i have downloaded ROS indigo version. since i need tp use path planning in my project i intend to use ROS industrial. Does ros industrial indigo version exist or ROS industrial hydro can be used with ROS indigo
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Can ROS INDIGO & ROS I HYDRO communicate each other?
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Turtlebotv1 Calibration error
Hi,
I assembled a Turtlebotv1 on Create and using kinect as a 3D sensor, Also I am running ROS Indigo on Xubuntu 14.04. I also got Powersensor board manufactures and using ADXRS613 gyro. I am trying to calibrate the Turtlebot and run
roslaunch turtlebot_calibration calibrate.launch
First of all I have to keep pretty far from the wall like around half a meter for it to even start calibration. Also I am getting following warnings
[ WARN] [1446086529.511185488]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1.
[ INFO] [1446086529.534847605]: rgb_frame_id = 'camera_rgb_optical_frame'
[ INFO] [1446086529.534952916]: depth_frame_id = 'camera_depth_optical_frame'
[ WARN] [1446086529.559807771]: Camera calibration file /home/wvuirl/.ros/camera_info/rgb_A70777V01125309A.yaml not found.
[ WARN] [1446086529.559959598]: Using default parameters for RGB camera calibration.
[ WARN] [1446086529.560042763]: Camera calibration file /home/wvuirl/.ros/camera_info/depth_A70777V01125309A.yaml not found.
[ WARN] [1446086529.560110529]: Using default parameters for IR camera calibration.
Then I get following output
[INFO] [WallTime: 1446086323.993649] Still waiting for scan
[INFO] [WallTime: 1446086324.294945] Still waiting for scan
[INFO] [WallTime: 1446086324.595806] Still waiting for scan
[INFO] [WallTime: 1446086324.896803] Still waiting for scan
[INFO] [WallTime: 1446086325.197429] Still waiting for scan
[INFO] [WallTime: 1446086325.498272] Still waiting for scan
[ INFO] [1446086326.523293856]: Stopping device RGB and Depth stream flush.
[INFO] [WallTime: 1446086336.109565] Still waiting for imu
[INFO] [WallTime: 1446086336.411070] ... imu drift is -0.207569 degrees per second
[INFO] [WallTime: 1446086336.712768] Still waiting for imu
[INFO] [WallTime: 1446086337.013728] Aligning base with wall
[INFO] [WallTime: 1446086337.315038] Still waiting for imu
[ERROR] [WallTime: 1446086370.909854] Please point me at a wall.
[ERROR] [WallTime: 1446086370.945926] Please point me at a wall.
[ERROR] [WallTime: 1446086370.985890] Please point me at a wall.
[ERROR] [WallTime: 1446086371.025919] Please point me at a wall.
[ERROR] [WallTime: 1446086371.065689] Please point me at a wall.
[ERROR] [WallTime: 1446086371.105884] Please point me at a wall.
It does start to rotate but never stops and then starts outputting "Please point me at a wall". I can see the kinect is turned on as I see a red light in one of the lenses. I have checked the forum and my `calibrate.launch` file is already modified as discussed in http://answers.ros.org/question/54279/problem-of-please-point-me-at-a-wall-with-turtlebot_calibration/ and http://answers.ros.org/question/64301/turtlebot-calibration-error/. I have also tried `roslaunch turtlebot_bringup 3dsensor.launch` it works but I get the same calibration and depth setting warning and I can see the image when I run roslaunch `turtlebot_rviz_launchers view_robot.launch`. So I am completely clueless regarding what is going on and how I can fix it. I will really appreciate any help regarding this matter.
Thanks,
TM
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↧
Visualize robot trajectory in Rviz
I'm trying to visualize the trajectory of a Nao robot in Rviz by publishing moveit_msgs/DisplayTrajectory type messages. Since I'm trying to implement my own planner, I'm looking to create the trajectory message myself and publish it. The problem is that even though I'm only publishing joint states for the right_arm planning group (5 joints), Rviz shows the entire robot body moving to a random position like so:
I'm using the following code:
//initial setup
ros::Publisher pub_traj= node_handle.advertise("display_planned_path", 1);
ROS_INFO_STREAM("Initializing objects");
robot_model_loader::RobotModelLoader model_loader(robot_description);
robot_model::RobotModelPtr kinematic_model = model_loader.getModel();
robot_state::RobotStatePtr kinematic_state(new robot_state::RobotState(kinematic_model));
planning_scene_monitor::PlanningSceneMonitorPtr p_s_m(new planning_scene_monitor::PlanningSceneMonitor(robot_description));
planning_scene::PlanningScenePtr p_s = p_s_m->getPlanningScene();
const robot_state::JointModelGroup* joint_group = kinematic_model->getJointModelGroup("right_arm");
const std::vector joint_names = joint_group->getJointModelNames();
std::vector joint_values;
kinematic_state->copyJointGroupPositions(joint_group, joint_values);
