[ros-users] Topic 3.HARK
austen hagio
hagio at usc.edu
Fri Jul 2 22:47:59 UTC 2010
Hi Keisuke,
Thank you for your response. I have tried installing HARK from
http://winnie.kuis.kyoto-u.ac.jp/HARK/ but I've ran into a few problems with
FlowDesigner and ManyEars. I'm still quite a novice at ROS and Ubuntu but
I'd really like to get HARK up and running since I'll also be making the
Microphone Array soon.
So, could you tell me what procedure did you take to install Hark so that I
can duplicate your process? I was also wondering, what OS and version of
that OS are you running? Also, what version and how did you install
FlowDesigner, ManyEars, Multiband Julius?
Thank you for your help.
Austen S. Hagio
On Fri, Jul 2, 2010 at 12:00 PM, <ros-users-request at code.ros.org> wrote:
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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 at 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 at cis.strath.ac.uk)
> 12. Re: Hark (ros_user at 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 at cs.washington.edu>
> Subject: Re: [ros-users] roscore respawn problem
> To: ros-users at code.ros.org
> Message-ID:
> <AANLkTims0Hn39fKbW7ned67WdpOwMxFLk4I_CD7ujbYN at 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 at willowgarage.com>
> Subject: [ros-users] C Turtle Alpha 3 now available
> To: ros-users <ros-users at code.ros.org>
> Message-ID:
> <AANLkTinBafXAwKOdlYRJWRvg8lfdpaWNtlnuEThtNjzn at 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 at usc.edu>
> Subject: [ros-users] Hark
> To: ros-users at code.ros.org
> Message-ID:
> <AANLkTimq_nWQi_e1fO_N7JjojLKQ8xs_x0xRyNTrzQOc at 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 at willowgarage.com>
> Subject: [ros-users] visualization_common 1.1.2, visualization 1.1.2
> released to cturtle
> To: ros-users at code.ros.org
> Message-ID:
> <AANLkTincqDTOBvQKfDg9Z_H3ypkbh3utSMYbU82XP8Fh at 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 at gmail.com>
> Subject: Re: [ros-users] Actuating a wheeled robot URDF model in
> gazebo
> To: ros-users <ros-users at code.ros.org>
> Message-ID:
> <AANLkTikGXjYyUWsCGe6uCBxC4ZTxv63swQ17bYSKyrbv at 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 at 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 at 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 at code.ros.org
> >> https://code.ros.org/mailman/listinfo/ros-users
> >
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at 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 at cardiff.ac.uk>
> Subject: [ros-users] PCL package
> To: ros-users at code.ros.org
> Message-ID:
> <
> OF810330C0.D6388579-ON80257754.0034C224-80257754.0034C23B at 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
>
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> ------------------------------
>
> Message: 7
> Date: Fri, 2 Jul 2010 11:42:06 +0100 (BST)
> From: Michal.Stolba at cis.strath.ac.uk
> Subject: Re: [ros-users] exception in transform listener
> To: ros-users at code.ros.org
> Message-ID:
> <34017.130.159.185.96.1278067326.squirrel at 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 at 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 at code.ros.org
> >> https://code.ros.org/mailman/listinfo/ros-users
> >>
> > _______________________________________________
> > ros-users mailing list
> > ros-users at 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 at dfki.de>
> Subject: [ros-users] Problems with viewing a USB camera feed in RVIZ
> To: <ros-users at code.ros.org>
> Message-ID: <0184BFB73BFC478B86CC06C9CAE6CB62 at 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
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> ------------------------------
>
> Message: 9
> Date: Fri, 02 Jul 2010 07:59:59 -0400
> From: Bill Morris <morris at ee.ccny.cuny.edu>
> Subject: Re: [ros-users] Problems with viewing a USB camera feed in
> RVIZ
> To: ros-users at code.ros.org
> Message-ID: <1278071999.3570.84.camel at 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 at gmail.com>
> Subject: [ros-users] Imace center param in vslam
> To: ros-users at lists.sourceforge.net
> Message-ID: <1278079474924-938606.post at 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.
>
>
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>
> ------------------------------
>
> Message: 11
> Date: Fri, 2 Jul 2010 16:04:17 +0100 (BST)
> From: Michal.Stolba at cis.strath.ac.uk
> Subject: [ros-users] how many points in 3D cloud?
> To: ros-users at code.ros.org
> Message-ID:
> <58067.130.159.185.96.1278083057.squirrel at 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 at yahoo.co.jp>
> Subject: Re: [ros-users] Hark
> To: ros-users at code.ros.org
> Message-ID: <20100702154628.86208.qmail at 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 at 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 at 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 at willowgarage.com>
> Subject: Re: [ros-users] exception in transform listener
> To: ros-users at code.ros.org
> Message-ID:
> <AANLkTim0vlDdTEcAnBQXmqkdc9yfmjXUoU_vf7ryzfg_ at 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 at 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 at 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 at code.ros.org
> >>> https://code.ros.org/mailman/listinfo/ros-users
> >>>
> >> _______________________________________________
> >> ros-users mailing list
> >> ros-users at code.ros.org
> >> https://code.ros.org/mailman/listinfo/ros-users
> >>
> >
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at 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 at willowgarage.com>
> Subject: Re: [ros-users] how many points in 3D cloud?
