yahoo!Sports/sportsnavi]
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> ------------------------------
>
> Message: 13
> Date: Fri, 2 Jul 2010 09:29:37 -0700
> From: Brian Gerkey <gerkey@willowgarage.com>
> Subject: Re: [ros-users] exception in transform listener
> To: ros-users@code.ros.org
> Message-ID:
> <AANLkTim0vlDdTEcAnBQXmqkdc9yfmjXUoU_vf7ryzfg_@mail.gmail.com>
> Content-Type: text/plain; charset=ISO-8859-1
>
> hi Michal,
>
> The fact that it's only rarely received incorrectly is peculiar.
> Sounds like part of the system is occasionally, or slowly, publishing
> a conflicting transform. I would log all the tf data during a run:
> rosbag record tf
> Then search through the resulting bag for the problem. Something like
> this will pull out all the messages that declare a transform with
> base_footprint as the child:
> rosbag filter in.bag out.bag 'topic == "tf" and
> m.transforms[0].header.frame_id == "base_footprint"'
> (where in.bag should be replaced by the name of bag created by the
> record step). You can examine the filtered data with rostopic:
> rostopic echo -b out.bag tf
> Presumably, in that data stream, you'll see occasional conflicting
> declarations of the parent of base_footprint.
>
> brian.
>
> On Fri, Jul 2, 2010 at 3:42 AM, <Michal.Stolba@cis.strath.ac.uk> wrote:
> > Hi,
> >
> > thanks for the reply. Gmapping is configured with <param
> name="odom_frame"
> > value="odom_combined"/>
> >
> > i'm launching this configuration:
> >
> > <launch>
> > ?<include file="$(find pr2_machine)/$(env ROBOT).machine" />
> > ?<include file="$(find hi_level_navigation)/launch/slam_gmapping.xml" />
> > ?<include file="$(find pr2_navigation_teleop)/teleop.xml" />
> > ?<include file="$(find pr2_navigation_perception)/lasers_and_filters.xml"
> />
> > ?<include file="$(find pr2_navigation_perception)/ground_plane.xml" />
> > ?<include file="$(find pr2_navigation_slam)/move_base.xml" />
> > </launch>
> >
> > where slam_gmapping.xml is:
> >
> > <launch>
> > ? ?<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping"
> > output="screen">
> > ? ? ?<remap from="scan" to="base_scan"/>
> > ? ? ?<param name="odom_frame" value="odom_combined"/>
> > ? ? ?<param name="map_update_interval" value="5.0"/>
> > ? ? ?<param name="maxUrange" value="16.0"/>
> > ? ? ?<param name="sigma" value="0.05"/>
> > ? ? ?<param name="kernelSize" value="1"/>
> > ? ? ?<param name="lstep" value="0.05"/>
> > ? ? ?<param name="astep" value="0.05"/>
> > ? ? ?<param name="iterations" value="5"/>
> > ? ? ?<param name="lsigma" value="0.075"/>
> > ? ? ?<param name="ogain" value="3.0"/>
> > ? ? ?<param name="lskip" value="0"/>
> > ? ? ?<param name="srr" value="0.01"/>
> > ? ? ?<param name="srt" value="0.02"/>
> > ? ? ?<param name="str" value="0.01"/>
> > ? ? ?<param name="stt" value="0.02"/>
> > ? ? ?<param name="linearUpdate" value="1.0"/>
> > ? ? ?<param name="angularUpdate" value="0.436"/>
> > ? ? ?<param name="temporalUpdate" value="5.0"/>
> > ? ? ?<param name="resampleThreshold" value="0.5"/>
> > ? ? ?<param name="particles" value="80"/>
> > ? ? ?<param name="xmin" value="-50.0"/>
> > ? ? ?<param name="ymin" value="-50.0"/>
> > ? ? ?<param name="xmax" value="50.0"/>
> > ? ? ?<param name="ymax" value="50.0"/>
> > ? ? ?<param name="delta" value="0.05"/>
> > ? ? ?<param name="llsamplerange" value="0.01"/>
> > ? ? ?<param name="llsamplestep" value="0.01"/>
> > ? ? ?<param name="lasamplerange" value="0.005"/>
> > ? ? ?<param name="lasamplestep" value="0.005"/>
> > ? ?</node>
> > </launch>
> >
> > sometimes (quite rarely) the transform is received correctly.
> >
> > Thanks very much,
> >
> > Michal
> >
> >> Perhaps gmapping is configured with odom_frame == base_footprint?
> >>
> >> ? ? ? brian.
> >>
> >> On Fri, Jun 25, 2010 at 10:32 AM, Wim Meeussen
> >> <meeussen@willowgarage.com> wrote:
> >>> Michal,
> >>>
> >>>> RESULTS: for /map to /base_footprint
> >>>> Chain is: /map -> /base_footprint -> /odom_combined
> >>>> Net delay ? ? avg = 0.020768: max = 0.064
> >>>
> >>> [...]
> >>>
> >>>> the only weird thing is, that in rviz the transform arrows shows like
> >>>> this: /base_footprint -> /odom_combined -> /map
> >>>> might this be a sign of some problem?
> >>>
> >>> Yes, This is most likely your problem. It appears that you have a tf
> >>> publisher from map to base_footprint, and another publisher from
> >>> odom_combined to base_footprint. So the base_footprint frame has two
> >>> parents. ?In our setup we have amcl publish the transform from map to
> >>> odom combined, and the robot pose ekf publish the transform from
> >>> odom_combined to base_footprint. ?What setup are you running? Did you
> >>> reconfigure amcl to publish a different tf transform?