//Preparing display trajectory message (initial state)
ROS_INFO_STREAM("Popluating trajectory message");
moveit_msgs::RobotState robot_state_msg;
robot_state_msg.joint_state.name.resize(joint_names.size());
robot_state_msg.joint_state.position.resize(joint_values.size());
//Copying initial state elements into RobotState msg
int i2 = 0;
for(std::vector::size_type i = 0; i < joint_values.size(); i++)
{
//ROS_INFO_STREAM("Joint " << joint_names[i2] << " has position " << joint_values[i2]);
robot_state_msg.joint_state.name[i2] = joint_names[i2];
robot_state_msg.joint_state.position[i2] = joint_values[i2];
i2++;
}
//randomizing joint positions
kinematic_state->setToRandomPositions(joint_group);
//set trajectory for Rviz to display (just one state in the trajectory message)
trajectory_msgs::JointTrajectory joint_trajectory;
joint_trajectory.joint_names.resize(joint_names.size());
joint_trajectory.points.resize(1);
joint_trajectory.points[0].positions.resize(joint_values.size());
//copying new random joint states into message
for(std::size_t i = 0; i < joint_names.size(); i++)
{
ROS_INFO_STREAM("Joint " << joint_names[i2] << " has position " << joint_values[i2]);
joint_trajectory.joint_names[i2] = joint_names[i2];
joint_trajectory.points[0].positions[i2] = joint_values[i2];
i2++;
}
joint_trajectory.points[0].time_from_start = ros::Duration(1.5);
joint_trajectory.header.frame_id = "NaoH25V40";
moveit_msgs::RobotTrajectory robot_trajectory;
robot_trajectory.joint_trajectory = joint_trajectory;
moveit_msgs::DisplayTrajectory display_trajectory;
display_trajectory.model_id = p_s->getRobotModel()->getName();
display_trajectory.trajectory_start = robot_state_msg;
display_trajectory.trajectory.clear();
display_trajectory.trajectory.push_back(robot_trajectory);
pub_traj.publish(display_trajectory);
There are no error or warning messages in the output. I'm using ROS Indigo, and the MoveIt configuration package is this one: https://github.com/ros-naoqi/nao_moveit_config
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Can I get Ubuntu with ros preinstalled anywhere?
Hello,
I have a new computer for my robot that I cannot connect to the internet where I work. I have another work computer that I do connect to the internet at work. I can download the Ubuntu installation to a thumb drive using the connected computer and install it on the robot computer, but when it comes to installing ROS I have to take the robot computer elsewhere to do so. The connected computer is very locked down and I can't install things like offline-get or anything that accesses the internet. It is a pain in the butt, and I'll probably end up removing the computer from the robot and taking it else where, I just figured I'd ask first.
Does anyone know if anyone provides Ubuntu installations with ROS preinstalled (I want to use Indigo on Ubuntu Trusty 14.04). I see there is a VM provided by nootrix that has this, but I don't want to use a VM, is it straight forward to strip the image from the VM and install it on the real computer? Also I don't know much about Docker, is my problem something the ROS Docker stuff might help?
Thanks
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Error Installing ROS indigo on ubuntu 15.10
Hi,
I am trying to install ROS indigo on Ubuntu 15.10. I am following the tutorials given here:
http://wiki.ros.org/indigo/Installation/Ubuntu
When I enter the command
sudo apt-get install ros-indigo-desktop-full
I get the error
"Unabe to locate package ros-indigo-desktop-full"
I thought there was something wrong with sources.list file but when I opened it in gedit, the restricted, universe , and multiverse lines are already uncommented. I managed to follow all the steps from 1.1 to 1.4 up until i had to enter
sudo apt-get install ros-indigo-desktop-full
Which gives me the error mentioned above. Please advise!
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↧
Openni library doesn't read by KinectController.c
hi, i'm using ROS indigo and i want to connect with Kinect360. so, i hv followed the instruction in [here](https://github.com/ros-drivers/openni_tracker/issues/9) to install the Openni package,etc. i also ask the same problem at there. and i'm follwoing **pi_tracker** code by Patrick Goebel such as in this [web](http://docs.ros.org/electric/api/pi_tracker/html/KinectController_8cpp.html)
the thing is, when i `catkin_make my_package` (which mean compile just one of my package) it was'nt error at all. but when i `catkin_make` for all my package it said error in that package (my_package).
this is all the error that shown up :
-------------------------------------------------------------
/home/my_user/my_workspace/src/my_package/src/KinectController.cpp:1:22: fatal error: XnOpenNI.h: No such file or directory
#include
^
compilation terminated.
