[ros-users] customizing the navigation stack
Bera, D.
d.bera at tue.nl
Wed Feb 16 18:57:07 UTC 2011
Hey all,
I have a rookie question.. I have a C-Turtle installation (installed with the "sudo apt-get install ros-cturtle-base" command) on a Ubuntu 10.04 machine and want to make some customizations to the ROS navigation stack. How do I proceed? A "rosmake" does not build this stack with the changes that I made to "move_base.cpp", probably due to the presence of "ROS_NOBUILD"? I am quite not sure about the next steps...
Please suggest.
Thanks and regards,
Debjyoti Bera.
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Today's Topics:
1. Re: unable to get valid path when
calling/ompl_planning/plan_kinematic_path (Felix Messmer)
2. Re: swissranger_camera package not found (blueskin)
3. omniwheel design in urdf (kadir)
4. Re: understanding ros topic tutorial teleop_key problem
(Melonee Wise)
5. Build Architecture Question (William Woodall)
6. Re: Plume Sim in ROS (Brian Gerkey)
7. Re: Merging Player with ROS (Brian Gerkey)
8. Re: Example of SLAM using mono or stere camera (rinosh1989)
9. Re: OS X ogre x86_64 patch (Brian Gerkey)
10. Re: Best option for communication over an unreliable link?
(Ken Conley)
11. Re: OS X ogre x86_64 patch (William Woodall)
12. Re: Merging Player with ROS (Rich Mattes)
13. Re: Build Architecture Question (Ken Conley)
14. Re: How to use wiimote as an imu for robot_pose_ekf (Wim Meeussen)
15. flicker of gazebo world display area (shujun gong)
16. Re: flicker of gazebo world display area (Mrinal Kalakrishnan)
17. Re: Dynamic updating map for move_base (Zhiping)
18. (no subject) (Nutan Chen)
19. Re: Merging Player with ROS (Aslund)
20. stereo proc (Asghari Oskoei, Mohammadreza)
21. a problem about rosrun rviz rviz--kinect&openni (Nutan Chen)
22. Re: ROS Diamondback Release Candidate 1 (Armin Hornung)
23. stereo image sync (Asghari Oskoei, Mohammadreza)
24. problem when install rgbdslam (liuwei at cmu.edu)
25. rosrun rviz rviz--kinect&openni (Nutan Chen)
26. Re: rosinstall problems on Debian (Taylor Veltrop)
27. ccny: asctec_autopilot serial interface communication
(Steven Bellens)
28. Re: rosinstall problems on Debian (Taylor Veltrop)
29. Converting PointCloud to LaserScan (Yilmaz B?nyamin)
30. Re: Converting PointCloud to LaserScan (Ugo Cupcic)
31. Re: rosinstall problems on Debian (Willy Lambert)
32. Re: ROS Diamondback Release Candidate 1 (Willy Lambert)
33. Adding a New Stereo System to ROS (Adi Shavit)
34. libusb-1.0.8 for OpenNI Driver Problem (shahmi)
35. Re: Converting PointCloud to LaserScan (Yilmaz B?nyamin)
36. Re: Using ROS for a Delta Robot (Martin G?nther)
37. Re: ROS Diamondback Release Candidate 1 (Gon?alo Cabrita)
38. Re: Converting PointCloud to LaserScan (Nathaniel Lewis)
39. Re: (no subject) (Billy Okal)
40. Re: Plume Sim in ROS (Gon?alo Cabrita)
41. Re: Adding a New Stereo System to ROS (koen buys)
42. Re: rosinstall problems on Debian (Willy Lambert)
43. Re: ccny: asctec_autopilot serial interface communication
(Bill Morris)
44. Re: your urgent respond (MUBARACK RAHEEM ALI)
45. Re: Adding a New Stereo System to ROS (Jack O'Quin)
46. Re: ROS Diamondback Release Candidate 1 (Wim Meeussen)
47. Re: stereo image sync (Blaise Gassend)
48. vslam installation need cturtle version (garratt gallagher)
49. Re: Adding a New Stereo System to ROS (Adi Shavit)
50. Re: Adding a New Stereo System to ROS (Adi Shavit)
51. Re: Adding a New Stereo System to ROS (Stefan Kohlbrecher)
52. Re: Adding a New Stereo System to ROS (Adi Shavit)
53. Re: manipulation stack problems (Gil Jones)
----------------------------------------------------------------------
Message: 1
Date: Mon, 14 Feb 2011 22:19:02 +0100
From: Felix Messmer <felix_messmer at web.de>
Subject: Re: [ros-users] unable to get valid path when
calling/ompl_planning/plan_kinematic_path
To: ros-users <ros-users at code.ros.org>
Message-ID: <4D599C46.9000300 at web.de>
Content-Type: text/plain; charset=ISO-8859-1; format=flowed
Thanks Sachin,
I commented that out since I didn't know what value to set here. I guess
50.0 is a little too pessimistic...;-)
Also, I opened a ticket:
https://code.ros.org/trac/ros-pkg/ticket/4787
Best regards,
Felix
On 2011-02-14 18:20, Sachin Chitta wrote:
> You have to give it some allowed planning time. Right now, planning time
> will default to 0 since you have commented this line:
> //req.motion_plan_request.allowed_planning_time=ros::Duration(50.0);
>
> The ros output for this case does need fixing though. Please open a
ticket
> against me to that effect.
>
> Regards,
> Sachin
>
>
> On Mon, Feb 14, 2011 at 4:41 AM, Felix Messmer <felix_messmer at web.de>
wrote:
>
> >
> > Dear community,
> >
> > I feel a little desperate since I don't know what I'm doing wrong here:
> > From within our grasp_planner, I want to call the
> > "/plan_kinematic_path" service from the ompl package.
> >
> > Here is how I set it all up:
> >
> >
> >
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> > ros::service::waitForService("/ompl_planning/plan_kinematic_path");
> >
> > ros::ServiceClient client =
> >
> >
n.serviceClient<motion_planning_msgs::GetMotionPlan>("/ompl_planning/plan_kinematic_path");
> >
> > motion_planning_msgs::GetMotionPlan::Request req;
> > motion_planning_msgs::GetMotionPlan::Response res;
> >
> > std::vector<std::string> names(7);
> > names[0] = "arm_1_joint";
> > names[1] = "arm_2_joint";
> > names[2] = "arm_3_joint";
> > names[3] = "arm_4_joint";
> > names[4] = "arm_5_joint";
> > names[5] = "arm_6_joint";
> > names[6] = "arm_7_joint";
> >
> >
> >
> >
req.motion_plan_request.goal_constraints.joint_constraints.resize(names.size());
> > for (unsigned int i = 0 ; i < names.size(); ++i)
> > {
> >
> >
req.motion_plan_request.goal_constraints.joint_constraints[i].joint_name
> > = names[i];
> >
> >
req.motion_plan_request.goal_constraints.joint_constraints[i].position =
> > 0.0;
> >
> >
> >
req.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_below
> > = 0.1;
> >
> >
> >
req.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_above
> > = 0.1;
> > }
> >
> > //req.motion_plan_request.planner_id="";
> > req.motion_plan_request.group_name="arm";
> > req.motion_plan_request.num_planning_attempts=1;
> > //req.motion_plan_request.allowed_planning_time=ros::Duration(50.0);
> >
> >
> >
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> >
> > I.e. I just want a plan that brings the arm back into its home position
> > at (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0).
> >
> > The output from the planner is the following (with Debub output):
> >
> >
> >
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> > [ INFO] [1297684313.476421959, 56.604000000]: Received request for
planning
> > [ INFO] [1297684313.476537217, 56.604000000]: Selected motion planner:
> > 'kinematic::LBKPIECE[LBKPIECEkConfig2cob]', with priority 11
> > [DEBUG] [1297684313.476605128, 56.604000000]: No workspace bounding
> > volume was set
> > [ INFO] [1297684313.479051337, 56.604000000]: ompl planning for
group arm
> > [DEBUG] [1297684313.479230006, 56.604000000]: Start states before
> > normalization 0 val 0.537644
> > [DEBUG] [1297684313.479279888, 56.604000000]: Start states before
> > normalization 1 val -1.20871
> > [DEBUG] [1297684313.479314884, 56.604000000]: Start states before
> > normalization 2 val 0.204787
> > [DEBUG] [1297684313.479346079, 56.604000000]: Start states before
> > normalization 3 val 0.943959
> > [DEBUG] [1297684313.479377832, 56.604000000]: Start states before
> > normalization 4 val -0.0503284
> > [DEBUG] [1297684313.479408952, 56.604000000]: Start states before
> > normalization 5 val 0.00951776
> > [DEBUG] [1297684313.479439600, 56.604000000]: Start states before
> > normalization 6 val -0.00680026
> > [DEBUG] [1297684313.479473040, 56.604000000]: Start states after
> > normalization 0 val 0.537644
> > [DEBUG] [1297684313.479504849, 56.604000000]: Start states after
> > normalization 1 val -1.20871
> > [DEBUG] [1297684313.479534850, 56.604000000]: Start states after
> > normalization 2 val 0.204787
> > [DEBUG] [1297684313.479564637, 56.604000000]: Start states after
> > normalization 3 val 0.943959
> > [DEBUG] [1297684313.479594670, 56.604000000]: Start states after
> > normalization 4 val -0.0503284
> > [DEBUG] [1297684313.479625155, 56.604000000]: Start states after
> > normalization 5 val 0.00951776
> > [DEBUG] [1297684313.479655881, 56.604000000]: Start states after
> > normalization 6 val -0.00680026
> > [DEBUG] [1297684313.480120098, 56.604000000]: Kinematic state space
> > settings:
> > - dimension = 7
> > - start states:
> > 0.537644 -1.20871 0.204787 0.943959 -0.0503284 0.00951776 -0.00680026
> > Goal state, threshold = 1e-12, memory address = 0x7fb9b40adb00, state =
> > 0 0 0 0 0 0 0
> > Joint constraints:
> > [-0.1, 0.1] [-0.1, 0.1] [-0.1, 0.1] [-0.1, 0.1] [-0.1, 0.1] [-0.1, 0.1]
> > [-0.1, 0.1]
> > - bounding box:
> > [-2.957, 2.957](0.05914) [-2.0843, 2.0843](0.041686) [-2.957,
> > 2.957](0.05914) [-2.0843, 2.0843](0.041686) [-2.957, 2.957](0.05914)
> > [-2.0844, 2.0844](0.0416879) [-2.957, 2.957](0.05914)
> > Path constraints:
> > 0 kinematic constraints
> >
> >
> >
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> >
> >
> > What irritates me is that "Ompl says ok".......because it's not...=)
> > Still the solution trajectory is empty and the error_code.val is 0.
> >
> >
> > I can use the "/plan_kinematic_path" service successfully when it is
> > called from within the move_arm_action!
> > But since I don't want the robot to move at this point, I just want to
> > call the planner and execute the trajectory later.
> > I also checked how the move_arm_action_server sets up the
> > /plan_kinematic_path request and I couldn't find a difference.
> >
> > Is there anything that I missed while setting the request?
> > How else can I get the solution trajectory to a joint_goal without
> > executing the movement?
> >
> > Thanks for your help!
> >
> >
> >
> > Best,
> > Felix
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
>
>
>
> --
> Sachin Chitta
> Research Scientist
> Willow Garage
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
------------------------------
Message: 2
Date: Mon, 14 Feb 2011 14:39:32 -0800 (PST)
From: blueskin <blueskin.neo at gmail.com>
Subject: Re: [ros-users] swissranger_camera package not found
To: ros-users at code.ros.org
Message-ID: <1297723172415-2496662.post at n3.nabble.com>
Content-Type: text/plain; charset=us-ascii
Hello Rodrigo,
I've been working with Kinect for sometime so forgot about the SR4000,
Anyways, i run the following
roslaunch swissranger_camera sr_usb.launch
and I get
[ INFO] [1297720701.371263065]: [SwissRanger device::open] Number of images
available: 3
[ INFO] [1297720701.371430408]: [] Connected to device with ID: 3D-SR4000
[ INFO] [1297720701.371476069]: [] libmesasr version: 1.0.14.653
Then I run rosrun rviz rviz, then changing some settings gives me the
PointCloud data and intensity image.
Thank you. That was helpful.
Best,
CV
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------------------------------
Message: 3
Date: Mon, 14 Feb 2011 14:52:53 -0800 (PST)
From: kadir <kadirfu at gmail.com>
Subject: [ros-users] omniwheel design in urdf
To: ros-users at code.ros.org
Message-ID: <1297723973145-2496778.post at n3.nabble.com>
Content-Type: text/plain; charset=us-ascii
Hi everyone,
Do you know any ros-package including an omni-wheel urdf? Or does anyone
happen to design an omniwheel in urdf? I just don't want to re-invent the
wheel :)
By the way, what I mean by omni-wheel is the one having a main wheel and
several roller wheels -mostly perpendicularly aligned-. Like the ones on the
robotino platform. I don't prefer using two motors for each wheel that can
imitate an omniwheel (=omni-drive) or changing the friction properties of
the surfaces in gazebo. These are some of the tricks that I'm aware of.
Thanks...
-Kadir-
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------------------------------
Message: 4
Date: Mon, 14 Feb 2011 15:26:54 -0800
From: Melonee Wise <mwise at willowgarage.com>
Subject: Re: [ros-users] understanding ros topic tutorial teleop_key
problem
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTinAXsUE5dGuVHA7uv-g7sFYBLj8jJGe=YDxq9=S at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
Hey Joe-
I recently moved turtle_teleop_key from the turtle_teleop package to
turtlesim which is probably the problem you're seeing.. you found the
correct solution, the debs were just out of date.
-Melonee
On Thu, Feb 10, 2011 at 12:39 AM, joe <djdisco at hotmail.com> wrote:
>
> hiya,
>
> very new to ROS installed on Ubu 10.10, ros cturtle as per install
> instructions.
>
> Fresh install of ROS, roswtf no issues
>
> working through tutorials fine until I get to
>
> understanding ros topic
>
>
> We'll also need something to drive the turtle around with. Please run
> in a new terminal:
>
> $ rosrun turtlesim turtle_teleop_key
>
> get following error
>
> [rosrun] Couldn't find executable named turtle_teleop_key below
> /opt/ros/cturtle/stacks/ros_tutorials/turtlesim
>
>
>
> played around, searched for a bit and found......
>
> http://www.ros.org/wiki/turtle_teleop
> http://www.ros.org/wiki/turtle_teleop
>
> (1) rosdep install turtle_teleop
> (2) roscd turtle_teleop
> (3) roslaunch launch/turtle_keyboard.launch
>
> this seems to work.....with turtlesim
>
> am I doing something obviously wrong, it's just I found alot of the robot
> frameworks seem to have broken dependencies on Maverick, or tutorials are
> out of date and it affects uptake.
>
> Thanks
>
> Dave
>
>
>
>
>
>
>
>
> --
> View this message in context:
> http://ros-users.122217.n3.nabble.com/understanding-ros-topic-tutorial-teleop-key-problem-tp2464622p2464622.html
> Sent from the ROS-Users mailing list archive at Nabble.com.