> >>>
> >>> Wim
> >>>
> >>>
> >>>
> >>>
> >>>
> >>> --
> >>> Wim Meeussen
> >>> Willow Garage Inc.
> >>> <http://www.willowgarage.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
> >>
> >
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users@code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
>
>
> ------------------------------
>
> Message: 14
> Date: Fri, 02 Jul 2010 09:32:32 -0700
> From: Radu Bogdan Rusu <rusu@willowgarage.com>
> Subject: Re: [ros-users] how many points in 3D cloud?
> To: ros-users@code.ros.org
> Message-ID: <4C2E14A0.5020009@willowgarage.com>
> Content-Type: text/plain; charset=ISO-8859-1; format=flowed
>
> Michael,
>
> If it's a PointCloud, points.size () should give you the number of points.
> If it's a PointCloud2, cloud.width *
> cloud.height does the same.
>
> Cheers,
> Radu.
>
> On 07/02/2010 08:04 AM, Michal.Stolba@cis.strath.ac.uk wrote:
> > Hi,
> >
> > following a tutorial on laser_pipeline:
> >
> http://www.ros.org/wiki/laser_pipeline/Tutorials/IntroductionToWorkingWithLaserScannerData
> >
> > how do I know how many points are in the resulting 3D point cloud?
> >
> > Thanks,
> >
> > Michal
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users@code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
>
> --
> | Radu Bogdan Rusu | http://rbrusu.com/
>
>
> ------------------------------
>
> Message: 15
> Date: Fri, 2 Jul 2010 10:01:36 -0700
> From: Tully Foote <tfoote@willowgarage.com>
> Subject: Re: [ros-users] exception in transform listener
> To: ros-users@code.ros.org
> Message-ID:
> <AANLkTiliTEg42zaxMyH5dLouDhN1vkr0MhwLbBozE59A@mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> Michal,
> I'd also suggest that you try running roswtf when things are running with
> problems. That has a tf plugin to try to help detect common problems.
>
> Tully
>
> On Fri, Jul 2, 2010 at 9:29 AM, Brian Gerkey <gerkey@willowgarage.com
> >wrote:
>
> > hi Michal,
> >
> > The fact that it's only rarely received incorrectly is peculiar.
> > Sounds like part of the system is occasionally, or slowly, publishing
> > a conflicting transform. I would log all the tf data during a run:
> > rosbag record tf
> > Then search through the resulting bag for the problem. Something like
> > this will pull out all the messages that declare a transform with
> > base_footprint as the child:
> > rosbag filter in.bag out.bag 'topic == "tf" and
> > m.transforms[0].header.frame_id == "base_footprint"'
> > (where in.bag should be replaced by the name of bag created by the
> > record step). You can examine the filtered data with rostopic:
> > rostopic echo -b out.bag tf
> > Presumably, in that data stream, you'll see occasional conflicting
> > declarations of the parent of base_footprint.
> >
> > brian.
> >
> > On Fri, Jul 2, 2010 at 3:42 AM, <Michal.Stolba@cis.strath.ac.uk> wrote:
> > > Hi,
> > >
> > > thanks for the reply. Gmapping is configured with <param
> > name="odom_frame"
> > > value="odom_combined"/>
> > >
> > > i'm launching this configuration:
> > >
> > > <launch>
> > > <include file="$(find pr2_machine)/$(env ROBOT).machine" />
> > > <include file="$(find hi_level_navigation)/launch/slam_gmapping.xml"
> />
> > > <include file="$(find pr2_navigation_teleop)/teleop.xml" />
> > > <include file="$(find
> pr2_navigation_perception)/lasers_and_filters.xml"
> > />
> > > <include file="$(find pr2_navigation_perception)/ground_plane.xml" />
> > > <include file="$(find pr2_navigation_slam)/move_base.xml" />
> > > </launch>
> > >
> > > where slam_gmapping.xml is:
> > >
> > > <launch>
> > > <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping"
> > > output="screen">
> > > <remap from="scan" to="base_scan"/>
> > > <param name="odom_frame" value="odom_combined"/>
> > > <param name="map_update_interval" value="5.0"/>
> > > <param name="maxUrange" value="16.0"/>
> > > <param name="sigma" value="0.05"/>
> > > <param name="kernelSize" value="1"/>
> > > <param name="lstep" value="0.05"/>
> > > <param name="astep" value="0.05"/>
> > > <param name="iterations" value="5"/>
> > > <param name="lsigma" value="0.075"/>
> > > <param name="ogain" value="3.0"/>
> > > <param name="lskip" value="0"/>
> > > <param name="srr" value="0.01"/>
> > > <param name="srt" value="0.02"/>
> > > <param name="str" value="0.01"/>
> > > <param name="stt" value="0.02"/>
> > > <param name="linearUpdate" value="1.0"/>
> > > <param name="angularUpdate" value="0.436"/>
> > > <param name="temporalUpdate" value="5.0"/>
> > > <param name="resampleThreshold" value="0.5"/>
> > > <param name="particles" value="80"/>
> > > <param name="xmin" value="-50.0"/>
> > > <param name="ymin" value="-50.0"/>
> > > <param name="xmax" value="50.0"/>
> > > <param name="ymax" value="50.0"/>
> > > <param name="delta" value="0.05"/>
> > > <param name="llsamplerange" value="0.01"/>
> > > <param name="llsamplestep" value="0.01"/>
> > > <param name="lasamplerange" value="0.005"/>
> > > <param name="lasamplestep" value="0.005"/>
> > > </node>
> > > </launch>
> > >
> > > sometimes (quite rarely) the transform is received correctly.