make[2]: *** [my_workspace/CMakeFiles/kinect_controller.dir/src/KinectController.cpp.o] Error 1
make[1]: *** [my_workspace/CMakeFiles/kinect_controller.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 0 has invalid symbol index 11
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 1 has invalid symbol index 12
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 2 has invalid symbol index 2
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 3 has invalid symbol index 2
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 4 has invalid symbol index 11
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 5 has invalid symbol index 13
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 6 has invalid symbol index 13
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 7 has invalid symbol index 13
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 8 has invalid symbol index 12
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 9 has invalid symbol index 13
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 10 has invalid symbol index 13
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 11 has invalid symbol index 13
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 12 has invalid symbol index 13
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 13 has invalid symbol index 13
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 14 has invalid symbol index 13
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 15 has invalid symbol index 13
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 16 has invalid symbol index 13
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 17 has invalid symbol index 13
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 18 has invalid symbol index 13
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 19 has invalid symbol index 21
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_line): relocation 0 has invalid symbol index 2
/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crt1.o: In function `_start':
(.text+0x20): undefined reference to `main'
CMakeFiles/kinect_display.dir/src/KinectDisplay.cpp.o: In function `glPrintString(void*, char*)':
KinectDisplay.cpp:(.text+0x281): undefined reference to `glutBitmapCharacter'
CMakeFiles/kinect_display.dir/src/KinectDisplay.cpp.o: In function `kinect_display_drawDepthMapGL(xn::DepthMetaData const&, xn::SceneMetaData const&)':
KinectDisplay.cpp:(.text+0x899): undefined reference to `xnOSMemSet'
CMakeFiles/kinect_display.dir/src/KinectDisplay.cpp.o: In function `kinect_display_drawSkeletonGL(xn::UserGenerator&, xn::DepthGenerator&)':
KinectDisplay.cpp:(.text+0xc5f): undefined reference to `xnOSMemSet'
KinectDisplay.cpp:(.text+0xe99): undefined reference to `glutBitmapHelvetica18'
CMakeFiles/kinect_display.dir/src/KinectDisplay.cpp.o: In function `xn::NodeWrapper::SetHandle(XnInternalNodeData*)':
KinectDisplay.cpp: (.text._ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData[_ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData]+0x39): undefined reference to `xnGetRefContextFromNodeHandle'
KinectDisplay.cpp: (.text._ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData[_ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData]+0x54): undefined reference to `xnContextUnregisterFromShutdown'
KinectDisplay.cpp:(.text._ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData[_ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData]+0x60): undefined reference to `xnContextRelease'
KinectDisplay.cpp:(.text._ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData[_ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData]+0x6f): undefined reference to `xnProductionNodeRelease'
KinectDisplay.cpp:(.text._ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData[_ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData]+0x82): undefined reference to `xnProductionNodeAddRef'
KinectDisplay.cpp:(.text._ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData[_ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData]+0x91): undefined reference to `xnGetRefContextFromNodeHandle'
KinectDisplay.cpp:(.text._ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData[_ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData]+0xb2): undefined reference to `xnContextRegisterForShutdown'
KinectDisplay.cpp:(.text._ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData[_ZN2xn11NodeWrapper9SetHandleEP18XnInternalNodeData]+0xc1): undefined reference to `xnContextRelease'
CMakeFiles/kinect_display.dir/src/KinectDisplay.cpp.o: In function `xn::DepthGenerator::ConvertRealWorldToProjective(unsigned int, XnVector3D const*, XnVector3D*) const':
KinectDisplay.cpp:(.text._ZNK2xn14DepthGenerator28ConvertRealWorldToProjectiveEjPK10XnVector3DPS1_[_ZNK2xn14DepthGenerator28 ConvertRealWorldToProjectiveEjPK10XnVector3DPS1_]+0x32): undefined reference to `xnConvertRealWorldToProjective'
CMakeFiles/kinect_display.dir/src/KinectDisplay.cpp.o: In function `xn::SkeletonCapability::GetSkeletonJointPosition(unsigned int, XnSkeletonJoint, XnSkeletonJointPosition&) const':
KinectDisplay.cpp:(.text._ZNK2xn18SkeletonCapability24GetSkeletonJointPositionEj15XnSkeletonJointR23XnSkeletonJointPosition[_ZNK2xn18SkeletonCapability24GetSkeletonJointPositionEj15XnSkeletonJointR23XnSkeletonJointPosition]+0x30): undefined reference to `xnGetSkeletonJointPosition'
CMakeFiles/kinect_display.dir/src/KinectDisplay.cpp.o: In function `xn::SkeletonCapability::IsTracking(unsigned int) const':
KinectDisplay.cpp:(.text._ZNK2xn18SkeletonCapability10IsTrackingEj[_ZNK2xn18SkeletonCapability10IsTrackingEj]+0x24): undefined reference to `xnIsSkeletonTracking'
CMakeFiles/kinect_display.dir/src/KinectDisplay.cpp.o: In function `xn::SkeletonCapability::IsCalibrating(unsigned int) const':
KinectDisplay.cpp:(.text._ZNK2xn18SkeletonCapability13IsCalibratingEj[_ZNK2xn18SkeletonCapability13IsCalibratingEj]+0x24): undefined reference to `xnIsSkeletonCalibrating'
CMakeFiles/kinect_display.dir/src/KinectDisplay.cpp.o: In function `xn::UserGenerator::GetUsers(unsigned int*, unsigned short&) const':
KinectDisplay.cpp:(.text._ZNK2xn13UserGenerator8GetUsersEPjRt[_ZNK2xn13UserGenerator8GetUsersEPjRt]+0x2f): undefined reference to `xnGetUsers'
CMakeFiles/kinect_display.dir/src/KinectDisplay.cpp.o: In function `xn::UserGenerator::GetCoM(unsigned int, XnVector3D&) const':
KinectDisplay.cpp:(.text._ZNK2xn13UserGenerator6GetCoMEjR10XnVector3D[_ZNK2xn13UserGenerator6GetCoMEjR10XnVector3D]+0x2c): undefined reference to `xnGetUserCoM'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/my_user/my_workspace/devel/lib/my_workspace/kinect_display] Error 1
make[1]: *** [my_workspace/CMakeFiles/kinect_display.dir/all] Error 2
In file included from /home/my_user/my_workspace/src/my_package/src/skeleton_tracker.cpp:15:0:
/home/my_user/my_workspace/src/my_package/src/KinectController.h:5:26: fatal error: XnCppWrapper.h: No such file or directory
#include
^
compilation terminated.
make[2]: *** [my_workspace/CMakeFiles/skeleton_tracker.dir/src/skeleton_tracker.cpp.o] Error 1
make[1]: *** [my_workspace/CMakeFiles/skeleton_tracker.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
-------------------------------------------------
though i haven't connect the Kinect360, i think it's not connection false. what do u think?