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
--
Senior Engineer
Intern Program Director
Willow Garage
68 Willow Rd.
Menlo Park, Ca 94025
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Message: 5
Date: Mon, 14 Feb 2011 18:47:53 -0600
From: William Woodall <wjwwood at gmail.com>
Subject: [ros-users] Build Architecture Question
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTinWAY7Fr5s7K7RsNrYqM09uRACCNEwVjdJGLj30 at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
So I have been working on using IRI's segway library to implement a segway
driver for ROS, and I have run into a situation where I don't know how to
proceed.
IRI is setting up a port of their stuff for ROS, so at this point it is more
educational for me.
So, the IRI segway library relies on some of their other libraries.
My ROS Node depends on iri_segway_rmp200.
iri_segway_rmp200 depends on iricomms and iriutils.
iricomms depends on iriutils.
All of the IRI stuff is in SVN and is LGPL licensed, my stuff can be
considered MIT. They are setup to build dynamically linked libraries (.so
on linux and .dylib on osx).
The way I see it there are a few ways to approach this setup in ROS: (Maybe
there is a 4th, correct setup)
1. Put a script in rosdep.yaml to (svn co; make; sudo make install) each
of the libraries from IRI.
- This is good because the libraries are installed and no further
configuration is required, but requires root access
- Also, they install Find<lib>.cmake files in the cmake shared Modules
folder, which is nice
2. Create a ROS pkg for each library and use rosmake to build them, using
the svn_checkout.mk make script and patches to build and install them to
the pkg dir
- This is nice because the libraries are contained in the ros pkg
- But, you need to export cpp flags to include and link directories
- How do you handle runtime dynamic linking?
3. Download/Distribute and build the libraries in your ROS pkg and
statically link your node to the libraries
- Doesn't allow multiple nodes to link to a single source for the
libraries (build the libs for each node that uses them)
So here are my questions:
1. What is the preferred method of build architecture?
2. How do you handle dynamic linking at runtime? (the .so file is in
package A, and how does a binary in package B find it at runtime?)
3. How can you handle installing and referencing Find<lib>.cmake files
that libraries have? (use manifext.xml's <depend .../> instead, is my guess)
4. What if any licensing concerns are there? (patches and static linking,
etc)
Sorry if some of these questions are silly, I am still learning these more
complicated build systems (rosmake/cmake).
Thanks,
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
William Woodall
Graduate Software Engineering
Auburn University
w at auburn.edu
wjwwood at gmail.com
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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Message: 6
Date: Mon, 14 Feb 2011 17:52:36 -0800
From: Brian Gerkey <gerkey at willowgarage.com>
Subject: Re: [ros-users] Plume Sim in ROS
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTin+pF7J1RvX=HQ6__rMMyA+M1yk9cxSC9tnFf55 at mail.gmail.com>
Content-Type: text/plain; charset=ISO-8859-1
On Sat, Feb 12, 2011 at 7:50 PM, Arkapravo Bhaumik
<arkapravobhaumik at gmail.com> wrote:
> I have used plume sim in Player/Stage - now I want to use it in ROS.
> However, I am not able to get much of a clue about installing it and using
> it.
The documentation:
http://www.ros.org/wiki/plumesim
points you at the repository for the ROS version of plumesim:
http://isr-uc-ros-pkg.googlecode.com/svn/trunk/unstable/simulator_plumesim/plumesim
brian.
------------------------------
Message: 7
Date: Mon, 14 Feb 2011 18:01:16 -0800
From: Brian Gerkey <gerkey at willowgarage.com>
Subject: Re: [ros-users] Merging Player with ROS
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTik3J9jHTnDUHuXM+-CufrX7g4PBKEOTwky8Wm0S at mail.gmail.com>
Content-Type: text/plain; charset=ISO-8859-1
On Sun, Feb 13, 2011 at 11:46 AM, Aslund <sebastian.aslund at gmail.com> wrote:
> While an option is to use the ROS Player driver, then I want to avoid it. I
> have already Player installed on my robot and had quite some problems with
> it, which is now solved, but it scared me from doing any changes to it, so I
> want to maintain the robot as it is.
> My idea is to have a second computer to process the algorithms, which
> communicates through Player on a local network to my robot.
> I used the Publisher example from the tutorial to create a base to work
> with, if I add the following lines to my CMakeLists.txt:
>
> include_directories(/usr/local/include/player-3.1)
> link_directories(/usr/local/lib)
>
> then I am able to compile the example including the header file of Player (
> #include "libplayerc++/playerc++.h" ), but when I add Player functions, then
> rosmake returns that there are undefined references, which could indicate
> that I need a way of adding the library files into my CMakeLists.txt list.
> My problem is that I do not know how to add? .so-library files into
> CMakeLists.txt inorder to make the compiler able to use Player functions, I
> hope someone can help me resolving this problem.
I would use pkg-config to get the build flags for Player. Assuming
that you're trying to build a client program against libplayerc++, do
something like:
include(FindPkgConfig)
pkg_check_modules(PLAYERCPP REQUIRED playerc++)
include_directories(${PLAYERCPP_INCLUDE_DIRS})
link_directories(${PLAYERCPP_LIBRARY_DIRS})
# Assuming that you're building an executable named foo
target_link_libraries(foo ${PLAYERCPP_LIBRARIES})
Note that you may have to add /usr/local/lib/pkgconfig to your PKG_CONFIG_PATH.
brian.
------------------------------
Message: 8
Date: Mon, 14 Feb 2011 18:02:19 -0800 (PST)
From: rinosh1989 <rinosh1989 at gmail.com>
Subject: Re: [ros-users] Example of SLAM using mono or stere camera
To: ros-users at code.ros.org
Message-ID: <1297735339524-2497799.post at n3.nabble.com>
Content-Type: text/plain; charset=us-ascii
Could anyone tell me how to use monoslam package in vslam_sytems
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------------------------------
Message: 9
Date: Mon, 14 Feb 2011 18:06:08 -0800
From: Brian Gerkey <gerkey at willowgarage.com>
Subject: Re: [ros-users] OS X ogre x86_64 patch
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTimQ-OO5x0nXKXCfEU2EniG+aRiOfELXWnW-DHLN at mail.gmail.com>
Content-Type: text/plain; charset=ISO-8859-1
hi William,
Thanks for the patch! Can you put it in a ticket, so we don't lose track of it?
brian.
On Sun, Feb 6, 2011 at 12:24 PM, William Woodall <wjwwood at gmail.com> wrote:
> I have managed to get ROS's ogre package to compile on OS X, which lets
> ogre_tools compile and gets rviz a little closer to compiling.
> I used the patch on this orgre forum post and modified a few lines in
> it:?http://www.ogre3d.org/forums/viewtopic.php?f=5&t=59370
> I attached an ogre pkg patch that adds this modified patch for ogre and adds
> it to the tarball_patches in the make file for the ROS package.
> I have _not_ tested this patch on linux, or actually using rviz, so I don't
> know if it has any adverse effects. ?I will follow up post about the linking
> error I am getting with rviz soon.
> Thanks,
>
> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> William Woodall
> Graduate Software Engineering
> Auburn University
> w at auburn.edu
> wjwwood at gmail.com
> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
------------------------------
Message: 10
Date: Mon, 14 Feb 2011 18:22:39 -0800
From: Ken Conley <kwc at willowgarage.com>
Subject: Re: [ros-users] Best option for communication over an
unreliable link?
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTim0QuT79DRbfNemqoZ=BSDXv4jCVXJMajZcknnr at mail.gmail.com>
Content-Type: text/plain; charset=ISO-8859-1
On Mon, Feb 14, 2011 at 1:01 AM, Stefan Kohlbrecher
<stefan.kohlbrecher at googlemail.com> wrote:
> So without going into detail, there have been approaches from
> different people for different systems, but a standard approach
> obviously did not emerge so far. The part of the Building Manager
> project dealing with multi-robot applications sounds very good:
> http://www.ros.org/wiki/Projects/Building%20Manager/Overview . Ken,
> can you specify a (even if very) approximate time frame of realization
> the multi-robot comms portion?
We're still in an exploratory phase as the project really only started
in late December. We do have a prototype infrastructure up and we
plan on iterating quickly using our "turtle bots" (Create + Kinect
platform).
We're open to collaboration, especially to enable other's to drive
their own priorities. The project page defines some of the basic
infrastructure elements, though there is further breakdown necessary
on the ROS infrastructure side, e.g. the wifi comm issues, etc...
- Ken
> Multi-robot communication is a major part of many projects (a working
> solution would evaluation of ROS on our Humanoid KidSize robots
> feasible for example) and it would be great to see it gaining
> momentum.
>
> regards,
> Stefan
>
>
>
> 2011/2/14 Raymond Sheh <rsheh at cse.unsw.edu.au>:
>> ?On 13/02/2011 5:15 AM, Ken Conley wrote:
>>> On Fri, Feb 11, 2011 at 4:40 PM, Raymond Sheh<rsheh at cse.unsw.edu.au> ?wrote:
>>>> ? Hi all!
>>>>
>>>> We are looking at using ROS on a set of robots, which run autonomously
>>>> and independently but at times require some collaboration,
>>>> teleoperation, remote logging and monitoring over a link that is
>>>> unreliable. I understand that ROS's network communications stack
>>>> natively assumes reliable, complete connectivity so we'd need to somehow
>>>> supplement its capabilities.
>>> roscpp implements a UDP transport as well, so you can do roscpp-roscpp
>>> unreliable.
>>>
>>>> Ideally, as the link degrades we'd like the ability to, depending on the
>>>> data, selectively drop or buffer and detect (from both ends) what kinds
>>>> of delays may be present and when the link has dropped completely so
>>>> that they can react accordingly. We'd also need to have some form of QoS
>>>> mechanism.
>>>>
>>>> Does anyone have any suggestions as to the best way of going about doing
>>>> this with ROS? If there's already a quasi-standard way of doing this
>>>> kind of thing within ROS we'd prefer to avoid reinventing the wheel! :-)
>>>>
>>>> I'm still getting up to speed with ROS (I've just come from an
>>>> environment based mainly around Player, Ice and some custom
>>>> error-tolerant "stuff"). My current thinking is to have each robot run
>>>> completely separate ROS "clusters" (what's the collective noun for a
>>>> group of computers/nodes that all talk ROS to each other?) each with an
>>>> independent master. We'd then develop a node that acts as a
>>>> communications relay with the ability to provide this kind of graceful
>>>> degradation and QoS. The "clusters" will talk to each other via these
>>>> relay nodes. One obvious downside would be that we'd lose the ability to
>>>> transparently move nodes from one robot to another although given the
>>>> control we need over what happens on the link I'd assume there isn't
>>>> really a sensible way of keeping this completely transparent whatever we
>>>> do.
>>>>
>>>> I notice some discussion mid last year about using foreign_relay to do a
>>>> vaguely similar thing but would I be correct to conclude that the goal
>>>> of foreign_relay is more to handle the unreliable link in a way that is
>>>> largely transparent to the nodes involved? Would an alternative be to
>>>> somehow extend foreign_relay to include the capabilities that we need?
>>> foreign_relay is a relay node implemented on top of roscpp's UDP
>>> transport mechanism. ?At the very least, it's a good starting point
>>> for you might relay between different clusters.
>>>
>>> As part of our "Building Manager" project [1], we hope to investigate
>>> other mean of maintaining communication between different robots over
>>> wifi links, but we haven't started that particular feature
>>> investigation yet and would appreciate any insight you have.
>>>
>>> Hope this helps,
>>> Ken
>>>
>>> [1]: www.ros.org/wiki/Projects/Building Manager
>>
>> Thanks for your info! I'll have another look at the UDP transport and
>> foreign_relay and I'll keep an eye on the building manager project.
>>
>> I'm still at the stage of getting to know what ROS can do and how it
>> fits in with what we'd like to do overall - it'll be another couple of
>> months at least before we're in a position to seriously implement
>> something.
>>
>> As for insights, I've got some ideas for what to do (and not to do!)
>> based on our previous experience but I am also looking around at how
>> other projects have handled unreliable links and QoS issues. I'd
>> appreciate any pointers that you (or anyone else for that matter) could
>> offer to other projects that are worth looking at for ideas! :-)
>>
>> Cheers!
>>
>> - Raymond
>> _______________________________________________
>> ros-users mailing list
>> ros-users 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: 11
Date: Mon, 14 Feb 2011 21:00:11 -0600
From: William Woodall <wjwwood at gmail.com>
Subject: Re: [ros-users] OS X ogre x86_64 patch
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTikN+nJfqqQS5G0y=xy8JP0BwRG1D=xd4duQhOX8 at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
Done.
https://code.ros.org/trac/ros-pkg/ticket/4788
--
<https://code.ros.org/trac/ros-pkg/ticket/4788>
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
William Woodall
Graduate Software Engineering
Auburn University
w at auburn.edu
wjwwood at gmail.com
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
On Mon, Feb 14, 2011 at 8:06 PM, Brian Gerkey <gerkey at willowgarage.com>wrote:
> hi William,
>
> Thanks for the patch! Can you put it in a ticket, so we don't lose track
> of it?
>
> brian.
>
> On Sun, Feb 6, 2011 at 12:24 PM, William Woodall <wjwwood at gmail.com>
> wrote:
> > I have managed to get ROS's ogre package to compile on OS X, which lets
> > ogre_tools compile and gets rviz a little closer to compiling.
> > I used the patch on this orgre forum post and modified a few lines in
> > it: http://www.ogre3d.org/forums/viewtopic.php?f=5&t=59370
> > I attached an ogre pkg patch that adds this modified patch for ogre and
> adds
> > it to the tarball_patches in the make file for the ROS package.
> > I have _not_ tested this patch on linux, or actually using rviz, so I
> don't
> > know if it has any adverse effects. I will follow up post about the
> linking
> > error I am getting with rviz soon.
> > Thanks,
> >
> > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> > William Woodall
> > Graduate Software Engineering
> > Auburn University
> > w at auburn.edu
> > wjwwood at gmail.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
>
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Message: 12
Date: Mon, 14 Feb 2011 23:11:56 -0500
From: Rich Mattes <jpgr87 at gmail.com>
Subject: Re: [ros-users] Merging Player with ROS
To: ros-users at code.ros.org
Message-ID: <4D59FD0C.9030707 at gmail.com>
Content-Type: text/plain; charset=ISO-8859-1; format=flowed
On 02/14/2011 09:01 PM, Brian Gerkey wrote:
> On Sun, Feb 13, 2011 at 11:46 AM, Aslund<sebastian.aslund at gmail.com> wrote:
>> While an option is to use the ROS Player driver, then I want to avoid it. I
>> have already Player installed on my robot and had quite some problems with
>> it, which is now solved, but it scared me from doing any changes to it, so I
>> want to maintain the robot as it is.
>> My idea is to have a second computer to process the algorithms, which
>> communicates through Player on a local network to my robot.