> > >
> > > Thanks very much,
> > >
> > > Michal
> > >
> > >> Perhaps gmapping is configured with odom_frame == base_footprint?
> > >>
> > >> brian.
> > >>
> > >> On Fri, Jun 25, 2010 at 10:32 AM, Wim Meeussen
> > >> <meeussen@willowgarage.com> wrote:
> > >>> Michal,
> > >>>
> > >>>> RESULTS: for /map to /base_footprint
> > >>>> Chain is: /map -> /base_footprint -> /odom_combined
> > >>>> Net delay avg = 0.020768: max = 0.064
> > >>>
> > >>> [...]
> > >>>
> > >>>> the only weird thing is, that in rviz the transform arrows shows
> like
> > >>>> this: /base_footprint -> /odom_combined -> /map
> > >>>> might this be a sign of some problem?
> > >>>
> > >>> Yes, This is most likely your problem. It appears that you have a tf
> > >>> publisher from map to base_footprint, and another publisher from
> > >>> odom_combined to base_footprint. So the base_footprint frame has two
> > >>> parents. In our setup we have amcl publish the transform from map to
> > >>> odom combined, and the robot pose ekf publish the transform from
> > >>> odom_combined to base_footprint. What setup are you running? Did you
> > >>> reconfigure amcl to publish a different tf transform?
> > >>>
> > >>> Wim
> > >>>
> > >>>
> > >>>
> > >>>
> > >>>
> > >>> --
> > >>> Wim Meeussen
> > >>> Willow Garage Inc.
> > >>> <http://www.willowgarage.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
> > >>
> > >
> > >
> > > _______________________________________________
> > > 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
> >
>
>
>
> --
> Tully Foote
> Systems Engineer
> Willow Garage, Inc.
> tfoote@willowgarage.com
> (650) 475-2827
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> ------------------------------
>
> Message: 16
> Date: Fri, 2 Jul 2010 10:13:36 -0700
> From: John Hsu <johnhsu@willowgarage.com>
> Subject: Re: [ros-users] Actuating a wheeled robot URDF model in
> gazebo
> To: ros-users@code.ros.org
> Message-ID:
> <AANLkTilrmghwCAdhDWeVw3ETMZdkmsPK2WqnELnDgRv-@mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> Hi Dave,
>
> can you post more of the console outputs? The warning you posted is to be
> expected; as there are no transmissions in the erratic setup in gazebo,
> it's
> using the gazebo_ros_diffdrive to control a differential_position2d
> controller. I am only using mechanism control stack to publish fixed
> transforms as commented in the urdf. Assuming things compiled without
> errors, the demo should bring up gazebo and rviz with an erratic in the wg
> world.
>
> In your urdf, some of the visual elements and collision elements are
> inconsistent, was it done on purpose? I've attached one with minor
> adjustments. Also, with the current setup, without a laser sensor
> publisher
> you will not be able to drive the pioneer3dx model using 2dnav stack.
>
> hope this helps,
> John
>
>
> On Fri, Jul 2, 2010 at 1:12 AM, David Feil-Seifer <
> david.feilseifer@gmail.com> wrote:
>
> > OK, I tried using the erratic model, with no luck. I got the following
> > message:
> >
> > Node: /gazebo_1278058054452352000
> > Time: 12.532000000
> > Severity: Warn
> > Location:
> >
> ros/stacks/pr2_mechanism/pr2_mechanism_model/src/robot.cpp:RobotState::RobotState:170
> > Published Topics: /rosout, /clock, /base_scan,
> > /base_pose_ground_truth, /joint_states, /mechanism_statistics
> >
> > None of the joints in the robot desription matches up to a motor. The
> > robot is uncontrollable.
> >
> > I tried adding a transmission, even though this was stated to be
> > pr2-only on the wiki (see attached file), and that made the above
> > error go away, but there was still no way to control the robot. While
> > it was publishing a /base_pose_ground_truth topic, there was no
> > subscription to anything other than /clock and /time. Is there some
> > other way to defined motors in urdf for gazebo?
> >
> > A related question. The rear caster wheel is un-actuated. Is there any
> > way for that joint to be published by default to a certain angle?
> > Unless gazebo publishes an angle (which currently it will not without
> > a transmission), the links will not show up in rviz. Obviously, this
> > is not nearly as important, but a cosmetic issue.
> >
> > Thanks in advance,
> > Dave
> >
> > On Tue, Jun 29, 2010 at 12:01 PM, John Hsu <johnhsu@willowgarage.com>
> > wrote:
> > > There is an erratic model in gazebo with 2dnav stack hooked up.
> > > You'll need to get the unreleased wg-ros-pkg repository for this to
> work,
> > >
> > > svn co https://code.ros.org/svn/wg-ros-pkg/trunk wg-ros-pkg-unreleased
> > >
> > > The package is:
> > >
> > >
> >
> /u/johnhsu/projects/cturtle_wg_all/wg-ros-pkg-unreleased/stacks/wg_robots_gazebo/erratic_gazebo
> > >
> > > This is an unreleased stack, but should be in working state:
> > >
> > > rosmake erratic_gazebo
> > > roslaunch erratic_gazebo erratic_2dnav_demo.launch
> > >
> > > Let me know if you run into any issues.
> > > John
> > >
> > >
> > > On Tue, Jun 29, 2010 at 11:53 AM, David Feil-Seifer
> > > <david.feilseifer@gmail.com> wrote:
> > >>
> > >> I am trying to make a urdf model for the pioneer 3dx robot that can be
> > >> used in gazebo. The robot is a 2-wheeled diff drive robot with a singe
> > >> rear caster.I have the robot visualizing correctly in rviz. However, I
> > >> want this robot to be drivable. I am a little unclear from the wiki
> > >> tutorials regarding gazebo and urdf on how to accomplish this? Is the
> > >> GazeboRosDiffdrive node something that I could use for the pioneer as
> > >> well as the erratic? What information do I need to have about the
> > >> pioneer in order to make a urdf model work in gazebo?