↧
Sending Messages to remotely connected Node
Hi,
I have a problem getting ROS-Messages to a node which is connected to a remote ROS-Master.
The node is written in python, running on a Raspberry Pi as superuser (which is necessary for the moment) and subscribing to a topic "/LED".
First I set up ROS_MASTER_URI to the remote Master and ROS_IP to the local IP-Address on the node.
For debugging reasons I listen on the topic on the master-machine via:
rostopic echo /LED
Now I want to send a message to my node on a command line:
rostopic pub /LED std_msgs/String "message"
If I send it from the node the node receives it, but if I send it from the master the node doesn't receive it.
The strange thing is, that both times it will get echoed on the "rostopic echo" command running on the master.
So in this case it gets to the master, but not to the Node.
("rostopic echo" on the node doesn't get the message either)
Does anyone know why the message doesn't get to my node?
Thanks,
ChTe
Edit: I just did a tcpdump on both sides and when I send the message from the master there is no communication present on port 11311.
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Travis CI with 14.04/Indigo and/or alternatives
Looking into continuous integration options, the obvious one is Travis CI. To my dismay I quickly discovered that it is really easy to use, but unfortunately the offered servers only run Ubuntu 12.04, so builds requiring Indigo/14.04 are not easily possible. There is a new Docker-based build environment in place ([description here](http://blog.travis-ci.com/2014-12-17-faster-builds-with-container-based-infrastructure/)), but the limitation of not allowing running `sudo` makes things very complicated.
My questions thus are: Are there any solutions out there that make it possible to run 14.04/Indigo with Travis? How do other current options for CI compare to Travis? What I especially like about Travis is the fact that no (server) infrastructure has to be maintained by the user.
/edit: Just came across this question: [drone.io instead of travis](http://answers.ros.org/question/210507/droneio-instead-of-travis/). Certainly sounds like an alternative, but no instructions for use with 14.04 so far either.
↧
openni2 load oni file in Indigo
I am not able to load a oni file (OpenNI record file) with openni2 in Indigo. In Hydro I was able to load it simply with:
roslaunch openni2_launch openni2.launch device_id:=/path/to/your/file.oni
but in Indigo openni2 still tries to open the real device.
Any suggestions?
↧
↧
Kinect Xbox360 model 1414 with ROS Indigo, Linux 14.04
heellooooo...
i hope someone can help me solving my problem..
now i had Kinect Xbox360 model 1414, my computer using ROS Indigo with LINUX 14.04 LTS
everytime i launch for openni_launch or freenect_launch the result always same
[ INFO] [1446551218.829214700]: No devices connected.... waiting for devices to be connected
i've connected the Kinect to my pc through USB3.0...
i really confused what should i do next..
people said that openni_launch can't be run in Indigo. is this what they mean? but why the freenect.launch result the same thing?
i've installed NITE package and OpenNI package either, so does the freenect and it's dependencies.
↧
Trouble running ros_upstart
Hello all.
I installed ros_upstart with this command `sudo apt-get install ros-indigo-robot-upstar`.
I can find the files in `/opt/ros/indigo/lib/robot_upstart/` and `/opt/ros/indigo/lib/python2.7/dist-packages/robot_upstart`.
I also did `echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc` and `source ~/.bashrc`.
After starting roscore I run this comand
rosrun robot_upstart install myrobot_bringup/launch/base.launch
and I get this error
Unable to locate path launch/base.launch in package myrobot_bringup. Installation aborted.
Traceback (most recent call last):
File "/opt/ros/indigo/lib/robot_upstart/install", line 32, in
exit(main())
File "/opt/ros/indigo/lib/python2.7/dist-packages/robot_upstart/install_script.py", line 83, in main
if os.path.isfile(found_path[0]):
IndexError: list index out of range
I also tried `sudo service myrobot start` and got
myrobot: unrecognized service
Am I running the command in the wrong directory? Do I need to change something that is specific to my machine?
In advance. Thanks for any help
↧
How can I setup skeleton tracking using a Kinect and ROS Indigo on Ubuntu 14.04?
I read about openni_tracker, but that doesn't work with Indigo, so, I'm struck. Any help would be much appreciated. Thanks!
↧
rtapmap nodes crash on Raspi 2
Hello ROS-community,
I want to start rtabmap on my raspi 2 with ubuntu 14.04 ROS Indigo. I have compiled it from Source at first like the description on github: https://github.com/introlab/rtabmap_ros. It do not worked for me, so i searched for another solution. Someone write, i need to compile it in debug mode. The compilation worked without problems after i set some more swap-space.