>> I used the Publisher example from the tutorial to create a base to work
>> with, if I add the following lines to my CMakeLists.txt:
>>
>> include_directories(/usr/local/include/player-3.1)
>> link_directories(/usr/local/lib)
>>
>> then I am able to compile the example including the header file of Player (
>> #include "libplayerc++/playerc++.h" ), but when I add Player functions, then
>> rosmake returns that there are undefined references, which could indicate
>> that I need a way of adding the library files into my CMakeLists.txt list.
>> My problem is that I do not know how to add .so-library files into
>> CMakeLists.txt inorder to make the compiler able to use Player functions, I
>> hope someone can help me resolving this problem.
> I would use pkg-config to get the build flags for Player. Assuming
> that you're trying to build a client program against libplayerc++, do
> something like:
>
> include(FindPkgConfig)
> pkg_check_modules(PLAYERCPP REQUIRED playerc++)
> include_directories(${PLAYERCPP_INCLUDE_DIRS})
> link_directories(${PLAYERCPP_LIBRARY_DIRS})
> # Assuming that you're building an executable named foo
> target_link_libraries(foo ${PLAYERCPP_LIBRARIES})
>
> Note that you may have to add /usr/local/lib/pkgconfig to your PKG_CONFIG_PATH.
>
> brian.
>
If you're using cmake, you may also find the following helpful:
http://playerstage.sourceforge.net/wiki/Player_and_CMake
http://playerstage.sourceforge.net/wiki/Compiling_Player_3_clients_and_plugins
Rich
------------------------------
Message: 13
Date: Mon, 14 Feb 2011 20:19:29 -0800
From: Ken Conley <kwc at willowgarage.com>
Subject: Re: [ros-users] Build Architecture Question
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTik2K+qvWU0owhLCnzTEE9GfHeaEK91QSqiu8Zpn at mail.gmail.com>
Content-Type: text/plain; charset=ISO-8859-1
Howdy everyone,
William has agreed to be the guinea pig for our new answers.ros.org
site that Tully and Melonee put together. It's based on an
open-source, Stack Overflow-style system.
Please follow up on this thread here:
http://answers.ros.org/question/9/build-architecture-question
Answer/vote/tag to your delight!
cheers,
Ken
On Mon, Feb 14, 2011 at 4:47 PM, William Woodall <wjwwood at gmail.com> wrote:
> So I have been working on using IRI's segway library to implement a segway
> driver for ROS, and I have run into a situation where I don't know how to
> proceed.
> IRI is setting up a port of their stuff for ROS, so at this point it is more
> educational for me.
>
> So, the IRI segway library relies on some of their other libraries.
> My ROS Node depends on iri_segway_rmp200.
> iri_segway_rmp200 depends on iricomms and iriutils.
> iricomms depends on iriutils.
> All of the IRI stuff is in SVN and is LGPL licensed, my stuff can be
> considered MIT. ?They are setup to build dynamically linked libraries (.so
> on linux and .dylib on osx).
> The way I see it there are a few ways to approach this setup in ROS: (Maybe
> there is a 4th, correct setup)
>
> Put a script in rosdep.yaml to (svn co; make; sudo make install) each of the
> libraries from IRI.
>
> This is good because the libraries are installed and no further
> configuration is required, but requires root access
> Also, they install Find<lib>.cmake files in the cmake shared Modules folder,
> which is nice
>
> Create a ROS pkg for each library and use rosmake to build them, using the
> svn_checkout.mk make script and patches to build and install them to the pkg
> dir
>
> This is nice because the libraries are contained in the ros pkg
> But, you need to export cpp flags to include and link directories
> How do you handle runtime dynamic linking?
>
> Download/Distribute and build the libraries in your ROS pkg and statically
> link your node to the libraries
>
> Doesn't allow multiple nodes to link to a single source for the libraries
> (build the libs for each node that uses them)
>
> So here are my questions:
>
> What is the preferred method of build architecture?
> How do you handle dynamic linking at runtime? (the .so file is in package A,
> and how does a binary in package B find it at runtime?)
> How can you handle installing and referencing Find<lib>.cmake files that
> libraries have? (use manifext.xml's <depend .../> instead, is my guess)
> What if any licensing concerns are there? (patches and static linking, etc)
>
> Sorry if some of these questions are silly, I am still learning these more
> complicated build systems (rosmake/cmake).
> Thanks,
> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> William Woodall
> Graduate Software Engineering
> Auburn University
> w at auburn.edu
> wjwwood at gmail.com
> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
------------------------------
Message: 14
Date: Mon, 14 Feb 2011 22:43:44 -0800
From: Wim Meeussen <meeussen at willowgarage.com>
Subject: Re: [ros-users] How to use wiimote as an imu for
robot_pose_ekf
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTikv6A1B28HO7KUdWVbVSfeo_X-cg3WFmv-ZiE07 at mail.gmail.com>
Content-Type: text/plain; charset=ISO-8859-1
> Hi, I'm trying to do the same thing - I'm trying to combine the wiimote IMU
> data with visual odometry from the vslam package. ?I've tried all the
> troubleshooting tips and I still can't figure out. ?As Alessio mentioned, I
> had to remap imu_data to imu/data in the robot_pose_ekf package. ?Here's my
> output when I run the script wtf.py in the robot_pose_ekf package.
>
> ?* Odometry sensor
> ? - is NOT active
> ? - received 0 messages
> ? - listens to topic
> ?* IMU sensor
> ? - is NOT active
> ? - received 1569 messages
> ? - listens to topic /imu/data
> ?* Visual Odometry sensor
> ? - is NOT active
> ? - received 62 messages
> ? - listens to topic /vo
> Output:
> ?* Robot pose ekf filter
> ? - is active
> ? - sent 20 messages
> ? - pulishes on topics /robot_pose_ekf/odom_combined and /tf
The filter is active, which means that at some point one or more of
your sensors were active too. The robot pose ekf automatically enables
sensors when new data is received, and disables them when not data is
received in a time interval specified by the "sensor_timeout"
parameter. I think your sensors are getting activated and deactivated
all the time. You should get lots of useful information in rxconsole,
just try to run the robot pose ekf with rxconsole on.
Hope this helps,
Wim
--
Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)
------------------------------
Message: 15
Date: Tue, 15 Feb 2011 15:12:54 +0800
From: shujun gong <sjgong.7 at gmail.com>
Subject: [ros-users] flicker of gazebo world display area
To: ros-users at code.ros.org
Message-ID:
<AANLkTi=jsdCZ-PmwmbE0oO9cV2HTjXQDdbwnCMdbY_Mz at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
Hello, everyone!
My video card is ATI radeon 4350, and the driver is working very well.
When I "launch gazebo_worlds empty_world.launch" the problem come out. There
are not error even warning. The world display area of gazebo is flickering.
So what is the problem and how can I fix it?
Thanks for your time!
Best regards!
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Message: 16
Date: Mon, 14 Feb 2011 23:36:55 -0800
From: Mrinal Kalakrishnan <mail at mrinal.net>
Subject: Re: [ros-users] flicker of gazebo world display area
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTinsYRSArh-cOjsaUN+d9Xm+T8zqZNs3HiAdK9Pu at mail.gmail.com>
Content-Type: text/plain; charset=ISO-8859-1
Hi Shujun,
This is a common problem when running compiz. Try turning it off (on
Ubuntu: System -> Preferences -> Appearance -> Visual Effects ->
None). Others have recommended running "unset
LIBGL_ALWAYS_INDIRECT" before starting rviz, but I haven't tested this.
Hope this helps,
Mrinal
On Mon, Feb 14, 2011 at 11:12 PM, shujun gong <sjgong.7 at gmail.com> wrote:
>
> Hello, everyone!
>
> My video card is ATI radeon 4350, and the driver is working very well.
>
> When I "launch gazebo_worlds empty_world.launch" the problem come out. There
> are not error even warning. The world display area of gazebo is flickering.
> So what is the problem and how can I fix it?
>
> Thanks for your time!
>
> Best regards!
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
------------------------------
Message: 17
Date: Mon, 14 Feb 2011 23:49:01 -0800 (PST)
From: Zhiping <TANZ0066 at e.ntu.edu.sg>
Subject: Re: [ros-users] Dynamic updating map for move_base
To: ros-users at code.ros.org
Message-ID: <1297756141050-2499044.post at n3.nabble.com>
Content-Type: text/plain; charset=us-ascii
Thanks for the advice.
I tried to edit the Move_base.launch by replacing this statement from
<node name="map_server" pkg="map_server" type="map_server" args="$(find
my_2dnav)/map/map.yaml"/>
to
<node name="slam_gmapping" pkg="gmapping" type="slam_gmapping"/>
The program works very well initally but over time the system just crash.
I was wondering whether it's because of the laptop limitation ?
My current laptop spec is
core2 Duo with 2G ram and 128mb dedicated graphic card
with thanks,
Zhiping
--
View this message in context: http://ros-users.122217.n3.nabble.com/Dynamic-updating-map-for-move-base-tp2492865p2499044.html
Sent from the ROS-Users mailing list archive at Nabble.com.
------------------------------
Message: 18
Date: Tue, 15 Feb 2011 16:30:41 +0800
From: Nutan Chen <ntchen86 at gmail.com>
Subject: [ros-users] (no subject)
To: ros-users at code.ros.org
Message-ID:
<AANLkTikTN3i2qSugbmnASB5wc5rhvvp6kBdLg-f-HNBA at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
hi, can i ask question there?
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Message: 19
Date: Tue, 15 Feb 2011 09:58:19 +0100
From: Aslund <sebastian.aslund at gmail.com>
Subject: Re: [ros-users] Merging Player with ROS
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTikR9hweRwveZ1LMDGsEn-e+ipcoAtQOc8q5cCUX at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
Hey
Yesterday I figured out how to use target_link_libraries to add libraries,
but only one library at the time. A great thanks to Brian's CMake style
approach, just what I seeked, also thanks to Rich for the links, nice with
additional information of the use of CMake.
Regards
Sebastian
On 15 February 2011 05:11, Rich Mattes <jpgr87 at gmail.com> wrote:
> On 02/14/2011 09:01 PM, Brian Gerkey wrote:
> > On Sun, Feb 13, 2011 at 11:46 AM, Aslund<sebastian.aslund at gmail.com>
> wrote:
> >> While an option is to use the ROS Player driver, then I want to avoid
> it. I
> >> have already Player installed on my robot and had quite some problems
> with
> >> it, which is now solved, but it scared me from doing any changes to it,
> so I
> >> want to maintain the robot as it is.
> >> My idea is to have a second computer to process the algorithms, which
> >> communicates through Player on a local network to my robot.
> >> I used the Publisher example from the tutorial to create a base to work
> >> with, if I add the following lines to my CMakeLists.txt:
> >>
> >> include_directories(/usr/local/include/player-3.1)
> >> link_directories(/usr/local/lib)
> >>
> >> then I am able to compile the example including the header file of
> Player (
> >> #include "libplayerc++/playerc++.h" ), but when I add Player functions,
> then
> >> rosmake returns that there are undefined references, which could
> indicate
> >> that I need a way of adding the library files into my CMakeLists.txt
> list.
> >> My problem is that I do not know how to add .so-library files into
> >> CMakeLists.txt inorder to make the compiler able to use Player
> functions, I
> >> hope someone can help me resolving this problem.
> > I would use pkg-config to get the build flags for Player. Assuming
> > that you're trying to build a client program against libplayerc++, do
> > something like:
> >
> > include(FindPkgConfig)
> > pkg_check_modules(PLAYERCPP REQUIRED playerc++)
> > include_directories(${PLAYERCPP_INCLUDE_DIRS})
> > link_directories(${PLAYERCPP_LIBRARY_DIRS})
> > # Assuming that you're building an executable named foo
> > target_link_libraries(foo ${PLAYERCPP_LIBRARIES})
> >
> > Note that you may have to add /usr/local/lib/pkgconfig to your
> PKG_CONFIG_PATH.
> >
> > brian.
> >
>
> If you're using cmake, you may also find the following helpful:
>
> http://playerstage.sourceforge.net/wiki/Player_and_CMake
>
> http://playerstage.sourceforge.net/wiki/Compiling_Player_3_clients_and_plugins
>
> Rich
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
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Message: 20
Date: Tue, 15 Feb 2011 09:00:16 +0000
From: "Asghari Oskoei, Mohammadreza" <m.asghari-oskoei at herts.ac.uk>
Subject: [ros-users] stereo proc
To: User discussions <ros-users at code.ros.org>
Message-ID:
<DF60DAEDCFDBE641A1BFD55250E8F03535503F744A at UH-MAILSTOR.herts.ac.uk>
Content-Type: text/plain; charset="us-ascii"
Hi,
I run stereo_image_proc by
<node ns="stereo" pkg="stereo_image_proc" type="stereo_image_proc" respawn="false" name="stereo_image_proc" args="_approximate_sync:=True">
<!--remap from="stereo_image_proc/parameter_descriptions" to="parameter_descriptions" />
<remap from="stereo_image_proc/parameter_updates" to="parameter_updates" /-->
</node>
It crashes and returns the below message when I attempt to view the images by stereo_view
process[stereo/stereo_image_proc-1]: started with pid [6045]
stereo_image_proc: /tmp/buildd/ros-diamondback-vision-opencv-1.4.0/debian/ros-diamondback-vision-opencv/opt/ros/diamondback/stacks/vision_opencv/image_geometry/include/image_geometry/pinhole_camera_model.h:288: std::string image_geometry::PinholeCameraModel::tfFrame() const: Assertion `initialized()' failed.
[stereo/stereo_image_proc-1] process has died [pid 6045, exit code -6].
log files: /home/reza/.ros/log/967559ac-38dd-11e0-bc77-00808288094c/stereo/stereo_image_proc-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Reza,
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Message: 21
Date: Tue, 15 Feb 2011 17:01:22 +0800
From: Nutan Chen <ntchen86 at gmail.com>
Subject: [ros-users] a problem about rosrun rviz rviz--kinect&openni
To: ros-users at code.ros.org
Message-ID:
<AANLkTinT6fgrJNM6jPi9tp=36mNOCsnMNMFsUKCKPifd at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
Hi, I have some problems to ask your help! I use kinect with openni.
after running rosrun rviz rviz, the log shows,
[ INFO] [1297759443.332189019]: Loading general config from
[/home/nutan/.rviz/config]
[ INFO] [1297759443.342981796]: Loading display config from
[/home/nutan/.rviz/display_config]
[ERROR] [1297759444.477791717]: No techniques available for material
[PointCloudMaterial0BillboardSphere]
[ERROR] [1297759444.479695234]: No techniques available for material
[PointCloudMaterial0Billboard]
[ERROR] [1297759444.558933075]: No techniques available for material
[PointCloudMaterial0Billboard]
Although RViz appears, flashing green light on the kinect sensor(may be
because the sensor is connected but it can't be verified. Then, I set the
Fixed Frame to openni_depth_optical_frame, and added a Point Cloud2 display,
and set the topic to /camera/depth/points2. Turning the background to light
gray. In another terminal, i used rosrun image_view image_view image_view
image:=/camera/rgb/image_color, and the log is,
terminate called after throwing an instance of
'image_transport::TransportLoadException'
what(): Unable to load plugin for transport 'image_view', error string:
According to the loaded plugin descriptions the class
image_transport/image_view_sub with base class type
image_transport::SubscriberPlugin does not exist. Declared types are
image_transport/raw_sub
Aborted
Please help me check the
mistakes!**<http://support.xbox.com/en-gb/pages/kinect/more-topics/flashing-green-light-on-kinect-sensor.aspx>
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------------------------------
Message: 22
Date: Tue, 15 Feb 2011 10:55:16 +0100
From: Armin Hornung <HornungA at informatik.uni-freiburg.de>
Subject: Re: [ros-users] ROS Diamondback Release Candidate 1
To: User discussions <ros-users at code.ros.org>
Message-ID: <4D5A4D84.5010001 at informatik.uni-freiburg.de>
Content-Type: text/plain; charset=ISO-8859-1; format=flowed
Hi Wim,
>> I added a quick overview over the Nao humanoid to the robot portals:
>> http://www.ros.org/wiki/Robots/Nao
> I added the Nao to the install page
> <http://www.ros.org/wiki/diamondback/Installation>.