> > >> _______________________________________________
> > >> 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
> >
> >
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> ------------------------------
>
> Message: 17
> Date: Fri, 2 Jul 2010 10:42:56 -0700
> From: Josh Faust <jfaust@willowgarage.com>
> Subject: [ros-users] ros_realtime 0.4.0 released to cturtle
> To: ros-users@code.ros.org
> Message-ID:
> <AANLkTinq1BxyhSe0MoXf8PWQ7W6U03sFOTr7xLW9eQkX@mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> This release moves the rosrt headers from "ros/rt" to "rosrt".
>
> Changelist: http://www.ros.org/wiki/ros_realtime/ChangeList
>
> Josh
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> ------------------------------
>
> Message: 18
> Date: Fri, 2 Jul 2010 13:47:15 -0400
> From: Sanja Popovic <sanja@MIT.EDU>
> Subject: [ros-users] Tilting Hokuyo
> To: "ros-users@code.ros.org" <ros-users@code.ros.org>
> Message-ID:
> <C0AE216D81AD0C40BFB86028AC7BCBE101E7AA8ACC@EXPO6.exchange.mit.edu>
> Content-Type: text/plain; charset="us-ascii"
>
> Hi,
>
> I have a Hokuyo URG-04LX and I would like to mount it to a tilt head to get
> a point cloud. The tilt head I have is a ServoCity DDT500 (
> http://www.servocity.com/html/ddt500_direct_drive_tilt.html) and I also
> use their servo (http://www.servocity.com/html/servo_controllers.html). Is
> it possible to use those with ROS with some of the existing packages like
> hrl_tilting_hokuyo? If not, do you suggest rewriting a package (which one?)
> or just getting a new head + servo?
>
> Thanks,
> Sanja Popovic
>
> ------------------------------
>
> Message: 19
> Date: Fri, 2 Jul 2010 10:54:45 -0700
> From: Josh Faust <jfaust@willowgarage.com>
> Subject: Re: [ros-users] Problems with viewing a USB camera feed in
> RVIZ
> To: ros-users@code.ros.org
> Message-ID:
> <AANLkTimr4JFlHkkpoGIYcit7F9cYu4go1UKeqtS9qcq0@mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> rviz's Camera display is meant for a camera running on a robot that's set
> up
> properly (with TF, calibrated cameras, etc.). It lets you see the 3D data
> with the camera image overlaid. If you just want to view an image,
> image_view is the correct option.
>
> As for #3, does rviz's memory usage start going up during that time? If it
> was killed, either it (or something else) was consuming a lot of memory, or
> someone else killed it.
>
> Josh
>
> On Fri, Jul 2, 2010 at 4:27 AM, Benoit Larochelle <
> Benoit.Larochelle@dfki.de
> > wrote:
>
> > Hello,
> >
> > I'm trying to set-up RVIZ so that I can view the feed from my USB camera.
> I
> > am using the usb_cam package to produce the feed, but RVIZ seems to have
> a
> > few problems reading it. I set-up the Fixed Frame to /head_camera, and
> > Image Topic to /usb_cam/image_raw.
> >
> > 1) I get a global warning: No tf data. Actual error: Fixed Frame
> > [/head_camera does not exist]. I don't know exactly what transforms and
> > frames are, I just want to see my camera image (in RVIZ).
> >
> > 2) In the Camera section, I get a Status Error, under CameraInfo:
> > CameraInfo/P resulted in an invalid position calculation (nans or infs)
> >
> > 3) After 15 minutes or so, RVIZ crashes with the error message:
> > /opt/ros/boxturtle/ros/bin/rosrun: line 35: 304 Killed $exepath "$@"
> (before
> > lunch, I started RVIZ and image_view and when I came back RVIZ had
> crashed
> > and image_view was still going)
> >
> > 4) The image is much darker than with the package image_view
> >
> > Benoit
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users@code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> >
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> ------------------------------
>
> Message: 20
> Date: Fri, 2 Jul 2010 11:01:17 -0700
> From: Rob Wheeler <wheeler@willowgarage.com>
> Subject: Re: [ros-users] Problems with viewing a USB camera feed in
> RVIZ
> To: ros-users@code.ros.org
> Message-ID:
> <AANLkTinFwQGAQENPXMrC0jiGQ4RuGPntayVXuMoP-3Or@mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> I recently located a memory leak in the usb_cam package and gave a patch to
> the authors. It doesn't look like it has been released yet. You might try
> applying this patch to usb_cam and see if helps with problem #3
>
> Index: src/libusb_cam/usb_cam.cpp
> ===================================================================
> --- src/libusb_cam/usb_cam.cpp (revision 108)
> +++ src/libusb_cam/usb_cam.cpp (working copy)
> @@ -334,6 +334,7 @@
>
> video_sws = sws_getContext( xsize, ysize, avcodec_context->pix_fmt,
> xsize, ysize, PIX_FMT_RGB24, SWS_BILINEAR, NULL, NULL, NULL);
> sws_scale(video_sws, avframe_camera->data, avframe_camera->linesize, 0,
> ysize, avframe_rgb->data, avframe_rgb->linesize );
> + sws_freeContext(video_sws);
> // img_convert((AVPicture *) avframe_rgb, PIX_FMT_RGB24, (AVPicture *)
> avframe_camera, avcodec_context->pix_fmt, xsize, ysize);
>
> int size = avpicture_layout((AVPicture *) avframe_rgb, PIX_FMT_RGB24,
> xsize, ysize, (uint8_t *)RGB, avframe_rgb_size);
>
> On Fri, Jul 2, 2010 at 10:54 AM, Josh Faust <jfaust@willowgarage.com>
> wrote:
>
> > rviz's Camera display is meant for a camera running on a robot that's set
> > up properly (with TF, calibrated cameras, etc.). It lets you see the 3D
> > data with the camera image overlaid. If you just want to view an image,
> > image_view is the correct option.