But when i start eg.
roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rviz:=false rtabmapviz:=true
I get the same error and all nodes crash.
process[rtabmap/rgbd_odometry-1]: started with pid [3792]
process[rtabmap/rtabmap-2]: started with pid [3793]
process[rtabmap/rtabmapviz-3]: started with pid [3794]
[rtabmap/rgbd_odometry-1] process has died [pid 3792, exit code -11, cmd /home/ubuntu/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info __name:=rgbd_odometry __log:=/home/ubuntu/.ros/log/60fe07cc-83c1-11e5-8e93-b827eb2eb151/rtabmap-rgbd_odometry-1.log].
log file: /home/ubuntu/.ros/log/60fe07cc-83c1-11e5-8e93-b827eb2eb151/rtabmap-rgbd_odometry-1*.log
[rtabmap/rtabmap-2] process has died [pid 3793, exit code -11, cmd /home/ubuntu/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info scan:=/scan __name:=rtabmap __log:=/home/ubuntu/.ros/log/60fe07cc-83c1-11e5-8e93-b827eb2eb151/rtabmap-rtabmap-2.log].
log file: /home/ubuntu/.ros/log/60fe07cc-83c1-11e5-8e93-b827eb2eb151/rtabmap-rtabmap-2*.log
[rtabmap/rtabmapviz-3] process has died [pid 3794, exit code -11, cmd /home/ubuntu/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d /home/ubuntu/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info scan:=/scan __name:=rtabmapviz __log:=/home/ubuntu/.ros/log/60fe07cc-83c1-11e5-8e93-b827eb2eb151/rtabmap-rtabmapviz-3.log].
log file: /home/ubuntu/.ros/log/60fe07cc-83c1-11e5-8e93-b827eb2eb151/rtabmap-rtabmapviz-3*.log
The Standalone version `rtabmap` start without problems.
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skeleton_tracker CMake Error
Hi there, i don't know what's wrong with my system. i'm using ROS Indigo, Ubuntu 14.04LTS and want to connect Kinect Xbox360 to dynamixel. i try `roslaunch skeleton_marker skeleton.launch` and succesfully launch. so after that i want to connect it with my system so i make my CMakeList like this:
cmake_minimum_required(VERSION 2.8.3)
project(mocap)
find_package(catkin REQUIRED COMPONENTS
dynamixel_controllers
dynamixel_driver
dynamixel_msgs
geometry_msgs
joint_state_publisher
visualization_msgs
message_generation
nav_msgs
openni_tracker
roscpp
rospy
rviz
std_msgs
tf
urdf
)
find_package(orocos_kdl REQUIRED)
find_package(PkgConfig)
pkg_check_modules(OpenNI REQUIRED libopenni)
# Find Glut
find_package(GLUT REQUIRED)
# Find OpenGL
find_package(OpenGL REQUIRED)
link_directories(
${catkin_LIBRARY_DIRS}
${orocos_kdl_LIBRARY_DIRS}
${OpenNI_LIBRARIES}
${GLUT_LIBRARIES}
${OPENGL_INCLUDE_DIR}
)
find_library(orocos_kdl_LIBRARY NAMES ${orocos_kdl_LIBRARIES} PATHS
${orocos_kdl_LIBRARY_DIRS} NO_DEFAULT_PATH)
set(orocos_kdl_LIBRARIES ${orocos_kdl_LIBRARY})
find_library(LIBFREENECT_LIBRARY
NAMES freenect
PATHS ${LIBFREENECT_LIBRARY_DIRS}
)
catkin_package(
DEPENDS orocos_kdl
)
include_directories(${catkin_INCLUDE_DIRS}
${OpenNI_INCLUDE_DIRS}
${GLUT_INCLUDE_DIRS}
${orocos_kdl_INCLUDE_DIRS}
${OPENGL_INCLUDE_DIR}
)
add_executable(skeleton_tracker src/skeleton_tracker.cpp src/KinectController.cpp src/KinectDisplay.cpp)
target_link_libraries(skeleton_tracker
${catkin_LIBRARIES}
${OpenNI_LIBRARIES}
${GLUT_LIBRARIES}
${OPENGL_LIBRARIES}
${orocos_kdl_LIBRARIES})
----------------------------------------------------------------------------------------------------
and i got this kind of error :
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
orocos_kdl_LIBRARY
linked by target "skeleton_tracker" in directory /home/adelleodel/rosadel/src/mocap
-- Configuring incomplete, errors occurred!
See also "/home/adelleodel/rosadel/build/CMakeFiles/CMakeOutput.log".