Cool, that's a nice overview page that I haven't seen before!
In fact, I was just looking for diamondback instructions yesterday to
find the recommended .deb variants and couldn't find it on the default
installation instructions (http://www.ros.org/wiki/ROS/Installation).
Maybe it's time to put a cturtle / diamondback switch there, as it
reached RC1 now?
Armin
--
Armin Hornung
Humanoid Robots Lab, Albert-Ludwigs-Universit?t Freiburg
Contact: http://www.informatik.uni-freiburg.de/~hornunga
------------------------------
Message: 23
Date: Tue, 15 Feb 2011 10:47:54 +0000
From: "Asghari Oskoei, Mohammadreza" <m.asghari-oskoei at herts.ac.uk>
Subject: [ros-users] stereo image sync
To: User discussions <ros-users at code.ros.org>
Message-ID:
<DF60DAEDCFDBE641A1BFD55250E8F03535503F74D4 at UH-MAILSTOR.herts.ac.uk>
Content-Type: text/plain; charset="us-ascii"
Hi,
I setup a pair of prosilica camera, in mode 640x480 in two exposure rates 5 and 0.5 ,
When I subscribe to their topics by either "rostopic hz /stereo/left/image_rect_color" or "rostopic hz /stereo/left/image_raw"
In exposure rate 0.5, receive all messages without missing any and then it repeats again
In exposure rate 5, receive just 1 message and miss other 4 messages then it repeats again
I tried this in different rates and found out that I just can receive two messages (one left and one right) per second (or per ROS refresh rate), and any more messages would be missed by ROS.
The other point is that when I run stereo_image_proc it crashes as soon as starting to subscribe to it by either stereo_view or face_detector.
Anyone can help, please?
Reza,
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Message: 24
Date: Tue, 15 Feb 2011 05:57:07 -0500
From: "liuwei at cmu.edu" <liuwei at cmu.edu>
Subject: [ros-users] problem when install rgbdslam
To: ros-users <ros-users at code.ros.org>
Message-ID:
<AANLkTimez0eS81H5uBHZbcR2s05u+58=3KoJfsQV6dBO at mail.gmail.com>
Content-Type: text/plain; charset="windows-1252"
Hi,
when I run rosmake --rosdep-install rgbdslam,
I get the problem that,
/opt/ros/unstable/stacks/perception_pcl/pcl/include/pcl/common/eigen.h:238:
error: request for member ?row? in ?tmp?, which is of non-class type ?int?
/opt/ros/unstable/stacks/perception_pcl/pcl/include/pcl/common/eigen.h:240:
error: request for member ?squaredNorm? in ?vec1?, which is of non-class
type
?Eigen::Vector3f?
/opt/ros/unstable/stacks/perception_pcl/pcl/include/pcl/common/eigen.h:241:
error: request for member ?squaredNorm? in ?vec2?, which is of non-class
type ?Eigen::Vector3f?
.
.
.
there are 55 packages need to be installed, with one falls.
But when I installed it in my desktop computer a few days ago, only 54
packages is needed, and it is correctly installed.
I find that eigen package caused the error. I don't know how to deal with
it.
Wei
--
Wei Liu
Research Scholar
Robotics Institute NSH1202
Carnegie Mellon University
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Message: 25
Date: Tue, 15 Feb 2011 19:02:28 +0800
From: Nutan Chen <ntchen86 at gmail.com>
Subject: [ros-users] rosrun rviz rviz--kinect&openni
To: ros-users at code.ros.org
Message-ID:
<AANLkTimW9QmA_wo4qUPWmWdWyhscJ8d48+Az9L=8PhAR at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
Hi, I have some problems to ask your help! I use kinect with openni.
after running rosrun rviz rviz, the log shows,
[ INFO] [1297759443.332189019]: Loading general config from
[/home/nutan/.rviz/config]
[ INFO] [1297759443.342981796]: Loading display config from
[/home/nutan/.rviz/display_config]
[ERROR] [1297759444.477791717]: No techniques available for material
[PointCloudMaterial0BillboardSphere]
[ERROR] [1297759444.479695234]: No techniques available for material
[PointCloudMaterial0Billboard]
[ERROR] [1297759444.558933075]: No techniques available for material
[PointCloudMaterial0Billboard]
Although RViz appears, flashing green light on the kinect sensor(may be
because the sensor is connected but it can't be verified. Then, I set the
Fixed Frame to openni_depth_optical_frame, and added a Point Cloud2 display,
and set the topic to /camera/depth/points2. Turning the background to light
gray. In another terminal, i used rosrun image_view image_view image_view
image:=/camera/rgb/image_color, and the log is,
terminate called after throwing an instance of
'image_transport::TransportLoadException'
what(): Unable to load plugin for transport 'image_view', error string:
According to the loaded plugin descriptions the class
image_transport/image_view_sub with base class type
image_transport::SubscriberPlugin does not exist. Declared types are
image_transport/raw_sub
Aborted
Please help me check the
mistakes!**<http://support.xbox.com/en-gb/pages/kinect/more-topics/flashing-green-light-on-kinect-sensor.aspx>
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------------------------------
Message: 26
Date: Tue, 15 Feb 2011 20:36:42 +0900
From: Taylor Veltrop <taylor at veltrop.com>
Subject: Re: [ros-users] rosinstall problems on Debian
To: User discussions <ros-users at code.ros.org>
Message-ID: <9539DC83-55C5-4E30-8DF0-82680D72D19E at veltrop.com>
Content-Type: text/plain; charset="us-ascii"
After upgrading to Debian 6.0 the rosinstall script works fine.
The new problem is that nothing would compile: "gcc fails to compile
simple program"
gcc was linked to gcc-4.3 so I had to do a rm /usr/bin/gcc and ln -s /
usr/bin/gcc-4.3 /usr/bin/gcc
Is there a more correct way of doing this?
Now things seem to be moving along.
This happened with both cturtle and diamondback by the way.
On Feb 15, 2011, at 12:57 AM, Willy Lambert wrote:
> Debian installation is quite new and might not work on every
> installation (that's why there is a WORK IN PROGRESS on top of
> it ;) ). Please do not hesitate to share your problem here, you'll
> receive help and you'll help Debian becoming a fully working
> installation.
>
> Yes Squeeze is officially a stable version for a week, so now, lenny
> may be (IMO) considered as an "old install".
>
> If you dare, I suggest you to try the next coming version of ROS
> because dependencies are better managed. It is currently in a
> release candidate state, so it's close to be the new newest version.
>
>
>
>
> 2011/2/14 Taylor Veltrop <taylor at veltrop.com>
> Ok, looks like I'll have to do a dist upgrade.
>
> Wow, I didn't know that squeeze was officially released!
>
> Thanks for the heads up Ugo!
>
> On Feb 14, 2011, at 9:05 PM, Ugo Cupcic wrote:
>
>> Hi,
>>
>> Yes on lenny you get python 2.5 and for this you need python 2.6 at
>> least.
>>
>> Installing ros on lenny was a bit of a pain (well in our case). If
>> you uprgade to the latest debian, then it should make your life a
>> LOT easier with ROS :)
>>
>> Cheers,
>>
>> Ugo
>>
>> On Mon, Feb 14, 2011 at 12:00 PM, Taylor Veltrop
>> <taylor at veltrop.com> wrote:
>> Embarrassed to say that I can't get the newest rosinstall working
>> on my machine, using Debian lenny 5.0.8 and the standard source
>> based install instructions at http://www.ros.org/wiki/cturtle/Installation/Debian
>> . Python version is 2.5.2.
>>
>> Executed:
>> sudo apt-get install build-essential python-yaml cmake subversion
>> wget python-setuptools
>> and:
>> sudo easy_install -U rosinstall
>>
>> When I run:
>> rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=base&overlay=no
>> "
>>
>> Here is the output:
>> veltrobot:~ $ rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=ros_only&overlay=no
>> "
>> /usr/lib/python2.5/site-packages/rosinstall-0.5.15-py2.5.egg/
>> rosinstall/vcs/svn.py:49: Warning: 'with' will become a reserved
>> keyword in Python 2.6
>> Traceback (most recent call last):
>> File "/usr/bin/rosinstall", line 5, in <module>
>> pkg_resources.run_script('rosinstall==0.5.15', 'rosinstall')
>> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line
>> 448, in run_script
>> self.require(requires)[0].run_script(script_name, ns)
>> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line
>> 1173, in run_script
>> exec script_code in namespace, namespace
>> File "/usr/bin/rosinstall", line 28, in <module>
>>
>> File "/usr/lib/python2.5/site-packages/rosinstall-0.5.15-
>> py2.5.egg/rosinstall/vcs/svn.py", line 49
>> with open(os.devnull, 'w') as fnull:
>> ^
>> SyntaxError: invalid syntax
>>
>> If I download the old http://www.ros.org/rosinstall and do a
>> ./rosinstall ~/ros "http://www.ros.org/rosinstalls/cturtle_base.rosinstall
>> "
>> then it all works out fine as it used to.
>>
>> I found an old thread with the same error message from an ArchLinux
>> user. They fixed it by changing a python 3 symlink to a 2.7
>> symlink. That does not apply in my case.
>>
>> Sorry if this has been covered before, I feel like it's something
>> obvious but I haven't been able to find a solution.
>>
>> Is Debian lenny's python the problem?
>>
>>
>> Taylor Veltrop
>>
>>
>>
>> _______________________________________________
>> ros-users mailing list
>> ros-users at code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>>
>>
>>
>> --
>> Ugo Cupcic | Shadow Robot Company | ugo at shadowrobot.com
>> Software Engineer | 251 Liverpool Road |
>> need a Hand? | London N1 1LX | +44 20 7700 2487
>> http://www.shadowrobot.com/hand/ @shadowrobot
>>
>> _______________________________________________
>> ros-users mailing list
>> ros-users 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: 27
Date: Tue, 15 Feb 2011 13:08:52 +0100
From: Steven Bellens <steven.bellens at mech.kuleuven.be>
Subject: [ros-users] ccny: asctec_autopilot serial interface
communication
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTin+j_hn+cbSuTQwm3LXeNyhvxcGBvtdE7hOLLaB at mail.gmail.com>
Content-Type: text/plain; charset=ISO-8859-1
Hi,
Been a while since I used the asctec_autopilot node for communication
with the Pelican. I build the master branch and tried to launch it,
but somehow communication is not setup properly - it gives me some
error about 'insufficient data' when I try to read from the Pelican. I
switched back to the code I was working on last year (somewhere mid
august) which works fine (/origin/sbellens).
Checking the diff I see a lot of the low-level communication commands
have been rewritten and header fields are added to the ROS messages.
Can someone confirm whether the current code works with the Pelican
helicopter? Do I have to add something in my client code to get
up-to-date? I'm still using the XBee communication interface.
regards,
Steven
------------------------------
Message: 28
Date: Tue, 15 Feb 2011 21:15:38 +0900
From: Taylor Veltrop <taylor at veltrop.com>
Subject: Re: [ros-users] rosinstall problems on Debian
To: User discussions <ros-users at code.ros.org>
Message-ID: <8F40504B-8333-4A94-97C5-5A873782E059 at veltrop.com>
Content-Type: text/plain; charset="us-ascii"
Correction, it was initially linked to gcc 4.4.
Also, the Debian Squeeze dependencies for boost and log4cxx should be
set to libboost1.42-all-dev liblog4cxx10-dev
On Feb 15, 2011, at 8:36 PM, Taylor Veltrop wrote:
> After upgrading to Debian 6.0 the rosinstall script works fine.
>
> The new problem is that nothing would compile: "gcc fails to compile
> simple program"
>
> gcc was linked to gcc-4.3 so I had to do a rm /usr/bin/gcc and ln -
> s /usr/bin/gcc-4.3 /usr/bin/gcc
> Is there a more correct way of doing this?
>
> Now things seem to be moving along.
>
> This happened with both cturtle and diamondback by the way.
>
> On Feb 15, 2011, at 12:57 AM, Willy Lambert wrote:
>
>> Debian installation is quite new and might not work on every
>> installation (that's why there is a WORK IN PROGRESS on top of
>> it ;) ). Please do not hesitate to share your problem here, you'll
>> receive help and you'll help Debian becoming a fully working
>> installation.
>>
>> Yes Squeeze is officially a stable version for a week, so now,
>> lenny may be (IMO) considered as an "old install".
>>
>> If you dare, I suggest you to try the next coming version of ROS
>> because dependencies are better managed. It is currently in a
>> release candidate state, so it's close to be the new newest version.
>>
>>
>>
>>
>> 2011/2/14 Taylor Veltrop <taylor at veltrop.com>
>> Ok, looks like I'll have to do a dist upgrade.
>>
>> Wow, I didn't know that squeeze was officially released!
>>
>> Thanks for the heads up Ugo!
>>
>> On Feb 14, 2011, at 9:05 PM, Ugo Cupcic wrote:
>>
>>> Hi,
>>>
>>> Yes on lenny you get python 2.5 and for this you need python 2.6
>>> at least.
>>>
>>> Installing ros on lenny was a bit of a pain (well in our case). If
>>> you uprgade to the latest debian, then it should make your life a
>>> LOT easier with ROS :)
>>>
>>> Cheers,
>>>
>>> Ugo
>>>
>>> On Mon, Feb 14, 2011 at 12:00 PM, Taylor Veltrop
>>> <taylor at veltrop.com> wrote:
>>> Embarrassed to say that I can't get the newest rosinstall working
>>> on my machine, using Debian lenny 5.0.8 and the standard source
>>> based install instructions at http://www.ros.org/wiki/cturtle/Installation/Debian
>>> . Python version is 2.5.2.