> >
> > As for #3, does rviz's memory usage start going up during that time? If
> it
> > was killed, either it (or something else) was consuming a lot of memory,
> or
> > someone else killed it.
> >
> > Josh
> >
> > On Fri, Jul 2, 2010 at 4:27 AM, Benoit Larochelle <
> > Benoit.Larochelle@dfki.de> wrote:
> >
> >> Hello,
> >>
> >> I'm trying to set-up RVIZ so that I can view the feed from my USB
> camera.
> >> I am using the usb_cam package to produce the feed, but RVIZ seems to
> have a
> >> few problems reading it. I set-up the Fixed Frame to /head_camera, and
> >> Image Topic to /usb_cam/image_raw.
> >>
> >> 1) I get a global warning: No tf data. Actual error: Fixed Frame
> >> [/head_camera does not exist]. I don't know exactly what transforms and
> >> frames are, I just want to see my camera image (in RVIZ).
> >>
> >> 2) In the Camera section, I get a Status Error, under CameraInfo:
> >> CameraInfo/P resulted in an invalid position calculation (nans or infs)
> >>
> >> 3) After 15 minutes or so, RVIZ crashes with the error message:
> >> /opt/ros/boxturtle/ros/bin/rosrun: line 35: 304 Killed $exepath "$@"
> (before
> >> lunch, I started RVIZ and image_view and when I came back RVIZ had
> crashed
> >> and image_view was still going)
> >>
> >> 4) The image is much darker than with the package image_view
> >>
> >> Benoit
> >>
> >> _______________________________________________
> >> 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 --------------
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>
> ------------------------------
>
> Message: 21
> Date: Fri, 2 Jul 2010 11:11:43 -0700
> From: Michael Krainin <mkrainin@cs.washington.edu>
> Subject: Re: [ros-users] roscore respawn problem
> To: ros-users@code.ros.org
> Message-ID:
> <AANLkTik81WL6nq9aAsj_meogIdfkGvRhx9RLEyrP38pP@mail.gmail.com>
> Content-Type: text/plain; charset=ISO-8859-1
>
> You were right that the problem is not rosout dying. In my latest set
> of trials, the failure occurred about 200 trials in without rosout
> respawning this time. On the other hand, there's no sign of deadlock.
>
> The scenario is that node1 sends a ReadyMessage to node2 telling it
> that it is ready for the next image/depth pair. node2 sends an image
> and depth map to node3 (depth_to_cloud) to constuct a PointCloud from
> the depth map to pass back along to node1. The problem seems to be
> that the chain of messages gets broken at depth_to_cloud. Below is a
> sample of the debug output I'm seeing from depth_to_cloud. This output
> continues indefinitely until I kill the depth_to_cloud process. Am I
> right to believe that this output explains the behavior I am seeing?
> If so, what can I do about it?
>
> Also, I think this output may be responsible for the respawning of
> rosout. rosout uses quite a lot of memory during these connection
> failure messages. Could it perhaps be trying to store all of these in
> memory in addition to in the log files and eventually running out of
> memory?
>
> Thanks,
> Mike
>
> [roscpp_internal] [2010-07-02 09:45:14,190] [thread 0x7f2e9ba8f910]:
> [DEBUG] Connection to publisher [TCPROS connection to [0.0.0.0:25344
> on socket 53]] to topic [/rgbd/depth] dropped
> [roscpp_internal] [2010-07-02 09:45:14,314] [thread 0x7f2e9a28c910]:
> [DEBUG] Retrying connection to [pr-seattle-1:57774] for topic
> [/rgbd/image]
> [roscpp_internal] [2010-07-02 09:45:14,315] [thread 0x7f2e9a28c910]:
> [DEBUG] Resolved publisher host [pr-seattle-1] to [127.0.1.1]
> [roscpp_internal] [2010-07-02 09:45:14,315] [thread 0x7f2e9a28c910]:
> [DEBUG] Enabling TCP Keepalive on socket [53]
> [roscpp_internal] [2010-07-02 09:45:14,315] [thread 0x7f2e9a28c910]:
> [DEBUG] Connect succeeded to [pr-seattle-1:57774] on socket [53]
> [roscpp_internal] [2010-07-02 09:45:14,315] [thread 0x7f2e9a28c910]:
> [DEBUG] recv() failed with error [Connection refused]
> [roscpp_internal] [2010-07-02 09:45:14,319] [thread 0x7f2e9ba8f910]:
> [DEBUG] Socket [53] received 0/65536 bytes, closing
> [roscpp_internal] [2010-07-02 09:45:14,319] [thread 0x7f2e9ba8f910]:
> [DEBUG] TCP socket [53] closed
> [roscpp_internal] [2010-07-02 09:45:14,319] [thread 0x7f2e9ba8f910]:
> [DEBUG] Connection to publisher [TCPROS connection to [0.0.0.0:25344
> on socket 53]] to topic [/rgbd/image] dropped
> [roscpp_internal] [2010-07-02 09:45:14,350] [thread 0x7f2e9a28c910]:
> [DEBUG] Retrying connection to [pr-seattle-1:57774] for topic
> [/rgbd/depth]
> [roscpp_internal] [2010-07-02 09:45:14,350] [thread 0x7f2e9a28c910]:
> [DEBUG] Resolved publisher host [pr-seattle-1] to [127.0.1.1]
> [roscpp_internal] [2010-07-02 09:45:14,350] [thread 0x7f2e9a28c910]:
> [DEBUG] Enabling TCP Keepalive on socket [53]
> [roscpp_internal] [2010-07-02 09:45:14,350] [thread 0x7f2e9a28c910]:
> [DEBUG] Connect succeeded to [pr-seattle-1:57774] on socket [53]
> [roscpp_internal] [2010-07-02 09:45:14,351] [thread 0x7f2e9a28c910]:
> [DEBUG] recv() failed with error [Connection refused]
> [roscpp_internal] [2010-07-02 09:45:14,351] [thread 0x7f2e9ba8f910]:
> [DEBUG] Socket [53] received 0/65536 bytes, closing
> [roscpp_internal] [2010-07-02 09:45:14,351] [thread 0x7f2e9ba8f910]:
> [DEBUG] TCP socket [53] closed
> [roscpp_internal] [2010-07-02 09:45:14,351] [thread 0x7f2e9ba8f910]:
> [DEBUG] Connection to publisher [TCPROS connection to [0.0.0.0:25344
> on socket 53]] to topic [/rgbd/depth] dropped
> [roscpp_internal] [2010-07-02 09:45:14,365] [thread 0x7f2e9a28c910]:
> [DEBUG] Retrying connection to [pr-seattle-1:33946] for topic
> [/rgbd/depth]
> [roscpp_internal] [2010-07-02 09:45:14,365] [thread 0x7f2e9a28c910]:
> [DEBUG] Resolved publisher host [pr-seattle-1] to [127.0.1.1]
> [roscpp_internal] [2010-07-02 09:45:14,365] [thread 0x7f2e9a28c910]:
> [DEBUG] Enabling TCP Keepalive on socket [53]
> [roscpp_internal] [2010-07-02 09:45:14,365] [thread 0x7f2e9a28c910]:
> [DEBUG] Connect succeeded to [pr-seattle-1:33946] on socket [53]
> [roscpp_internal] [2010-07-02 09:45:14,365] [thread 0x7f2e9a28c910]:
> [DEBUG] recv() failed with error [Connection refused]
> [roscpp_internal] [2010-07-02 09:45:14,366] [thread 0x7f2e9ba8f910]:
> [DEBUG] Socket [53] received 0/65536 bytes, closing
> [roscpp_internal] [2010-07-02 09:45:14,366] [thread 0x7f2e9ba8f910]:
> [DEBUG] TCP socket [53] closed
> [roscpp_internal] [2010-07-02 09:45:14,367] [thread 0x7f2e9ba8f910]:
> [DEBUG] Connection to publisher [TCPROS connection to [0.0.0.0:25344
> on socket 53]] to topic [/rgbd/depth] dropped
> [roscpp_internal] [2010-07-02 09:45:14,463] [thread 0x7f2e9a28c910]:
> [DEBUG] Retrying connection to [pr-seattle-1:33946] for topic
> [/rgbd/image]
> [roscpp_internal] [2010-07-02 09:45:14,463] [thread 0x7f2e9a28c910]:
> [DEBUG] Resolved publisher host [pr-seattle-1] to [127.0.1.1]
> [roscpp_internal] [2010-07-02 09:45:14,463] [thread 0x7f2e9a28c910]:
> [DEBUG] Enabling TCP Keepalive on socket [53]
> [roscpp_internal] [2010-07-02 09:45:14,463] [thread 0x7f2e9a28c910]:
> [DEBUG] Connect succeeded to [pr-seattle-1:33946] on socket [53]
> [roscpp_internal] [2010-07-02 09:45:14,463] [thread 0x7f2e9a28c910]:
> [DEBUG] recv() failed with error [Connection refused]
> [roscpp_internal] [2010-07-02 09:45:14,464] [thread 0x7f2e9ba8f910]:
> [DEBUG] Socket [53] received 0/65536 bytes, closing
> [roscpp_internal] [2010-07-02 09:45:14,464] [thread 0x7f2e9ba8f910]:
> [DEBUG] TCP socket [53] closed
>
> > rosout dying shouldn't affect this unless it's somehow deadlocked those
> nodes... can you attach gdb to them and get traces from all their threads
> with "thread apply all bt"?
> >
> > Josh
>
>
> ------------------------------
>
> Message: 22
> Date: Fri, 02 Jul 2010 14:12:51 -0400
> From: Bill Morris <morris@ee.ccny.cuny.edu>
> Subject: Re: [ros-users] Problems with viewing a USB camera feed in
> RVIZ
> To: ros-users@code.ros.org
> Message-ID: <1278094371.1738.61.camel@mia>
> Content-Type: text/plain; charset="UTF-8"
>
> I have it patched here with c-turtle support for camera_info_manager.
> http://robotics.ccny.cuny.edu/git/usb_cam.git
>
> This is a work in progress until I can finish adding dynamic
> reconfigure. Code cleanup and documentation needs to be finished but if
> you want to try it feel free.
>
> On Fri, 2010-07-02 at 11:01 -0700, Rob Wheeler wrote:
> > I recently located a memory leak in the usb_cam package and gave a
> > patch to the authors. It doesn't look like it has been released yet.