See also "/home/adelleodel/rosadel/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
so, what's wrong with my CMakeList? and there's skeleton.tracker.cpp in my directory `/home/adelleodel/rosadel/src/mocap`
this is CMakeList.txt in the skeleton_markers package :
cmake_minimum_required(VERSION 2.8.3)
project(skeleton_markers)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
tf
geometry_msgs
std_msgs
visualization_msgs
message_generation)
# Find Orocos KDL
find_package(orocos_kdl REQUIRED)
# Find OpenNI
find_package(PkgConfig)
pkg_check_modules(OpenNI REQUIRED libopenni)
# Find Glut
find_package(GLUT REQUIRED)
# Find OpenGL
find_package(OpenGL REQUIRED)
link_directories(
${catkin_LIBRARY_DIRS}
${orocos_kdl_LIBRARY_DIRS}
${OpenNI_LIBRARIES}
${GLUT_LIBRARIES}
${OPENGL_INCLUDE_DIR}
)
include_directories(${catkin_INCLUDE_DIRS}
${OpenNI_INCLUDE_DIRS}
${GLUT_INCLUDE_DIRS}
${orocos_kdl_INCLUDE_DIRS}
${OPENGL_INCLUDE_DIR}
)
add_message_files (
FILES
Skeleton.msg
)
generate_messages(
DEPENDENCIES geometry_msgs std_msgs
)
catkin_package(
DEPENDS
CATKIN_DEPENDS
rospy
roscpp
message_runtime
openni_camera
openni_tracker
tf
visualization_msgs
std_msgs
geometry_msgs
)
add_executable(skeleton_tracker
src/skeleton_tracker.cpp
src/KinectController.cpp
src/KinectDisplay.cpp)
target_link_libraries(skeleton_tracker
${catkin_LIBRARIES}
${OpenNI_LIBRARIES}
${GLUT_LIBRARIES}
${OPENGL_LIBRARIES}
${orocos_kdl_LIBRARIES})
#install(TARGETS skeleton_tracker RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
message("DEBUG variable catkin_INCLUDE_DIRS: ${catkin_INCLUDE_DIRS}")
message("DEBUG variable OpenNI_INCLUDE_DIRS: ${OpenNI_INCLUDE_DIRS}")
message("DEBUG variable GLUT_INCLUDE_DIRS: ${GLUT_INCLUDE_DIRS}")
message("DEBUG variable orocos_kdl_INCLUDE_DIRS: ${orocos_kdl_INCLUDE_DIRS}")
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pi_tracker pirobot in Indigo?
i heard that pi_tracker (which using skeleton traking for humanoid robot) now is only available in Hydro. but, in the [website](http://www.pirobot.org/) they said there's available too for Indigo. so how about it? is it work?
what's the basic differences between hydro and indigo?
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my own robotic manipulator
Hi guys
I am still pretty new at ROS. For my bachelor thesis I have to create a complete control system for robotic manipulator which we have at University(5 joints - 3 revolute, 2 continuous). It is completely unique manipulator so I have to create it myself (there is not any already created package).
I want to work with raspberry pi for basic calculations and for graphic interface I want to use computer( computer will comunicate with raspberry through wifi) . I did a lot of tutorials learn a lot about ROS and already created URDF file of my robot. Now I am working with moveit. I put urdf file there and started doing base kinematics, collision and dynamic etc. But I am still not getting hardware software communication part :D . I read about http://wiki.ros.org/ros_control but there are dozens packages in ROS.
Can you give me some hints or help how to continue or what I did wrong. Maybe moveIT is not good for my project. I do not have experience. People at university cannot help me they do not have enough experience with ROS at all, but we want to improve and move forward because I think this is real future of robotics and it is really interesting (but I also know there is a lot work to do). Everyday I am reading about new libraries, packages or tools but I am pretty sure I miss some connections.
Can you give me some points where to look how to continue which library would be best for hardware control. Robot is 11 years old. it worked with some kind of C application but we want innovations. It also has two 2D cameras so after "first moves" with arm we want to continue with some space orientation etc maybe a little bit AI I don t know but i want to improve at this so may I ask you to give me some advices please ?.
This is how manipulator looks like
Kĺb -> joint
There is also base which I included in collision calculations in moveIT
Sorry for my horrible English and thank you for any help.
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PCL KdTree Undefined Symbol
Hello ROS Community,
I am fairly new to ROS but not to robotics or programming. I have been working with PCL and ROS and was trying to do a simple cluster extraction seen [here](http://www.pointclouds.org/documentation/tutorials/cluster_extraction.php). I can build and run the code but when I run the code I get the following error:
symbol lookup error: /var/CornholeRobot/devel/lib/cornhole_vision/main: undefined symbol: _ZN3pcl6search6KdTreeINS_8PointXYZEEC1Eb
My set up is:
- Ubuntu 14.04 LST
- ROS Indigo Latest Build
- PCL latest stable through apt-get
What I Have done:
- Followed all steps on [this post](http://answers.ros.org/question/121266/undefined-symbol/121291%3C/p%3E)
- Looked at every google post for the undefined symbol
pcl::search::KdTree"pcl::PointXYZ"::Ptr tree (new pcl::search::KdTree"pcl::PointXYZ");So for example I can run and execute planar segmentation to remove the ground plane perfectly fine. I'm not sure if this is something i need to do in the
CMakeLists.txt file or maybe my includes are wrong?