>>>
>>> Executed:
>>> sudo apt-get install build-essential python-yaml cmake subversion
>>> wget python-setuptools
>>> and:
>>> sudo easy_install -U rosinstall
>>>
>>> When I run:
>>> rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=base&overlay=no
>>> "
>>>
>>> Here is the output:
>>> veltrobot:~ $ rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=ros_only&overlay=no
>>> "
>>> /usr/lib/python2.5/site-packages/rosinstall-0.5.15-py2.5.egg/
>>> rosinstall/vcs/svn.py:49: Warning: 'with' will become a reserved
>>> keyword in Python 2.6
>>> Traceback (most recent call last):
>>> File "/usr/bin/rosinstall", line 5, in <module>
>>> pkg_resources.run_script('rosinstall==0.5.15', 'rosinstall')
>>> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line
>>> 448, in run_script
>>> self.require(requires)[0].run_script(script_name, ns)
>>> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line
>>> 1173, in run_script
>>> exec script_code in namespace, namespace
>>> File "/usr/bin/rosinstall", line 28, in <module>
>>>
>>> File "/usr/lib/python2.5/site-packages/rosinstall-0.5.15-
>>> py2.5.egg/rosinstall/vcs/svn.py", line 49
>>> with open(os.devnull, 'w') as fnull:
>>> ^
>>> SyntaxError: invalid syntax
>>>
>>> If I download the old http://www.ros.org/rosinstall and do a
>>> ./rosinstall ~/ros "http://www.ros.org/rosinstalls/cturtle_base.rosinstall
>>> "
>>> then it all works out fine as it used to.
>>>
>>> I found an old thread with the same error message from an
>>> ArchLinux user. They fixed it by changing a python 3 symlink to a
>>> 2.7 symlink. That does not apply in my case.
>>>
>>> Sorry if this has been covered before, I feel like it's something
>>> obvious but I haven't been able to find a solution.
>>>
>>> Is Debian lenny's python the problem?
>>>
>>>
>>> Taylor Veltrop
>>>
>>>
>>>
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users at code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>>
>>>
>>>
>>>
>>> --
>>> Ugo Cupcic | Shadow Robot Company | ugo at shadowrobot.com
>>> Software Engineer | 251 Liverpool Road |
>>> need a Hand? | London N1 1LX | +44 20 7700 2487
>>> http://www.shadowrobot.com/hand/ @shadowrobot
>>>
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users 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: 29
Date: Tue, 15 Feb 2011 13:20:22 +0100
From: "Yilmaz B?nyamin" <yilmaz.buenyamin at rwth-aachen.de>
Subject: [ros-users] Converting PointCloud to LaserScan
To: ros community <ros-users at code.ros.org>
Message-ID: <fba2b1205c3a6.4d5a7d96 at rwth-aachen.de>
Content-Type: text/plain; charset=iso-8859-1
Hello,
i want to convert PointCloud to LaserScan.
I have a Topic wich publishs point cloud.
if i try to make a map like this:
rosrun gmapping slam_gmapping scan:=point_cloud
i become a warning:
[WARN] 1297772305.065463: Could not process inbound connection: topic types do not match: [sensor_msgs/LaserScan] vs. [sensor_msgs/PointCloud]{'topic': '/point_cloud', 'tcp_nodelay': '0', 'md5sum': '90c7ef2dc6895d81024acba2ac42f369', 'type': 'sensor_msgs/LaserScan', 'callerid': '/slam_gmapping'}
So now i want convert pointcloud to laserscan.
Or if there is another way to make a map, with pointcloud?
Greetings,
B?nyamin
------------------------------
Message: 30
Date: Tue, 15 Feb 2011 12:34:00 +0000
From: Ugo Cupcic <ugo at shadowrobot.com>
Subject: Re: [ros-users] Converting PointCloud to LaserScan
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTimOEU=uV=K_MDGRTP78mCHNmTJEs-+izCXwiM+t at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
Hi,
I think you can use this to convert from pointcloud to laserscan
http://www.ros.org/wiki/pointcloud_to_laserscan
Cheers,
Ugo
2011/2/15 "Yilmaz B?nyamin" <yilmaz.buenyamin at rwth-aachen.de>
> Hello,
> i want to convert PointCloud to LaserScan.
> I have a Topic wich publishs point cloud.
> if i try to make a map like this:
>
> rosrun gmapping slam_gmapping scan:=point_cloud
>
> i become a warning:
> [WARN] 1297772305.065463: Could not process inbound connection: topic types
> do not match: [sensor_msgs/LaserScan] vs. [sensor_msgs/PointCloud]{'topic':
> '/point_cloud', 'tcp_nodelay': '0', 'md5sum':
> '90c7ef2dc6895d81024acba2ac42f369', 'type': 'sensor_msgs/LaserScan',
> 'callerid': '/slam_gmapping'}
>
> So now i want convert pointcloud to laserscan.
Or if there is another way to make a map, with pointcloud?
>
> Greetings,
> B?nyamin
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
--
Ugo Cupcic | Shadow Robot Company | ugo at shadowrobot.com
Software Engineer | 251 Liverpool Road |
need a Hand? | London N1 1LX | +44 20 7700 2487
http://www.shadowrobot.com/hand/ @shadowrobot
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Message: 31
Date: Tue, 15 Feb 2011 13:46:17 +0100
From: Willy Lambert <lambert.willy at gmail.com>
Subject: Re: [ros-users] rosinstall problems on Debian
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTimvBmYzPmviN8fhSrU9HTJqHMJJ5CLEq_qbzUap at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
I agree with boost,
I don't know what is stated for log4cxx but what you suggest seems correct.
I'll post a patch for it tonight
2011/2/15 Taylor Veltrop <taylor at veltrop.com>
> Correction, it was initially linked to gcc 4.4.
>
> Also, the Debian Squeeze dependencies for boost and log4cxx should be set
> to libboost1.42-all-dev liblog4cxx10-dev
>
>
> On Feb 15, 2011, at 8:36 PM, Taylor Veltrop wrote:
>
> After upgrading to Debian 6.0 the rosinstall script works fine.
>
> The new problem is that nothing would compile: "gcc fails to compile simple
> program"
>
> gcc was linked to gcc-4.3 so I had to do a rm /usr/bin/gcc and ln -s
> /usr/bin/gcc-4.3 /usr/bin/gcc
> Is there a more correct way of doing this?
>
> Now things seem to be moving along.
>
> This happened with both cturtle and diamondback by the way.
>
> On Feb 15, 2011, at 12:57 AM, Willy Lambert wrote:
>
> Debian installation is quite new and might not work on every installation
> (that's why there is a WORK IN PROGRESS on top of it ;) ). Please do not
> hesitate to share your problem here, you'll receive help and you'll help
> Debian becoming a fully working installation.
>
> Yes Squeeze is officially a stable version for a week, so now, lenny may be
> (IMO) considered as an "old install".
>
> If you dare, I suggest you to try the next coming version of ROS because
> dependencies are better managed. It is currently in a release candidate
> state, so it's close to be the new newest version.
>
>
>
>
> 2011/2/14 Taylor Veltrop <taylor at veltrop.com>
>
>> Ok, looks like I'll have to do a dist upgrade.
>>
>> Wow, I didn't know that squeeze was officially released!
>>
>> Thanks for the heads up Ugo!
>>
>> On Feb 14, 2011, at 9:05 PM, Ugo Cupcic wrote:
>>
>> Hi,
>>
>> Yes on lenny you get python 2.5 and for this you need python 2.6 at least.
>>
>> Installing ros on lenny was a bit of a pain (well in our case). If you
>> uprgade to the latest debian, then it should make your life a LOT easier
>> with ROS :)
>>
>> Cheers,
>>
>> Ugo
>>
>> On Mon, Feb 14, 2011 at 12:00 PM, Taylor Veltrop <taylor at veltrop.com>wrote:
>>
>>> Embarrassed to say that I can't get the newest rosinstall working on my
>>> machine, using Debian lenny 5.0.8 and the standard source based install
>>> instructions at http://www.ros.org/wiki/cturtle/Installation/Debian.
>>> Python version is 2.5.2.
>>>
>>> Executed:
>>> sudo apt-get install build-essential python-yaml cmake subversion wget
>>> python-setuptools
>>> and:
>>> sudo easy_install -U rosinstall
>>>
>>> When I run:
>>> rosinstall ~/ros "
>>> http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=base&overlay=no
>>> "
>>>
>>> Here is the output:
>>> veltrobot:~ $ rosinstall ~/ros "
>>> http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=ros_only&overlay=no
>>> "
>>> /usr/lib/python2.5/site-packages/rosinstall-0.5.15-py2.5.egg/rosinstall/vcs/svn.py:49:
>>> Warning: 'with' will become a reserved keyword in Python 2.6
>>> Traceback (most recent call last):
>>> File "/usr/bin/rosinstall", line 5, in <module>
>>> pkg_resources.run_script('rosinstall==0.5.15', 'rosinstall')
>>> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line 448, in
>>> run_script
>>> self.require(requires)[0].run_script(script_name, ns)
>>> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line 1173, in
>>> run_script
>>> exec script_code in namespace, namespace
>>> File "/usr/bin/rosinstall", line 28, in <module>
>>>
>>> File
>>> "/usr/lib/python2.5/site-packages/rosinstall-0.5.15-py2.5.egg/rosinstall/vcs/svn.py",
>>> line 49
>>> with open(os.devnull, 'w') as fnull:
>>> ^
>>> SyntaxError: invalid syntax
>>>
>>> If I download the old http://www.ros.org/rosinstall and do a
>>> ./rosinstall ~/ros "
>>> http://www.ros.org/rosinstalls/cturtle_base.rosinstall"
>>> then it all works out fine as it used to.
>>>
>>> I found an old thread with the same error message from an ArchLinux user.
>>> They fixed it by changing a python 3 symlink to a 2.7 symlink. That does
>>> not apply in my case.
>>>
>>> Sorry if this has been covered before, I feel like it's something obvious
>>> but I haven't been able to find a solution.
>>>
>>> Is Debian lenny's python the problem?
>>>
>>>
>>> Taylor Veltrop
>>>
>>>
>>>
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users at code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>>
>>>
>>
>>
>> --
>> Ugo Cupcic | Shadow Robot Company | ugo at shadowrobot.com
>> Software Engineer | 251 Liverpool Road |
>> need a Hand? | London N1 1LX | +44 20 7700 2487
>> http://www.shadowrobot.com/hand/ @shadowrobot
>>
>> _______________________________________________
>> ros-users mailing list
>> ros-users 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
>
>
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Message: 32
Date: Tue, 15 Feb 2011 13:47:50 +0100
From: Willy Lambert <lambert.willy at gmail.com>
Subject: Re: [ros-users] ROS Diamondback Release Candidate 1
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTim557dJrvYQxi-fmhKuOqRCj6suwX8+pFw7+Vzu at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
It's maybe a noobish question but do I need to do something special to
switch from a Beta installation to RC1 ?
I tried a rosinstall ~/ros and it didn't seem to have changed anything
2011/2/15 Armin Hornung <HornungA at informatik.uni-freiburg.de>
> Hi Wim,
> >> I added a quick overview over the Nao humanoid to the robot portals:
> >> http://www.ros.org/wiki/Robots/Nao
> > I added the Nao to the install page
> > <http://www.ros.org/wiki/diamondback/Installation>.
>
> Cool, that's a nice overview page that I haven't seen before!
>
> In fact, I was just looking for diamondback instructions yesterday to
> find the recommended .deb variants and couldn't find it on the default
> installation instructions (http://www.ros.org/wiki/ROS/Installation).
> Maybe it's time to put a cturtle / diamondback switch there, as it
> reached RC1 now?
>
> Armin
>
> --
> Armin Hornung
> Humanoid Robots Lab, Albert-Ludwigs-Universit?t Freiburg
> Contact: http://www.informatik.uni-freiburg.de/~hornunga
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
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Message: 33
Date: Tue, 15 Feb 2011 14:50:25 +0200
From: Adi Shavit <adishavit at gmail.com>
Subject: [ros-users] Adding a New Stereo System to ROS
To: ROS Users <ros-users at code.ros.org>
Message-ID:
<AANLkTin3qMbFEiv1=3VJGEo48SOWkk9g84hp7JuN=fNb at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
Hi,
I am new to ROS.
I have a 4 camera stereo set using 4 synchronized cameras that are not
supported by ROS.
This is not unlike what PR2 uses.
I would like to use these camera with ROS.
What is the best way to do this?
1. Do I need to write my own "driver"? That is code that interfaces with
the camera APIs and publishes to ROS?
2. In that case, what do I publish? Do I give only raw image output or is
there a way to publish a stereo pair?
3. Are there any examples for how to do this, e.g. from some other stereo
cameras?
4. What is the easiest way to do this? As I said I am new to ROS.
Thanks,
Adi
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Message: 34
Date: Tue, 15 Feb 2011 21:10:42 +0800 (SGT)
From: shahmi <alfarobi0161 at yahoo.com>
Subject: [ros-users] libusb-1.0.8 for OpenNI Driver Problem
To: User discussions <ros-users at code.ros.org>
Message-ID: <958812.42669.qm at web76609.mail.sg1.yahoo.com>
Content-Type: text/plain; charset="iso-8859-1"
Hi,
I have? a problem when installing libusb-1.0.8. This usb driver is needed for those who are using Ubuntu 10.04 aiming at installing OpenNI Kinect driver.? What could be the problem? BTW, below is the output of the command "make" in the ibusb-1.0.8 directory:
shah at shah-laptop:~/Downloads/libusb-1.0.8$ ./configure --prefix=/usr &&
> make
checking for a BSD-compatible install... /usr/bin/install -c
checking whether build environment is sane... yes
checking for a thread-safe mkdir -p... /bin/mkdir -p
checking for gawk... gawk
checking whether make sets $(MAKE)... yes
checking for gcc... gcc
checking whether the C compiler works... yes
checking for C compiler default output file name... a.out
checking for suffix of executables...