> > You might try applying this patch to usb_cam and see if helps with
> > problem #3
> >
> > Index: src/libusb_cam/usb_cam.cpp
> > ===================================================================
> > --- src/libusb_cam/usb_cam.cpp (revision 108)
> > +++ src/libusb_cam/usb_cam.cpp (working copy)
> > @@ -334,6 +334,7 @@
> >
> > video_sws = sws_getContext( xsize, ysize, avcodec_context->pix_fmt,
> > xsize, ysize, PIX_FMT_RGB24, SWS_BILINEAR, NULL, NULL, NULL);
> > sws_scale(video_sws, avframe_camera->data,
> > avframe_camera->linesize, 0, ysize, avframe_rgb->data,
> > avframe_rgb->linesize );
> > + sws_freeContext(video_sws);
> > // img_convert((AVPicture *) avframe_rgb, PIX_FMT_RGB24, (AVPicture
> > *) avframe_camera, avcodec_context->pix_fmt, xsize, ysize);
> >
> > int size = avpicture_layout((AVPicture *) avframe_rgb,
> > PIX_FMT_RGB24, xsize, ysize, (uint8_t *)RGB, avframe_rgb_size);
> >
> > On Fri, Jul 2, 2010 at 10:54 AM, Josh Faust <jfaust@willowgarage.com>
> > wrote:
> > rviz's Camera display is meant for a camera running on a robot
> > that's set up properly (with TF, calibrated cameras, etc.).
> > It lets you see the 3D data with the camera image overlaid.
> > If you just want to view an image, image_view is the correct
> > option.
> >
> >
> > As for #3, does rviz's memory usage start going up during that
> > time? If it was killed, either it (or something else) was
> > consuming a lot of memory, or someone else killed it.
> >
> >
> > Josh
> >
> >
> > On Fri, Jul 2, 2010 at 4:27 AM, Benoit Larochelle
> > <Benoit.Larochelle@dfki.de> wrote:
> >
> >
> > Hello,
> >
> > I'm trying to set-up RVIZ so that I can view the feed
> > from my USB camera. I am using the usb_cam package to
> > produce the feed, but RVIZ seems to have a few
> > problems reading it. I set-up the Fixed Frame
> > to /head_camera, and Image Topic
> > to /usb_cam/image_raw.
> >
> > 1) I get a global warning: No tf data. Actual error:
> > Fixed Frame [/head_camera does not exist]. I don't
> > know exactly what transforms and frames are, I just
> > want to see my camera image (in RVIZ).
> >
> > 2) In the Camera section, I get a Status Error, under
> > CameraInfo: CameraInfo/P resulted in an invalid
> > position calculation (nans or infs)
> >
> > 3) After 15 minutes or so, RVIZ crashes with the error
> > message: /opt/ros/boxturtle/ros/bin/rosrun: line 35:
> > 304 Killed $exepath "$@" (before lunch, I started RVIZ
> > and image_view and when I came back RVIZ had crashed
> > and image_view was still going)
> >
> > 4) The image is much darker than with the
> > package image_view
> >
> > Benoit
> >
> >
> > _______________________________________________
> > 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
>
>
>
>
> ------------------------------
>
> Message: 23
> Date: Fri, 2 Jul 2010 11:28:55 -0700
> From: Vijay Pradeep <vpradeep@willowgarage.com>
> Subject: Re: [ros-users] Tilting Hokuyo
> To: ros-users@code.ros.org
> Message-ID:
> <AANLkTik1c5CsrRc3Gcp-qm1YMiFjZbDouQtHmdHEPSmr@mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> Hi Sanja,
>
> I haven't used hrl_tilting_hokuyo<
> http://www.ros.org/wiki/hrl_tilting_hokuyo>,
> so maybe some Georgia Tech folks can chime in about that.
>
> I would suggest using the
> laser_assembler<http://www.ros.org/wiki/laser_assembler>package. This
> will expose a service call that provides point clouds, given
> a time interval on which you want to assemble laser scans.
>
> Are you adding this to an existing robot running ROS, or are you starting
> from scratch? If starting from scratch, there are a couple steps you'll
> need to take. First, to interface with the Hokuyo hardware and publish
> laser scans, you can use hokuyo_node <http://www.ros.org/wiki/hokuyo_node
> >.
> The laser_assembler also needs TF data for the frame of the laser. The
> suggested way to do this is by writing a URDF
> <http://www.ros.org/wiki/urdf>description of your robot, and then use
> the
> robot_state_publisher <http://www.ros.org/wiki/robot_state_publisher> to
> publish the transforms.
>
> You'll also need to write a hardware specific node to control the servo
> system. This control node should publish
> sensor_msgs/JointState<http://www.ros.org/wiki/sensor_msgs>,
> since this is required by the robot_state_publisher to generate the
> transforms. Since the controller would also know the current angle of the
> tilting platform, it can decide when each tilting cycle is complete and
> then
> make the appropriate service call to the laser_assembler to get a point
> cloud.
>
> Hopefully this makes sense. Let me know if you run into trouble.
>
> Vijay
>
> On Fri, Jul 2, 2010 at 10:47 AM, Sanja Popovic <sanja@mit.edu> wrote:
>
> > Hi,
> >
> > I have a Hokuyo URG-04LX and I would like to mount it to a tilt head to
> get
> > a point cloud. The tilt head I have is a ServoCity DDT500 (
> > http://www.servocity.com/html/ddt500_direct_drive_tilt.html) and I also
> > use their servo (http://www.servocity.com/html/servo_controllers.html).
> Is
> > it possible to use those with ROS with some of the existing packages like
> > hrl_tilting_hokuyo? If not, do you suggest rewriting a package (which
> one?)