> To: ros-users at code.ros.org
> Message-ID: <4C2E14A0.5020009 at 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 at 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 at 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 at willowgarage.com>
> Subject: Re: [ros-users] exception in transform listener
> To: ros-users at code.ros.org
> Message-ID:
> <AANLkTiliTEg42zaxMyH5dLouDhN1vkr0MhwLbBozE59A at 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 at 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 at 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 at 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 at code.ros.org
> > >>> https://code.ros.org/mailman/listinfo/ros-users
> > >>>
> > >> _______________________________________________
> > >> ros-users mailing list
> > >> ros-users at code.ros.org
> > >> https://code.ros.org/mailman/listinfo/ros-users
> > >>
> > >
> > >
> > > _______________________________________________
> > > ros-users mailing list
> > > ros-users at code.ros.org
> > > https://code.ros.org/mailman/listinfo/ros-users
> > >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
>
>
>
> --
> Tully Foote
> Systems Engineer
> Willow Garage, Inc.
> tfoote at willowgarage.com
> (650) 475-2827
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> ------------------------------
>
> Message: 16
> Date: Fri, 2 Jul 2010 10:13:36 -0700
> From: John Hsu <johnhsu at willowgarage.com>
> Subject: Re: [ros-users] Actuating a wheeled robot URDF model in
> gazebo
> To: ros-users at code.ros.org
> Message-ID:
> <AANLkTilrmghwCAdhDWeVw3ETMZdkmsPK2WqnELnDgRv- at 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 at 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 at 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 at 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 at code.ros.org
> > >> https://code.ros.org/mailman/listinfo/ros-users
> > >
> > >
> > > _______________________________________________
> > > ros-users mailing list
> > > ros-users at code.ros.org
> > > https://code.ros.org/mailman/listinfo/ros-users
> > >
> > >
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at 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 at willowgarage.com>
> Subject: [ros-users] ros_realtime 0.4.0 released to cturtle
> To: ros-users at code.ros.org
> Message-ID:
> <AANLkTinq1BxyhSe0MoXf8PWQ7W6U03sFOTr7xLW9eQkX at 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 at MIT.EDU>
> Subject: [ros-users] Tilting Hokuyo
> To: "ros-users at code.ros.org" <ros-users at code.ros.org>
> Message-ID:
> <C0AE216D81AD0C40BFB86028AC7BCBE101E7AA8ACC at 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 at willowgarage.com>
> Subject: Re: [ros-users] Problems with viewing a USB camera feed in
> RVIZ
> To: ros-users at code.ros.org
> Message-ID:
> <AANLkTimr4JFlHkkpoGIYcit7F9cYu4go1UKeqtS9qcq0 at 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 at 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 at 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 at willowgarage.com>
> Subject: Re: [ros-users] Problems with viewing a USB camera feed in
> RVIZ
> To: ros-users at code.ros.org
> Message-ID:
> <AANLkTinFwQGAQENPXMrC0jiGQ4RuGPntayVXuMoP-3Or at 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 at 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 at 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 at code.ros.org
> >> https://code.ros.org/mailman/listinfo/ros-users
> >>
> >>
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> >
> -------------- next part --------------
> An HTML attachment was scrubbed...
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>
> ------------------------------
>
> Message: 21
> Date: Fri, 2 Jul 2010 11:11:43 -0700
> From: Michael Krainin <mkrainin at cs.washington.edu>
> Subject: Re: [ros-users] roscore respawn problem
> To: ros-users at code.ros.org
> Message-ID:
> <AANLkTik81WL6nq9aAsj_meogIdfkGvRhx9RLEyrP38pP at 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 at ee.ccny.cuny.edu>
> Subject: Re: [ros-users] Problems with viewing a USB camera feed in
> RVIZ
> To: ros-users at code.ros.org
> Message-ID: <1278094371.1738.61.camel at 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 at 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 at 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 at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> >
> >
> >
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at 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 at willowgarage.com>
> Subject: Re: [ros-users] Tilting Hokuyo
> To: ros-users at code.ros.org
> Message-ID:
> <AANLkTik1c5CsrRc3Gcp-qm1YMiFjZbDouQtHmdHEPSmr at 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 at 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 at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> -------------- next part --------------
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>
> ------------------------------
>
> Message: 24
> Date: Fri, 2 Jul 2010 11:29:46 -0700
> From: Adam Leeper <aleeper at stanford.edu>
> Subject: [ros-users] can't find pr2_apps?
> To: ros-users at code.ros.org
> Message-ID:
> <AANLkTik3Yxu8qDlwPMblaDH5pNbySP87FESvy0wV_m3C at 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 at stanford.edu
> 719.358.3804
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> ------------------------------
>
> Message: 25
> Date: Fri, 2 Jul 2010 11:32:11 -0700
> From: Ken Conley <kwc at willowgarage.com>
> Subject: Re: [ros-users] can't find pr2_apps?
> To: ros-users at code.ros.org
> Message-ID:
> <AANLkTimaCGB-b6Dy8yDG_CCJ4qMXXXDiE1_d6SOfNjJz at 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 at 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 at stanford.edu
> > 719.358.3804
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at 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 at willowgarage.com>
> Subject: Re: [ros-users] can't find pr2_apps?
> To: ros-users at code.ros.org
> Message-ID:
> <AANLkTimnFZ5JnW-d4FA74I0nBm8uSjB4nZIba318J01j at 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 at 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 at stanford.edu
> > 719.358.3804
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at 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 at willowgarage.com>
> Subject: Re: [ros-users] roscore respawn problem
> To: ros-users at code.ros.org
> Message-ID:
> <AANLkTilGDCcyTjOc_womov3xE0MWGPTz0oEH-NH83QcC at 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
> -------------- next part --------------
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> ------------------------------
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
> End of ros-users Digest, Vol 5, Issue 2
> ***************************************
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