checking whether we are cross compiling... no
checking for suffix of object files... o
checking whether we are using the GNU C compiler... yes
checking whether gcc accepts -g... yes
checking for gcc option to accept ISO C89... none needed
checking for style of include used by make... GNU
checking dependency style of gcc... gcc3
checking build system type... x86_64-unknown-linux-gnu
checking host system type... x86_64-unknown-linux-gnu
checking for a sed that does not truncate output... /bin/sed
checking for grep that handles long lines and -e... /bin/grep
checking for egrep... /bin/grep -E
checking for fgrep... /bin/grep -F
checking for ld used by gcc... /usr/bin/ld
checking if the linker (/usr/bin/ld) is GNU ld... yes
checking for BSD- or MS-compatible name lister (nm)... /usr/bin/nm -B
checking the name lister (/usr/bin/nm -B) interface... BSD nm
checking whether ln -s works... yes
checking the maximum length of command line arguments... 1572864
checking whether the shell understands some XSI constructs... yes
checking whether the shell understands "+="... yes
checking for /usr/bin/ld option to reload object files... -r
checking for objdump... objdump
checking how to recognize dependent libraries... pass_all
checking for ar... ar
checking for strip... strip
checking for ranlib... ranlib
checking command to parse /usr/bin/nm -B output from gcc object... ok
checking how to run the C preprocessor... gcc -E
checking for ANSI C header files... yes
checking for sys/types.h... yes
checking for sys/stat.h... yes
checking for stdlib.h... yes
checking for string.h... yes
checking for memory.h... yes
checking for strings.h... yes
checking for inttypes.h... yes
checking for stdint.h... yes
checking for unistd.h... yes
checking for dlfcn.h... yes
checking for objdir... .libs
checking if gcc supports -fno-rtti -fno-exceptions... no
checking for gcc option to produce PIC... -fPIC -DPIC
checking if gcc PIC flag -fPIC -DPIC works... yes
checking if gcc static flag -static works... yes
checking if gcc supports -c -o file.o... yes
checking if gcc supports -c -o file.o... (cached) yes
checking whether the gcc linker (/usr/bin/ld -m elf_x86_64) supports shared libraries... yes
checking whether -lc should be explicitly linked in... no
checking dynamic linker characteristics... GNU/Linux ld.so
checking how to hardcode library paths into programs... immediate
checking whether stripping libraries is possible... yes
checking if libtool supports shared libraries... yes
checking whether to build shared libraries... yes
checking whether to build static libraries... yes
checking for inline... inline
checking whether gcc and cc understand -c and -o together... yes
checking operating system... Linux
checking for clock_gettime in -lrt... yes
checking sys/timerfd.h usability... yes
checking sys/timerfd.h presence... yes
checking for sys/timerfd.h... yes
checking whether TFD_NONBLOCK is declared... yes
checking whether to use timerfd for timing... yes
configure: creating ./config.status
config.status: creating libusb-1.0.pc
config.status: creating Makefile
config.status: creating libusb/Makefile
config.status: creating examples/Makefile
config.status: creating doc/Makefile
config.status: creating doc/doxygen.cfg
config.status: creating config.h
config.status: config.h is unchanged
config.status: executing depfiles commands
config.status: executing libtool commands
make? all-recursive
make[1]: Entering directory `/home/shah/Downloads/libusb-1.0.8'
Making all in libusb
make[2]: Entering directory `/home/shah/Downloads/libusb-1.0.8/libusb'
make[2]: Nothing to be done for `all'.
make[2]: Leaving directory `/home/shah/Downloads/libusb-1.0.8/libusb'
Making all in doc
make[2]: Entering directory `/home/shah/Downloads/libusb-1.0.8/doc'
make[2]: Nothing to be done for `all'.
make[2]: Leaving directory `/home/shah/Downloads/libusb-1.0.8/doc'
make[2]: Entering directory `/home/shah/Downloads/libusb-1.0.8'
make[2]: Leaving directory `/home/shah/Downloads/libusb-1.0.8'
make[1]: Leaving directory `/home/shah/Downloads/libusb-1.0.8'
Thanks in advance..
-Shahmi-
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Message: 35
Date: Tue, 15 Feb 2011 14:16:28 +0100
From: "Yilmaz B?nyamin" <yilmaz.buenyamin at rwth-aachen.de>
Subject: Re: [ros-users] Converting PointCloud to LaserScan
To: ros-users <ros-users at code.ros.org>
Message-ID: <fba0e6fb5e347.4d5a8abc at rwth-aachen.de>
Content-Type: text/plain; charset=iso-8859-1
Ok thanks,
but there is no tutorial, how to use it.
How can i use it?
On 2011-02-15 12:34, Ugo Cupcic wrote:
> Hi,
>
>
> I think you can use this to convert from pointcloud to laserscan
> http://www.ros.org/wiki/pointcloud_to_laserscan
>
> Cheers,
>
> Ugo
>
>
> 2011/2/15 "Yilmaz B?nyamin" <yilmaz.buenyamin at rwth-aachen.de>
>
> > Hello,
> > i want to convert PointCloud to LaserScan.
> > I have a Topic wich publishs point cloud.
> > if i try to make a map like this:
> >
> > rosrun gmapping slam_gmapping scan:=point_cloud
> >
> > i become a warning:
> > [WARN] 1297772305.065463: Could not process inbound connection: topic types
> > do not match: [sensor_msgs/LaserScan] vs. [sensor_msgs/PointCloud]{'topic':
> > '/point_cloud', 'tcp_nodelay': '0', 'md5sum':
> > '90c7ef2dc6895d81024acba2ac42f369', 'type': 'sensor_msgs/LaserScan',
> > 'callerid': '/slam_gmapping'}
> >
> > So now i want convert pointcloud to laserscan.
>
> Or if there is another way to make a map, with pointcloud?
> >
> > Greetings,
> > B?nyamin
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
>
>
>
> --
> Ugo Cupcic | Shadow Robot Company | ugo at shadowrobot.com
> Software Engineer | 251 Liverpool Road |
> need a Hand? | London N1 1LX | +44 20 7700 2487
> http://www.shadowrobot.com/hand/ @shadowrobot
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
------------------------------
Message: 36
Date: Tue, 15 Feb 2011 14:20:29 +0100
From: Martin G?nther <mguenthe at uos.de>
Subject: Re: [ros-users] Using ROS for a Delta Robot
To: ros-users at code.ros.org
Message-ID: <20110215142029.604a3e9b at caprica>
Content-Type: text/plain; charset=ISO-8859-1
Am Sun, 13 Feb 2011 21:09:44 +0100
schrieb Wouter van Teijlingen <wouter at van-teijlingen.nl>:
> Hello list,
>
> At the moment i'm involved in a project where we are trying to built
> a Delta Robot. So i start reading the docs and tutorials and i've a
> few questions.
>
> The kinematic model for the Delta Robot has already been developed; a
> inverse and forward model is available to me.
>
> I'm trying to find out if i'm heading the right way. I've found a
> page on the ROS wiki named 'Running arm navigation on non-PR2 arm'
> [http://www.ros.org/wiki/arm_navigation/Tutorials/Running%20arm%20navigation%20on%20non-PR2%20arm]
>
> Is it right to say that if i implement the functions mentioned in the
> article above that i can have a working Delta Robot (kinematic model,
> that is)? Is there perhaps a better way?
>
> We are probably going with the Trio Whistle from ElmoMC for
> controlling the motors. I think it's best to start with developing
> the kinematic model and then implement packages for communication
> with the controller. Any tips or ideas on this? I've already found a
> package with CANopen support for the Elmo Harmonica
> [http://www.ros.org/wiki/cob_canopen_motor] (basically the same as a
> whistler)...
Hello Wouter,
since nobody picked up on your email, I'll try to answer it, although
there are probably more qualified people on this list.
I'm not quite clear what you are planning to do. I'll assume that you
have some kind of gripper mounted on your Delta Robot, and that you
want to be able to grasp arbitrary objects in an unstructured
environment while avoiding collisions with other objects.
The tutorial you mentioned assumes the following:
- you have some kind of sensor that gives you a 3D point cloud of the
environment (a tilting laser scanner, a Kinect, ...)
- you have an URDF description of the robot
After you have implemented all the stuff in the tutorial, the typical
workflow is the following:
- you send a joint goal (vector of desired joint positions) or position
goal (in cartesian space) to move_arm
- move_arm will call a motion planner, such as ompl, to plan a
joint trajectory that will bring your end effector to the desired goal
- the resulting trajectory will be smoothed using splines
- the smoothed trajectory will be sent to the
joint_trajectory_action_controller that you have to implement, to be
executed on the robot.
During all those steps, the information from your 3D sensor will be
used to check the environment to make sure that the final trajectory
will not collide with any objects in the environment (or lead to
self-collisions, but that will probably not be a problem for a Delta
Robot).
Move_arm is commonly used to bring your end effector to a position near
the object to be grasped. Next, you will have to get the grasping
pipeline [1] going to actually plan and execute a grasp.
Arm navigation was designed for use with a 6+ degree of freedom
robotic arm, and I'm not sure how well it works for a 3 DoF Delta Robot.
Perhaps somebody else could chime in on that.
Regarding where to start: I would recommend developing the code for
communication with your controller first. Better post a separate
question for opinions on how to do that. Keep in mind that in the end,
you want to pass in joint trajectories [2], and the joints should move
along this trajectory. Before getting started on all the motion
planning stuff, you can just generate a simple joint trajectory, for
example using sin(t), to debug and test your code.
In parallel, you can develop an URDF model of your robot [3]. One
problem I can imagine you will run into is that a Delta Robot is a
3 DoF closed kinematic chain consisting of 9 joints, and I am not sure
how well URDF can represent this at the moment; perhaps OpenRave can
handle these things better [4].
Best wishes,
Martin
[1] http://www.ros.org/wiki/object_manipulator
[2] http://www.ros.org/wiki/joint_trajectory_action
[3] http://www.ros.org/wiki/urdf/Tutorials
[4] http://article.gmane.org/gmane.science.robotics.ros.user/11664
--
Dipl.-Inf. Martin G?nther
Universit?t Osnabr?ck
Institut f?r Informatik
Albrechtstr. 28 (Raum 31/503)
D-49076 Osnabr?ck
Telefon: +49 (0)541 969 2434
http://www.inf.uos.de/mguenthe/
------------------------------
Message: 37
Date: Tue, 15 Feb 2011 14:16:56 +0000
From: Gon?alo Cabrita <goncabrita at gmail.com>
Subject: Re: [ros-users] ROS Diamondback Release Candidate 1
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTikUjBy2YmVUEdJH4L4mOsyF0CHCfPx_9xwymjPL at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
Hi everyone,
I've finished the first draft on the Roomba page
http://www.ros.org/wiki/Robots/Roomba
It still needs some stuff, I'll add some more content during the next days.
Thanks for the heads up on the URDF Jeff, I'll most certainly use that!
Gon?alo Cabrita
ISR University of Coimbra
Portugal
On Tue, Feb 15, 2011 at 12:47 PM, Willy Lambert <lambert.willy at gmail.com>wrote:
> It's maybe a noobish question but do I need to do something special to
> switch from a Beta installation to RC1 ?
>
> I tried a rosinstall ~/ros and it didn't seem to have changed anything
>
> 2011/2/15 Armin Hornung <HornungA at informatik.uni-freiburg.de>
>
> Hi Wim,
>> >> I added a quick overview over the Nao humanoid to the robot portals:
>> >> http://www.ros.org/wiki/Robots/Nao
>> > I added the Nao to the install page
>> > <http://www.ros.org/wiki/diamondback/Installation>.
>>
>> Cool, that's a nice overview page that I haven't seen before!
>>
>> In fact, I was just looking for diamondback instructions yesterday to
>> find the recommended .deb variants and couldn't find it on the default
>> installation instructions (http://www.ros.org/wiki/ROS/Installation).
>> Maybe it's time to put a cturtle / diamondback switch there, as it
>> reached RC1 now?
>>
>> Armin
>>
>> --
>> Armin Hornung
>> Humanoid Robots Lab, Albert-Ludwigs-Universit?t Freiburg
>> Contact: http://www.informatik.uni-freiburg.de/~hornunga
>>
>> _______________________________________________
>> ros-users mailing list
>> ros-users 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: 38
Date: Tue, 15 Feb 2011 06:22:56 -0800
From: Nathaniel Lewis <linux.robotdude at gmail.com>
Subject: Re: [ros-users] Converting PointCloud to LaserScan
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTi=7eo8yru9+Nkz1bDfk7X1dVRi4NmZRtd2HtfPs at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
Look at the launch files, its fairly simple to use. My only problem with it
is that having a point cloud can generate multiple laser scans (I have one
from a kinect for example) but this stack only supports one. I'm working on
one for my own purposes at this point, I will post it to github or something
when I am done.
Nathaniel
2011/2/15 "Yilmaz B?nyamin" <yilmaz.buenyamin at rwth-aachen.de>
> Ok thanks,
> but there is no tutorial, how to use it.
> How can i use it?
>
> On 2011-02-15 12:34, Ugo Cupcic wrote:
> > Hi,
> >
> >
> > I think you can use this to convert from pointcloud to laserscan
> > http://www.ros.org/wiki/pointcloud_to_laserscan
> >
> > Cheers,
> >
> > Ugo
> >
> >
> > 2011/2/15 "Yilmaz B?nyamin" <yilmaz.buenyamin at rwth-aachen.de>
> >
> > > Hello,
> > > i want to convert PointCloud to LaserScan.
> > > I have a Topic wich publishs point cloud.
> > > if i try to make a map like this:
> > >
> > > rosrun gmapping slam_gmapping scan:=point_cloud
> > >
> > > i become a warning:
> > > [WARN] 1297772305.065463: Could not process inbound connection: topic
> types
> > > do not match: [sensor_msgs/LaserScan] vs.
> [sensor_msgs/PointCloud]{'topic':
> > > '/point_cloud', 'tcp_nodelay': '0', 'md5sum':
> > > '90c7ef2dc6895d81024acba2ac42f369', 'type': 'sensor_msgs/LaserScan',
> > > 'callerid': '/slam_gmapping'}
> > >
> > > So now i want convert pointcloud to laserscan.
> >
> > Or if there is another way to make a map, with pointcloud?
> > >
> > > Greetings,
> > > B?nyamin
> > >
> > > _______________________________________________
> > > ros-users mailing list
> > > ros-users at code.ros.org
> > > https://code.ros.org/mailman/listinfo/ros-users
> > >
> >
> >
> >
> > --
> > Ugo Cupcic | Shadow Robot Company | ugo at shadowrobot.com
> > Software Engineer | 251 Liverpool Road |
> > need a Hand? | London N1 1LX | +44 20 7700 2487
> > http://www.shadowrobot.com/hand/ @shadowrobot
> > _______________________________________________
> > ros-users mailing list
> > ros-users 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: 39
Date: Tue, 15 Feb 2011 15:48:04 +0100
From: Billy Okal <b.okal at jacobs-university.de>
Subject: Re: [ros-users] (no subject)
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTingQRMFUSujBA7PaZDhsni++nSK7fB3QDCCUMTL at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
yes go ahead and ask, just take note of this
http://www.ros.org/wiki/Support
On 15 February 2011 09:30, Nutan Chen <ntchen86 at gmail.com> wrote:
> hi, can i ask question there?
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
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Message: 40
Date: Tue, 15 Feb 2011 15:48:52 +0000
From: Gon?alo Cabrita <goncabrita at gmail.com>
Subject: Re: [ros-users] Plume Sim in ROS
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTimMtoQWjYy0PW=8ks0L-64RhQHVwm1PQOaxRj8w at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
I've added a small tutorial for downloading and installing PlumeSim, you can
find it here,
http://www.ros.org/wiki/plumesim/Tutorials/Download%20and%20install%20PlumeSim
<http://www.ros.org/wiki/plumesim/Tutorials/Download%20and%20install%20PlumeSim>I'll
add another tutorial soon with some example code of a robot on stage using
plumesim.