> > or just getting a new head + servo?
> >
> > Thanks,
> > Sanja Popovic
> > _______________________________________________
> > ros-users mailing list
> > ros-users@code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
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>
> ------------------------------
>
> Message: 24
> Date: Fri, 2 Jul 2010 11:29:46 -0700
> From: Adam Leeper <aleeper@stanford.edu>
> Subject: [ros-users] can't find pr2_apps?
> To: ros-users@code.ros.org
> Message-ID:
> <AANLkTik3Yxu8qDlwPMblaDH5pNbySP87FESvy0wV_m3C@mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> Hello-
>
> I updated my cturtle packages this morning and it seems I can't find any of
> the pr2_apps packages, like pr2_tuckarm or pr2_teleop.
>
> Did they move, get renamed, or ... how do I get them back in case I
> accidentally nuked them? I tried doing apt-get install ros-cturtle-pr2
> again
> and it claims everything is up to date.
>
> I'm running 10.04 64-bit.
>
> Thanks,
> Adam
>
>
> Adam Leeper
> Stanford University
> aleeper@stanford.edu
> 719.358.3804
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> ------------------------------
>
> Message: 25
> Date: Fri, 2 Jul 2010 11:32:11 -0700
> From: Ken Conley <kwc@willowgarage.com>
> Subject: Re: [ros-users] can't find pr2_apps?
> To: ros-users@code.ros.org
> Message-ID:
> <AANLkTimaCGB-b6Dy8yDG_CCJ4qMXXXDiE1_d6SOfNjJz@mail.gmail.com>
> Content-Type: text/plain; charset=ISO-8859-1
>
> you should apt-get install ros-cturtle-pr2all to get them. 'pr2'
> contains stable packages, 'pr2all' gets you everything.
>
> - Ken
>
> On Fri, Jul 2, 2010 at 11:29 AM, Adam Leeper <aleeper@stanford.edu> wrote:
> > Hello-
> > I updated my cturtle packages this morning and it seems I can't find any
> of
> > the pr2_apps packages, like pr2_tuckarm or pr2_teleop.
> > Did they move, get renamed, or ... how do I get them back in case I
> > accidentally nuked them? I tried doing apt-get install ros-cturtle-pr2
> again
> > and it claims everything is up to date.
> > I'm running 10.04 64-bit.
> > Thanks,
> > Adam
> >
> > Adam Leeper
> > Stanford University
> > aleeper@stanford.edu
> > 719.358.3804
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users@code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> >
>
>
> ------------------------------
>
> Message: 26
> Date: Fri, 2 Jul 2010 11:32:26 -0700
> From: Jeremy Leibs <leibs@willowgarage.com>
> Subject: Re: [ros-users] can't find pr2_apps?
> To: ros-users@code.ros.org
> Message-ID:
> <AANLkTimnFZ5JnW-d4FA74I0nBm8uSjB4nZIba318J01j@mail.gmail.com>
> Content-Type: text/plain; charset=ISO-8859-1
>
> pr2_apps is in the ros-cturtle-pr2all variant, not the pr2 variant.
>
> On Fri, Jul 2, 2010 at 11:29 AM, Adam Leeper <aleeper@stanford.edu> wrote:
> > Hello-
> > I updated my cturtle packages this morning and it seems I can't find any
> of
> > the pr2_apps packages, like pr2_tuckarm or pr2_teleop.
> > Did they move, get renamed, or ... how do I get them back in case I
> > accidentally nuked them? I tried doing apt-get install ros-cturtle-pr2
> again
> > and it claims everything is up to date.
> > I'm running 10.04 64-bit.
> > Thanks,
> > Adam
> >
> > Adam Leeper
> > Stanford University
> > aleeper@stanford.edu
> > 719.358.3804
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users@code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> >
>
>
> ------------------------------
>
> Message: 27
> Date: Fri, 2 Jul 2010 11:33:10 -0700
> From: Josh Faust <jfaust@willowgarage.com>
> Subject: Re: [ros-users] roscore respawn problem
> To: ros-users@code.ros.org
> Message-ID:
> <AANLkTilGDCcyTjOc_womov3xE0MWGPTz0oEH-NH83QcC@mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> >
> >
> > The scenario is that node1 sends a ReadyMessage to node2 telling it
> > that it is ready for the next image/depth pair. node2 sends an image
> > and depth map to node3 (depth_to_cloud) to constuct a PointCloud from
> > the depth map to pass back along to node1. The problem seems to be
> > that the chain of messages gets broken at depth_to_cloud. Below is a
> > sample of the debug output I'm seeing from depth_to_cloud. This output
> > continues indefinitely until I kill the depth_to_cloud process. Am I
> > right to believe that this output explains the behavior I am seeing?
> > If so, what can I do about it?
> >
>
> Is node2 still up at this point? The only reason the depth_to_cloud node
> should be retrying those connections is if it died at some point, or if its
> connection got killed in some other way.
>
> You mentioned you're running against latest -- there have been some bugs
> fixed with the retry logic recently that only went out to cturtle. You may
> want to try switching over.
>
>
> >
> > Also, I think this output may be responsible for the respawning of
> > rosout. rosout uses quite a lot of memory during these connection
> > failure messages. Could it perhaps be trying to store all of these in
> > memory in addition to in the log files and eventually running out of
> > memory?
> >
>
> Those roscpp_internal log messages don't get sent to rosout unless you've
> enabled DEBUG output in general -- is the rest of your system sending a lot
> of messages to rosout?
>
> Josh
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>
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
> End of ros-users Digest, Vol 5, Issue 2
> ***************************************
>