Here are my includes (in the order that I have them):
#include "ros/ros.h" #include "iostream" #include "unistd.h" //PCL Includes #include "sensor_msgs/PointCloud2.h" #include "pcl_conversions/pcl_conversions.h" #include "pcl/point_cloud.h" #include "pcl/point_types.h" #include "pcl/io/pcd_io.h" #include "pcl/filters/extract_indices.h" #include "pcl/filters/voxel_grid.h" #include "pcl/features/normal_3d.h" #include "pcl/search/kdtree.h" #include "pcl/sample_consensus/model_types.h" #include "pcl/sample_consensus/method_types.h" #include "pcl/segmentation/sac_segmentation.h" #include "pcl/filters/conditional_removal.h" #include "pcl/segmentation/extract_clusters.h"If you have any information that could help me that would be great and if you need any additional information just let me know. Thanks in advance. PS: had to change the carets to quotes if someone can let me know if there is a way to use the carets (sideways v), in the forum, that would be great as well
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roscore bug Errno8
I've got a new installation of ROS Indigo on OSX Yosemite.
In a terminal when I enter: roscore I get the error message:> ... > 76, in is_local_address> local_addresses = ['localhost'] + get_local_addresses() File> "/opt/ros/indigo/lib/python2.7/site-packages/rosgraph/network.py",> line 240, in get_local_addresses> local_addrs = [host[4][0] for host in> socket.getaddrinfo(socket.gethostname(),> 0, socket.AF_INET, 0, socket.SOL_TCP)]> gaierror: [Errno 8] nodename nor servname provided, or not known
printenv | grep ROS prints out:
ROS_ROOT=/opt/ros/indigo/share/ros
ROS_PACKAGE_PATH=/opt/ros/indigo/share:/opt/ros/indigo/stacks
ROS_MASTER_URI=http://localhost:11311
ROS_HOSTNAME=localhost
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=indigo
ROS_IP=0.0.0.0
ROS_ETC_DIR=/opt/ros/indigo/etc/ros
I have no /etc/hosts file.
ping localhost works.
I'm just trying to run ROS master and clients locally on my Mac.
Thanks!
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how to install bullet on Indigo in Ubuntu
I have been trying to build this project, it has `tf2_bullet` which is part of `geometry_experimental` in it and depends on bullet,
So I have been getting this error message whenever I try to do `catkin_make`
add_subdirectory(geometry_experimental/tf2_bullet)
-- checking for module 'bullet'
-- package 'bullet' not found
I have done some research and I could not find bullet package. I installed `bullet3` from bullet github but that did not solve the problem
Any help would be appreciated...
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Error in CameraNode and StereoNode
Hi
I'm using ROS Indigo on Fedora 22.
I paste the ueye folder on my catkin workspace (/home/doliveira/catkin_ws/src/), but when I run catkin_make on catkin_ws I get the follow error on files CameraNode.cpp and StereoNode.cpp.
/home/doliveira/catkin_ws/src/ueye/src/CameraNode.cpp: In member function ‘sensor_msgs::ImagePtr ueye::CameraNode::processFrame(IplImage*, sensor_msgs::CameraInfoPtr&)’:
/home/doliveira/catkin_ws/src/ueye/src/CameraNode.cpp:368:20: error: no match for ‘operator=’ (operand types are ‘cv::Mat’ and ‘IplImage* {aka _IplImage*}’)
converter_.image = frame;
^
In file included from /usr/local/include/opencv2/core/mat.hpp:3396:0,
from /usr/local/include/opencv2/core.hpp:59,
from /usr/local/include/opencv2/core/core.hpp:48,
from /home/doliveira/catkin_ws/src/vision_opencv-indigo/cv_bridge/include/cv_bridge/cv_bridge.h:42,
from /home/doliveira/catkin_ws/src/ueye/include/ueye/CameraNode.h:44,
from /home/doliveira/catkin_ws/src/ueye/src/CameraNode.cpp:35:
/usr/local/include/opencv2/core/mat.inl.hpp:560:6: note: candidate: cv::Mat& cv::Mat::operator=(const cv::Mat&)
Mat& Mat::operator = (const Mat& m)
^
/usr/local/include/opencv2/core/mat.inl.hpp:560:6: note: no known conversion for argument 1 from ‘IplImage* {aka _IplImage*}’ to ‘const cv::Mat&’
In file included from /usr/local/include/opencv2/core/mat.hpp:3396:0,
from /usr/local/include/opencv2/core.hpp:59,
from /usr/local/include/opencv2/core/core.hpp:48,
from /home/doliveira/catkin_ws/src/vision_opencv-indigo/cv_bridge/include/cv_bridge/cv_bridge.h:42,
from /home/doliveira/catkin_ws/src/ueye/include/ueye/CameraNode.h:44,
from /home/doliveira/catkin_ws/src/ueye/src/CameraNode.cpp:35:
/usr/local/include/opencv2/core/mat.inl.hpp:2878:6: note: candidate: cv::Mat& cv::Mat::operator=(const cv::MatExpr&)