Hope this helps,
Gon?alo Cabrita
ISR University of Coimbra
Portugal
On Tue, Feb 15, 2011 at 1:52 AM, Brian Gerkey <gerkey at willowgarage.com>wrote:
> On Sat, Feb 12, 2011 at 7:50 PM, Arkapravo Bhaumik
> <arkapravobhaumik at gmail.com> wrote:
> > I have used plume sim in Player/Stage - now I want to use it in ROS.
> > However, I am not able to get much of a clue about installing it and
> using
> > it.
>
> The documentation:
> http://www.ros.org/wiki/plumesim
> points you at the repository for the ROS version of plumesim:
>
> http://isr-uc-ros-pkg.googlecode.com/svn/trunk/unstable/simulator_plumesim/plumesim
>
> brian.
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
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Message: 41
Date: Tue, 15 Feb 2011 16:59:54 +0100
From: koen buys <buys.koen at gmail.com>
Subject: Re: [ros-users] Adding a New Stereo System to ROS
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTi=zm1CyTXX4L90sPG2msQ8m_0g7j6_dcSp28Ny=@mail.gmail.com>
Content-Type: text/plain; charset=ISO-8859-1
Hi Adi,
What type of camera's do you use? We just included a patch in
camera_drivers to allow for synchronized use of
prosilica_cameras. My idea is also to expand my implementation to
allow for a 'stereo' setup with multiple camera's.
My setup typically has a larger baseline than PR2's.
Koen
On 15 February 2011 13:50, Adi Shavit <adishavit at gmail.com> wrote:
> Hi,
> ??I am new to ROS.
> I have a 4?camera?stereo set using 4 synchronized cameras that are not
> supported by ROS.
> This is not unlike what PR2 uses.
> I would like to use these camera with ROS.
> What is the best way to do this?
>
> Do I need to write my own "driver"? That is code that interfaces with the
> camera APIs and publishes to ROS?
> In that case, what do I publish? Do I give only raw image output or is there
> a way to publish a stereo pair?
> Are there any examples for how to do this, e.g. from some other stereo
> cameras?
> What is the easiest way to do this??As I said I am new to ROS.
>
> Thanks,
> Adi
>
>
------------------------------
Message: 42
Date: Tue, 15 Feb 2011 17:53:19 +0100
From: Willy Lambert <lambert.willy at gmail.com>
Subject: Re: [ros-users] rosinstall problems on Debian
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTikAFFtt3L6hkJSX88f3qADja=Z29-irBjAqeNwm at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
here is it :
https://code.ros.org/trac/ros/ticket/3329
there is a patch in case you need it.
on my computer I have liblog4cxx10-dev in ros_comm/rosdep.yml (with
Diamonback), and it has been corrected here :
https://code.ros.org/trac/ros/changeset/13134
I am surprised you were annoyed by this;
2011/2/15 Willy Lambert <lambert.willy at gmail.com>
> I agree with boost,
> I don't know what is stated for log4cxx but what you suggest seems correct.
> I'll post a patch for it tonight
>
> 2011/2/15 Taylor Veltrop <taylor at veltrop.com>
>
> Correction, it was initially linked to gcc 4.4.
>>
>> Also, the Debian Squeeze dependencies for boost and log4cxx should be set
>> to libboost1.42-all-dev liblog4cxx10-dev
>>
>>
>> On Feb 15, 2011, at 8:36 PM, Taylor Veltrop wrote:
>>
>> After upgrading to Debian 6.0 the rosinstall script works fine.
>>
>> The new problem is that nothing would compile: "gcc fails to compile
>> simple program"
>>
>> gcc was linked to gcc-4.3 so I had to do a rm /usr/bin/gcc and ln -s
>> /usr/bin/gcc-4.3 /usr/bin/gcc
>> Is there a more correct way of doing this?
>>
>> Now things seem to be moving along.
>>
>> This happened with both cturtle and diamondback by the way.
>>
>> On Feb 15, 2011, at 12:57 AM, Willy Lambert wrote:
>>
>> Debian installation is quite new and might not work on every installation
>> (that's why there is a WORK IN PROGRESS on top of it ;) ). Please do not
>> hesitate to share your problem here, you'll receive help and you'll help
>> Debian becoming a fully working installation.
>>
>> Yes Squeeze is officially a stable version for a week, so now, lenny may
>> be (IMO) considered as an "old install".
>>
>> If you dare, I suggest you to try the next coming version of ROS because
>> dependencies are better managed. It is currently in a release candidate
>> state, so it's close to be the new newest version.
>>
>>
>>
>>
>> 2011/2/14 Taylor Veltrop <taylor at veltrop.com>
>>
>>> Ok, looks like I'll have to do a dist upgrade.
>>>
>>> Wow, I didn't know that squeeze was officially released!
>>>
>>> Thanks for the heads up Ugo!
>>>
>>> On Feb 14, 2011, at 9:05 PM, Ugo Cupcic wrote:
>>>
>>> Hi,
>>>
>>> Yes on lenny you get python 2.5 and for this you need python 2.6 at
>>> least.
>>>
>>> Installing ros on lenny was a bit of a pain (well in our case). If you
>>> uprgade to the latest debian, then it should make your life a LOT easier
>>> with ROS :)
>>>
>>> Cheers,
>>>
>>> Ugo
>>>
>>> On Mon, Feb 14, 2011 at 12:00 PM, Taylor Veltrop <taylor at veltrop.com>wrote:
>>>
>>>> Embarrassed to say that I can't get the newest rosinstall working on my
>>>> machine, using Debian lenny 5.0.8 and the standard source based install
>>>> instructions at http://www.ros.org/wiki/cturtle/Installation/Debian.
>>>> Python version is 2.5.2.
>>>>
>>>> Executed:
>>>> sudo apt-get install build-essential python-yaml cmake subversion wget
>>>> python-setuptools
>>>> and:
>>>> sudo easy_install -U rosinstall
>>>>
>>>> When I run:
>>>> rosinstall ~/ros "
>>>> http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=base&overlay=no
>>>> "
>>>>
>>>> Here is the output:
>>>> veltrobot:~ $ rosinstall ~/ros "
>>>> http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=cturtle&variant=ros_only&overlay=no
>>>> "
>>>> /usr/lib/python2.5/site-packages/rosinstall-0.5.15-py2.5.egg/rosinstall/vcs/svn.py:49:
>>>> Warning: 'with' will become a reserved keyword in Python 2.6
>>>> Traceback (most recent call last):
>>>> File "/usr/bin/rosinstall", line 5, in <module>
>>>> pkg_resources.run_script('rosinstall==0.5.15', 'rosinstall')
>>>> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line 448, in
>>>> run_script
>>>> self.require(requires)[0].run_script(script_name, ns)
>>>> File "/usr/lib/python2.5/site-packages/pkg_resources.py", line 1173,
>>>> in run_script
>>>> exec script_code in namespace, namespace
>>>> File "/usr/bin/rosinstall", line 28, in <module>
>>>>
>>>> File
>>>> "/usr/lib/python2.5/site-packages/rosinstall-0.5.15-py2.5.egg/rosinstall/vcs/svn.py",
>>>> line 49
>>>> with open(os.devnull, 'w') as fnull:
>>>> ^
>>>> SyntaxError: invalid syntax
>>>>
>>>> If I download the old http://www.ros.org/rosinstall and do a
>>>> ./rosinstall ~/ros "
>>>> http://www.ros.org/rosinstalls/cturtle_base.rosinstall"
>>>> then it all works out fine as it used to.
>>>>
>>>> I found an old thread with the same error message from an ArchLinux
>>>> user. They fixed it by changing a python 3 symlink to a 2.7 symlink. That
>>>> does not apply in my case.
>>>>
>>>> Sorry if this has been covered before, I feel like it's something
>>>> obvious but I haven't been able to find a solution.
>>>>
>>>> Is Debian lenny's python the problem?
>>>>
>>>>
>>>> Taylor Veltrop
>>>>
>>>>
>>>>
>>>> _______________________________________________
>>>> ros-users mailing list
>>>> ros-users at code.ros.org
>>>> https://code.ros.org/mailman/listinfo/ros-users
>>>>
>>>>
>>>
>>>
>>> --
>>> Ugo Cupcic | Shadow Robot Company | ugo at shadowrobot.com
>>> Software Engineer | 251 Liverpool Road |
>>> need a Hand? | London N1 1LX | +44 20 7700 2487
>>> http://www.shadowrobot.com/hand/ @shadowrobot
>>>
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users 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
>>
>>
>
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Message: 43
Date: Tue, 15 Feb 2011 11:57:32 -0500
From: Bill Morris <morris at ee.ccny.cuny.edu>
Subject: Re: [ros-users] ccny: asctec_autopilot serial interface
communication
To: User discussions <ros-users at code.ros.org>
Message-ID: <1297789052.2822.21.camel at kia.secret.org>
Content-Type: text/plain; charset="UTF-8"
I'm not at the lab at the moment, but as far as I know the master branch
should be working. You may also want to look at the experimental branch
which is getting closer to release. Also, I should have debian packages
out by Friday.
One thing to watch out for with the XBee interface is that the maximum
polling frequency is lower.
On Tue, 2011-02-15 at 13:08 +0100, Steven Bellens wrote:
> Hi,
>
> Been a while since I used the asctec_autopilot node for communication
> with the Pelican. I build the master branch and tried to launch it,
> but somehow communication is not setup properly - it gives me some
> error about 'insufficient data' when I try to read from the Pelican. I
> switched back to the code I was working on last year (somewhere mid
> august) which works fine (/origin/sbellens).
> Checking the diff I see a lot of the low-level communication commands
> have been rewritten and header fields are added to the ROS messages.
> Can someone confirm whether the current code works with the Pelican
> helicopter? Do I have to add something in my client code to get
> up-to-date? I'm still using the XBee communication interface.
>
> regards,
>
> Steven
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
------------------------------
Message: 44
Date: Tue, 15 Feb 2011 23:18:31 -0800
From: "MUBARACK RAHEEM ALI" <mubarakraheem011 at att.net>
Subject: Re: [ros-users] your urgent respond
To: "ros-users at code.ros.org" <ros-users at code.ros.org>
Message-ID: <USERPC0ffb0aead0cd49ce94c60b1c0e5d6213 at userPC>
Content-Type: text/plain; charset=iso-8859-1
Dear Friend,
I hope and pray that I have the right person who will help me. I have interest of investing in your country as such I am making contact with you for assistance.
Before the war in my country (Iraq) I deposited some funds with a Bank for safe keeping which I am looking for a partner that will help me retrieve the funds from the Bank as I cannot travel out at the moment because of my present predicaments /conditions which I will explain to you as we progress. My name is Raheem Mubarak Ali from Iraq. Late Saddam Hussein totally brought destruction / Hell and political instability to our great country and everything is practically difficult now. Please if you accept this offer of assistance you are required to give me your Name, age, occupation, country and address.
I will send to you detailed information of this business if you indicate your seriousness to do the business, and also enclosing your telephone fax numbers. I promise you that this deal is valid, real and risk free. What I now need from you are as follows:
1. You should make contact with the Bank to secure the funds as I will be entrusting the business into your care.
2. You will be entitled to 30% of the total sum involved for your assistance.
3. As soon as you have the funds in your custody, we will enter a new arrangement on which sector you will invest my share of the funds in on my behalf to generate enough money for the up keep of my family in your country.
4. This project is 100% risk free, but you must keep it very secret and confidential with strong assurance that you will never let me down at all.
Please note that my aim to transfer the funds to you for investment is because I want my wife and 4 kids to join you and stay under your care, hope my family will find comfort, peace and happiness once again in your country.
I want to clear you about this, the funds is not from drug deal, its not from arms deals, its not government money and its not for any terrorist or illegal activity, why I am emphasizing on the confidentiality is because I don't want you to be bordered over above issues. Can you help me? Are you trustworthy? Are you capable of handling this money? Can we partner? If yes, please contact me immediately so that I will give you more details about the funds. All you need to do is to claim this money from the Company for our mutual benefits. For your assistance, you will be entitled to 30% of the total sum. You are also obliged to help/advise on the proper and most convenient way of investing this money in your country, hopefully, You will consider this request and respond positively.
I expect your prompt reply and let our communication be by email as it is the safest means of communication for now because I suspect telephone lines in Iraq been connected to the US Telecommunication Network for monitoring.
Regards,
Raheem Mubarak Ali.
------------------------------
Message: 45
Date: Tue, 15 Feb 2011 11:01:58 -0600
From: "Jack O'Quin" <jack.oquin at gmail.com>
Subject: Re: [ros-users] Adding a New Stereo System to ROS
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTi=sgirmvDT-tAUfSY4mt0LK=cB8Ly+v2sdW-jCG at mail.gmail.com>
Content-Type: text/plain; charset=ISO-8859-1
On Tue, Feb 15, 2011 at 6:50 AM, Adi Shavit <adishavit at gmail.com> wrote:
> Hi,
> ??I am new to ROS.
Welcome!
> I have a 4?camera?stereo set using 4 synchronized cameras that are not
> supported by ROS.
> This is not unlike what PR2 uses.
> I would like to use these camera with ROS.
> What is the best way to do this?
That depends on what kind of cameras they are.
> Do I need to write my own "driver"?
Yes, unless someone has already written one.
> That is code that interfaces with the
> camera APIs and publishes to ROS?
Yes.
> In that case, what do I publish? Do I give only raw image output or is there
> a way to publish a stereo pair?
There are standard ROS ways to publish stereo data.
http://www.ros.org/wiki/stereo_image_proc
http://www.ros.org/wiki/camera_calibration
http://www.ros.org/wiki/image_pipeline
> Are there any examples for how to do this, e.g. from some other stereo
> cameras?
http://www.ros.org/wiki/bumblebee2
http://www.ros.org/wiki/videre_stereo_cam
> What is the easiest way to do this??As I said I am new to ROS.
The extra ROS wrapping for publishing camera data does not involve
much additional code, but does require a basic understanding of the
image pipeline. So, study the interfaces and look at examples of other
drivers, then ask more questions.
--
?joq
------------------------------
Message: 46
Date: Tue, 15 Feb 2011 09:08:11 -0800
From: Wim Meeussen <meeussen at willowgarage.com>
Subject: Re: [ros-users] ROS Diamondback Release Candidate 1
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTin3EdcCx50s0EgkmM376QTs1gFK2qgM3Zn8taxO at mail.gmail.com>
Content-Type: text/plain; charset=ISO-8859-1
> I've finished the first draft on the Roomba page
> http://www.ros.org/wiki/Robots/Roomba
> It still needs some stuff, I'll add some more content during the next days.
> Thanks for the heads up on the URDF Jeff, I'll most certainly use that!