Mat& Mat::operator = (const MatExpr& e)
^
/usr/local/include/opencv2/core/mat.inl.hpp:2878:6: note: no known conversion for argument 1 from ‘IplImage* {aka _IplImage*}’ to ‘const cv::MatExpr&’
In file included from /usr/local/include/opencv2/core.hpp:59:0,
from /usr/local/include/opencv2/core/core.hpp:48,
from /home/doliveira/catkin_ws/src/vision_opencv-indigo/cv_bridge/include/cv_bridge/cv_bridge.h:42,
from /home/doliveira/catkin_ws/src/ueye/include/ueye/CameraNode.h:44,
from /home/doliveira/catkin_ws/src/ueye/src/CameraNode.cpp:35:
/usr/local/include/opencv2/core/mat.hpp:1102:10: note: candidate: cv::Mat& cv::Mat::operator=(const Scalar&)
Mat& operator = (const Scalar& s);
^
/usr/local/include/opencv2/core/mat.hpp:1102:10: note: no known conversion for argument 1 from ‘IplImage* {aka _IplImage*}’ to ‘const Scalar& {aka const cv::Scalar_&}’
ueye/CMakeFiles/ueye_nodelets.dir/build.make:110: recipe for target 'ueye/CMakeFiles/ueye_nodelets.dir/src/CameraNode.cpp.o' failed
make[2]: *** [ueye/CMakeFiles/ueye_nodelets.dir/src/CameraNode.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 82%] Built target beginner_tutorials_generate_messages
/home/doliveira/catkin_ws/src/ueye/src/StereoNode.cpp: In member function ‘sensor_msgs::ImagePtr ueye::StereoNode::processFrame(IplImage*, ueye::Camera&, cv_bridge::CvImage&, sensor_msgs::CameraInfoPtr&, sensor_msgs::CameraInfo&)’:
/home/doliveira/catkin_ws/src/ueye/src/StereoNode.cpp:465:19: error: no match for ‘operator=’ (operand types are ‘cv::Mat’ and ‘IplImage* {aka _IplImage*}’)
converter.image = frame;
^
In file included from /usr/local/include/opencv2/core/mat.hpp:3396:0,
from /usr/local/include/opencv2/core.hpp:59,
from /usr/local/include/opencv2/core/core.hpp:48,
from /home/doliveira/catkin_ws/src/vision_opencv-indigo/cv_bridge/include/cv_bridge/cv_bridge.h:42,
from /home/doliveira/catkin_ws/src/ueye/include/ueye/CameraNode.h:44,
from /home/doliveira/catkin_ws/src/ueye/include/ueye/StereoNode.h:38,
from /home/doliveira/catkin_ws/src/ueye/src/StereoNode.cpp:35:
/usr/local/include/opencv2/core/mat.inl.hpp:560:6: note: candidate: cv::Mat& cv::Mat::operator=(const cv::Mat&)
Mat& Mat::operator = (const Mat& m)
^
/usr/local/include/opencv2/core/mat.inl.hpp:560:6: note: no known conversion for argument 1 from ‘IplImage* {aka _IplImage*}’ to ‘const cv::Mat&’
In file included from /usr/local/include/opencv2/core/mat.hpp:3396:0,
from /usr/local/include/opencv2/core.hpp:59,
from /usr/local/include/opencv2/core/core.hpp:48,
from /home/doliveira/catkin_ws/src/vision_opencv-indigo/cv_bridge/include/cv_bridge/cv_bridge.h:42,
from /home/doliveira/catkin_ws/src/ueye/include/ueye/CameraNode.h:44,
from /home/doliveira/catkin_ws/src/ueye/include/ueye/StereoNode.h:38,
from /home/doliveira/catkin_ws/src/ueye/src/StereoNode.cpp:35:
/usr/local/include/opencv2/core/mat.inl.hpp:2878:6: note: candidate: cv::Mat& cv::Mat::operator=(const cv::MatExpr&)
Mat& Mat::operator = (const MatExpr& e)
^
/usr/local/include/opencv2/core/mat.inl.hpp:2878:6: note: no known conversion for argument 1 from ‘IplImage* {aka _IplImage*}’ to ‘const cv::MatExpr&’
In file included from /usr/local/include/opencv2/core.hpp:59:0,
from /usr/local/include/opencv2/core/core.hpp:48,
from /home/doliveira/catkin_ws/src/vision_opencv-indigo/cv_bridge/include/cv_bridge/cv_bridge.h:42,
from /home/doliveira/catkin_ws/src/ueye/include/ueye/CameraNode.h:44,
from /home/doliveira/catkin_ws/src/ueye/include/ueye/StereoNode.h:38,
from /home/doliveira/catkin_ws/src/ueye/src/StereoNode.cpp:35:
/usr/local/include/opencv2/core/mat.hpp:1102:10: note: candidate: cv::Mat& cv::Mat::operator=(const Scalar&)
Mat& operator = (const Scalar& s);
^
/usr/local/include/opencv2/core/mat.hpp:1102:10: note: no known conversion for argument 1 from ‘IplImage* {aka _IplImage*}’ to ‘const Scalar& {aka const cv::Scalar_&}’
ueye/CMakeFiles/ueye_nodelets.dir/build.make:158: recipe for target 'ueye/CMakeFiles/ueye_nodelets.dir/src/StereoNode.cpp.o' failed
make[2]: *** [ueye/CMakeFiles/ueye_nodelets.dir/src/StereoNode.cpp.o] Error 1
CMakeFiles/Makefile2:5154: recipe for target 'ueye/CMakeFiles/ueye_nodelets.dir/all' failed
make[1]: *** [ueye/CMakeFiles/ueye_nodelets.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 91%] Built target opencv_apps
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
I'm missing some packaged or step?
Thank you
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