> Gon?alo Cabrita
Awesome! I updated the page <http://www.ros.org/wiki/diamondback/Installation>
Wim
--
--
Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)
------------------------------
Message: 47
Date: Tue, 15 Feb 2011 09:39:36 -0800
From: Blaise Gassend <blaise at willowgarage.com>
Subject: Re: [ros-users] stereo image sync
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTik5hQCUchm4E5MZwhoTzS_NHSwYGtQUzPgMOCbO at mail.gmail.com>
Content-Type: text/plain; charset=windows-1252
What do you mean that you get one message out of 5? Do you mean that
you see messages on the image_raw topic but not on the output of
stereo_image_proc, or does it mean that the images aren't even
arriving on the image_raw topic?
In any case, resource limitations of various types can cause a lower
than expected frame rate:
- CPU overload can cause frames to be dropped.
- Insufficient lighting can cause the exposure time to be long, and
the frame rate to be lower than requested.
- Insufficient network bandwidth can limit how many frames get over
the network (seems unlikely in your case).
Hard to say more without knowing more about your system.
On Tue, Feb 15, 2011 at 2:47 AM, Asghari Oskoei, Mohammadreza
<m.asghari-oskoei at herts.ac.uk> wrote:
>
>
> Hi,
>
> I setup a pair of prosilica camera, in mode 640x480 in two exposure rates 5
> and 0.5 ,
>
> When I subscribe to their topics by either ?rostopic hz
> /stereo/left/image_rect_color? or ?rostopic hz /stereo/left/image_raw?
>
>
>
> In exposure rate 0.5, receive all messages without missing any ?and then it
> repeats again
>
> In exposure rate 5, receive just 1 message and miss other 4 messages then it
> repeats again
>
>
>
> I tried this in different rates and found out that I just can receive two
> messages (one left and one right) per second (or per ROS refresh rate), and
> any more messages would be missed by ROS.
>
>
>
> The other point is that when I run stereo_image_proc ?it crashes as soon as
> starting to subscribe to it by either stereo_view or face_detector.
>
>
>
> Anyone can help, please?
>
> Reza,
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
------------------------------
Message: 48
Date: Tue, 15 Feb 2011 13:21:38 -0500
From: garratt gallagher <garrattgallagher at gmail.com>
Subject: [ros-users] vslam installation need cturtle version
To: ros-users at code.ros.org
Message-ID:
<AANLkTikjYzo6yFUB5puaoVidyXXSiD+4OaJtHzhANzUi at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
I'm trying to install vslam with cturtle via the instructions here:
http://www.ros.org/wiki/vslam
and I ran into a few problems.
First, the unstable version of pcl is not compiling. text here:
http://people.csail.mit.edu/garratt/makelogs/pclmakelog.txt
Anyway, I switched to using
tags/perception_pcl-0.8.0/
Then sba fails, also complaining about eigen.
So I switched it to tags/vslam-0.2.2
and it compiles.
It seems as though we need to start creating cturtle/diamondback install
pages, which give the appropriately tagged versions.
I just had to do this for my packages:
http://www.ros.org/wiki/mit-ros-pkg/KinectDemos#Software_Setup
I even nabbed the appropriate pictures...
Garratt
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Message: 49
Date: Tue, 15 Feb 2011 20:31:38 +0200
From: Adi Shavit <adishavit at gmail.com>
Subject: Re: [ros-users] Adding a New Stereo System to ROS
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTimm3u9RaRwEavx3Yy7jWfGT7QZNXazsTa+=bzyP at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
Hi Koen,
These are the cameras I have VRMagic Multisensor Intelligent
Cameras<http://www.vrmagic.com/imaging/cameras-framegrabber/multi-sensor-cameras/>
.
How would you suggest I proceed?
Thanks,
Adi
On Tue, Feb 15, 2011 at 5:59 PM, koen buys <buys.koen at gmail.com> wrote:
> Hi Adi,
>
> What type of camera's do you use? We just included a patch in
> camera_drivers to allow for synchronized use of
> prosilica_cameras. My idea is also to expand my implementation to
> allow for a 'stereo' setup with multiple camera's.
> My setup typically has a larger baseline than PR2's.
>
> Koen
>
> On 15 February 2011 13:50, Adi Shavit <adishavit at gmail.com> wrote:
> > Hi,
> > I am new to ROS.
> > I have a 4 camera stereo set using 4 synchronized cameras that are not
> > supported by ROS.
> > This is not unlike what PR2 uses.
> > I would like to use these camera with ROS.
> > What is the best way to do this?
> >
> > Do I need to write my own "driver"? That is code that interfaces with the
> > camera APIs and publishes to ROS?
> > In that case, what do I publish? Do I give only raw image output or is
> there
> > a way to publish a stereo pair?
> > Are there any examples for how to do this, e.g. from some other stereo
> > cameras?
> > What is the easiest way to do this? As I said I am new to ROS.
> >
> > Thanks,
> > Adi
> >
> >
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
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Message: 50
Date: Tue, 15 Feb 2011 20:35:22 +0200
From: Adi Shavit <adishavit at gmail.com>
Subject: Re: [ros-users] Adding a New Stereo System to ROS
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTi=qZah7o0shwEosW=6dfSdHdn53O77hitXjq--6 at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
Hi Jack,
... more below...
> I am new to ROS.
>
> Welcome!
>
Thanks!
>
> > I have a 4 camera stereo set using 4 synchronized cameras that are not
> > supported by ROS.
> > This is not unlike what PR2 uses.
> > I would like to use these camera with ROS.
> > What is the best way to do this?
>
> That depends on what kind of cameras they are.
>
VRMagic Multisensor Intelligent
Cameras<http://www.vrmagic.com/imaging/cameras-framegrabber/multi-sensor-cameras/>
.
>
> > Do I need to write my own "driver"?
>
> Yes, unless someone has already written one.
>
I was afraid you'd say that. ;-)
>
> > What is the easiest way to do this? As I said I am new to ROS.
>
> The extra ROS wrapping for publishing camera data does not involve
> much additional code, but does require a basic understanding of the
> image pipeline. So, study the interfaces and look at examples of other
> drivers, then ask more questions.
>
Thank you, I will.
BTW, is there a "mock" camera module, that I can feed AVIs or other video to
simulate a camera?
This will help me with debugging and also with understanding the whole
pipeline.
Thanks,
Adi
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Message: 51
Date: Tue, 15 Feb 2011 20:37:10 +0100
From: Stefan Kohlbrecher <stefan.kohlbrecher at googlemail.com>
Subject: Re: [ros-users] Adding a New Stereo System to ROS
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTikC7dFomVOtohF5XKLr7Fen_9EJw10tKcO1yJPV at mail.gmail.com>
Content-Type: text/plain; charset=ISO-8859-1
Hi Adi,
my group is working on a driver. Last time I checked (2 days ago ;) )
it was possible to retrieve images from 2 sensors (we only have a
two-sensor system) and perform stereo calibration for the first time.
It's really very basic at this point, but I'll look into getting it
into some publicly accessible Repo.
regards,
Stefan
2011/2/15 Adi Shavit <adishavit at gmail.com>:
> Hi Jack,
> ?... more below...
>>
>> > ??I am new to ROS.
>>
>> Welcome!
>
> Thanks!
>
>>
>> > I have a 4?camera?stereo set using 4 synchronized cameras that are not
>> > supported by ROS.
>> > This is not unlike what PR2 uses.
>> > I would like to use these camera with ROS.
>> > What is the best way to do this?
>>
>> That depends on what kind of cameras they are.
>
> VRMagic Multisensor Intelligent Cameras.
>
>>
>> > Do I need to write my own "driver"?
>>
>> Yes, unless someone has already written one.
>
> I was afraid you'd say that. ;-)
>
>>
>> > What is the easiest way to do this??As I said I am new to ROS.
>>
>> The extra ROS wrapping for publishing camera data does not involve
>> much additional code, but does require a basic understanding of the
>> image pipeline. So, study the interfaces and look at examples of other
>> drivers, then ask more questions.
>
> Thank you, I will.
> BTW, is there a "mock" camera module, that I can feed AVIs or other video to
> simulate a camera?
> This will help me with debugging and also with understanding the whole
> pipeline.
> Thanks,
> Adi
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
------------------------------
Message: 52
Date: Tue, 15 Feb 2011 21:50:09 +0200
From: Adi Shavit <adishavit at gmail.com>
Subject: Re: [ros-users] Adding a New Stereo System to ROS
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTinM0=Q-c1Z-TnnYeb-G4Kse6y7=CTPofRJj2WEO at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
Hi Stefan,
You mean you are working on a driver for the VRMagic camera?
If so that's great. I'd be grateful if you let me know when it's ready.
I'll be happy to run tests for debugging if you like.
Warm regards,
Adi
On Tue, Feb 15, 2011 at 9:37 PM, Stefan Kohlbrecher <
stefan.kohlbrecher at googlemail.com> wrote:
> Hi Adi,
>
> my group is working on a driver. Last time I checked (2 days ago ;) )
> it was possible to retrieve images from 2 sensors (we only have a
> two-sensor system) and perform stereo calibration for the first time.
> It's really very basic at this point, but I'll look into getting it
> into some publicly accessible Repo.
>
> regards,
> Stefan
>
> 2011/2/15 Adi Shavit <adishavit at gmail.com>:
> > Hi Jack,
> > ... more below...
> >>
> >> > I am new to ROS.
> >>
> >> Welcome!
> >
> > Thanks!
> >
> >>
> >> > I have a 4 camera stereo set using 4 synchronized cameras that are not
> >> > supported by ROS.
> >> > This is not unlike what PR2 uses.
> >> > I would like to use these camera with ROS.
> >> > What is the best way to do this?
> >>
> >> That depends on what kind of cameras they are.
> >
> > VRMagic Multisensor Intelligent Cameras.
> >
> >>
> >> > Do I need to write my own "driver"?
> >>
> >> Yes, unless someone has already written one.
> >
> > I was afraid you'd say that. ;-)
> >
> >>
> >> > What is the easiest way to do this? As I said I am new to ROS.
> >>
> >> The extra ROS wrapping for publishing camera data does not involve
> >> much additional code, but does require a basic understanding of the
> >> image pipeline. So, study the interfaces and look at examples of other
> >> drivers, then ask more questions.
> >
> > Thank you, I will.
> > BTW, is there a "mock" camera module, that I can feed AVIs or other video
> to
> > simulate a camera?
> > This will help me with debugging and also with understanding the whole
> > pipeline.
> > Thanks,
> > Adi
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users 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: 53
Date: Tue, 15 Feb 2011 11:51:27 -0800
From: Gil Jones <gjones at willowgarage.com>
Subject: Re: [ros-users] manipulation stack problems
To: User discussions <ros-users at code.ros.org>
Message-ID:
<AANLkTi=K+CEFgPvFQF8P6Dr1s7uY8uWkwc+6Vma=Z4Kx at mail.gmail.com>
Content-Type: text/plain; charset="iso-8859-1"
Hi Ugo,
To see what the current state of the environment server is you have to run
an another program in the planning environment package. Here's the contents
of the launch file in
planning_environment/launch/display_planner_collision_model.launch:
<launch>
<node pkg="planning_environment"
name="display_planner_collision_model_environment_server"
type="display_planner_collision_model" respawn="false" output="screen">
<param name="skip_collision_map" type="bool" value="false" />
<param name="prefix" type="string" value="/environment_server" />
</node>
</launch>
This node calls services in the environment_server and broadcasts markers
with the objects. You should see a marker topic after you launch this, and
a collision map topic showing the state of the collision map the environment
server uses.
Are you sure you are processing the kinect data through the appropriate set
of self filters? You need to be filtering the robot and the attached objects
out of the point cloud in order for the grasping pipeline to function. I'm
attaching a couple very experimental launch files that should process the
kinect data through the required pipeline to produce robot-free collision
maps.
Let me know how it goes.
-Gil
--
E. Gil Jones (gjones at willowgarage.com)
Research Engineer
Willow Garage, Inc.
68 Willow Road
Menlo Park, CA 94025
650.475.9772 <+16504759772>
On Mon, Feb 14, 2011 at 9:34 AM, Ugo Cupcic <ugo at shadowrobot.com> wrote:
> Hi,
>
> Thanks for your answer. I think that I still haven't figured out how to use
> the environment server properly. I still can't view the attached object.
>
> I pasted the rostopic info for my environment server at the end [1]. If you
> have any hints to what may be the problem, they're welcome!
>
> Cheers,
>
> Ugo
>
>
>
> [1]
> rosnode info /environment_server
>
> --------------------------------------------------------------------------------
> Node [/environment_server]
> Publications:
> * /environment_server/state_validity
> [motion_planning_msgs/DisplayTrajectory]
> * /environment_server/allowed_contact_regions_array
> [visualization_msgs/MarkerArray]
> * /rosout [rosgraph_msgs/Log]
> * /environment_server/collision_pose
> [motion_planning_msgs/DisplayTrajectory]
> * /environment_server_contact_markers [visualization_msgs/Marker]
>
> Subscriptions:
> * /collision_object [mapping_msgs/CollisionObject]
> * /tf [tf/tfMessage]
> * /collision_map_occ [mapping_msgs/CollisionMap]
> * /attached_collision_object [mapping_msgs/AttachedCollisionObject]
> * /collision_map_occ_update [mapping_msgs/CollisionMap]
> * /joint_states [sensor_msgs/JointState]
>
> Services:
> * /environment_server/tf_frames
> * /environment_server/get_state_validity
> * /environment_server/get_current_allowed_collision_matrix
> * /environment_server/set_logger_level
> * /environment_server/get_environment_safety
> * /environment_server/revert_allowed_collisions
> * /environment_server/get_joints_in_group
> * /environment_server/get_loggers
> * /environment_server/get_group_info
> * /environment_server/get_execution_safety
> * /environment_server/get_trajectory_validity
> * /environment_server/get_collision_objects
> * /environment_server/get_robot_state
> * /environment_server/set_allowed_collisions
>
>
>
> On Fri, Feb 11, 2011 at 9:32 PM, Kaijen Hsiao <hsiao at willowgarage.com>wrote:
>
>> Hi Ugo,
>>
>> On Mon, Feb 7, 2011 at 10:20 AM, Ugo Cupcic <ugo at shadowrobot.com> wrote:
>> > I'm not sure on which topic I should subscribe to visualize the
>> > attached_object in rviz as well. (I looked at the tf but couldn't see
>> any tf
>> > moving with the model, once the hand has grasped the can).
>>
>> Just noticed this last bit in your last email. Hopefully you've
>> figured it out already, but in case you haven't, you visualize
>> attached objects the same way you visualize all the collision models
>> that you've added to the collision environment. In our setup, the
>> topic is /collision_model_markers/environment_server but yours may
>> vary if you've changed your setup significantly. There's no separate
>> tf frame associated with the object being broadcast.
>>
>> -Kaijen
>> _______________________________________________
>> ros-users mailing list
>> ros-users at code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>
>
>
> --
> Ugo Cupcic | Shadow Robot Company | ugo at shadowrobot.com
> Software Engineer | 251 Liverpool Road |
> need a Hand? | London N1 1LX | +44 20 7700 2487 <+442077002487>
> http://www.shadowrobot.com/hand/ @shadowrobot
>
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
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