I am using ROS Indigo and an Arduino Uno. I am having issues using a custom message that is part of my firmware. The firmware compiles and uploads fine, but I receive the following error when trying to connect to the node.
$ rosrun rosserial_python serial_node.py /dev/ttyACM1
[INFO] [WallTime: 1448735717.440960] ROS Serial Python Node
[INFO] [WallTime: 1448735717.454322] Connecting to /dev/ttyACM1 at 57600 baud
[ERROR] [WallTime: 1448735720.172786] Creation of publisher failed: ros_arduino_wiichuck
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/opt/ros/indigo/share
ROS path [2]=/opt/ros/indigo/stacks
[ERROR] [WallTime: 1448735721.135189] Tried to publish before configured, topic id 125
[ERROR] [WallTime: 1448735722.154916] Tried to publish before configured, topic id 125
Here is my custom message
Header header
uint8 joyX
uint8 joyY
bool buttonZ
bool buttonC
float32 accelX
float32 accelY
float32 accelZ
Here is my firmware code
#include
#include
#include
#include "WiiChuck.h"
WiiChuck chuck = WiiChuck();
ros::NodeHandle nh;
ros_arduino_wiichuck::WiiChuck chuck_msg;
ros::Publisher chuckPub("chuck", &chuck_msg);
char hello[13] = "hello world!";
void setup() {
nh.initNode();
nh.advertise(chuckPub);
chuck.begin();
chuck.update();
}
void loop() {
delay(20);
chuck.update();
chuck_msg.joyX = chuck.readJoyX();
chuck_msg.joyY = chuck.readJoyY();
chuck_msg.buttonZ = chuck.buttonZ;
chuck_msg.buttonC = chuck.buttonC;
chuck_msg.accelX = chuck.readAccelX();
chuck_msg.accelY = chuck.readAccelY();
chuck_msg.accelZ = chuck.readAccelZ();
chuckPub.publish(&chuck_msg);
nh.spinOnce();
delay(1000);
}
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Custom Message on Arduino
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How to use Rosjava in Android Studio?
I researched in the internet for weeks, but I couldn't find a really successfully way to set up a ROS environment and then using the packages via ROSJava 0.2.1 in Android Studio in more as an example status.
I'm working on an Ubuntu 14.04 system, have already set up Android Studio and installed "Ros-indigo-full-desktop" after this instructions (http://wiki.ros.org/indigo/Installation/Ubuntu).
I have found this tutorial (https://github.com/ollide/rosjava_android_template) which is working well for basic things. It was possible for me to create own subscribers and publishers. I was able to create an Andriod-App with basic functionality and an own integrated public RosCore master. But it's not really a full ROS development environment.
Now I would like to integrate a "Navigation" and "Map" and so on. But I don't know how to use the installed ROS Packages in my own Project.
My questions:
* What is the best way to use all installed ROS Packages (i.e "ros-indigo-nav-core") with ROSJava?
* Does a documentation about common using, messages and dependencies between ROSJava classes exist?
* Is the installation of "Ros-indigo-full-desktop" the right way to create an own ROS/ROSJava development environment?
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How can I spawn a Robotiq Gripper with an UR5 in Gazebo and Rviz using Moveit! ?
Hi there,
I'm trying to create a simulation with an UR5, the Robotiq FT150 Sensor and the Robotiq 85 Gripper.
[Github/universal_robot](https://github.com/ros-industrial/universal_robot),
[Github/robotiq](https://github.com/ros-industrial/robotiq)
I integrated the gripper by referencing it in the ur5_robot.urdf:
transmission_interface/SimpleTransmission PositionJointInterface 1
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Ros indigo p2os_teleop not working
Hello,
I'm new with Ros. Just started working with Pioneer P3-DX using p2os.
i installed p2os-perdue on ubuntu 14.04 LTS with Ros Indigo
1) I launched : rosrun p2os_drive p2os_drive ( to connect to the robot)
it seems to work, because the robot name appeared, I'am using serial port PC<->robot
there is an annoying bipping though, i don't really know if it's normal, but i'am able to get robot motor state with
"rostopic echo /motor_state"
2) i launched: rosrun p2os_teleop p2os_teleop
No errors detected but when pressing the keyboard while on the terminal (ex: left arrow and right arrow)
characters appears (like : [[A ) but nothing happening , robot not moving
3) I even tried with: rostopic pub /cmd_vel geometry_msg/Twist '[0.1, 0.0, 0.0]' '[0.0, 0.0, 0.0]'
still nothing, robot not moving at all :/
so please Help :(
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E: Unable to locate package ros-indigo-desktop-base
hi, I am trying to install ROS-indigo on a machine running ubuntu 14.04 LTS. as I follow all of the instructions presented on the website I get this error:
E: Unable to locate package ros-indigo-desktop-base
same error is received when I try to install the full package. Any suggestions?
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setup.bash refering to package and states file not found
Hello,
I am a Ubuntu 14.04 user using ROS Indigo. I am not sure what happened recently but when I do [In catkin workspace] source devel/setup.bash I get the following error message
bash: /home/dinu94/catkin_ws/src/rocon/src/rocon_app_platform/rocon_app_utilities/shells/env.bash: No such file or directory
bash: /home/dinu94/catkin_ws/src/rocon/src/rocon_tools/rocon_launch/shells/env.bash: No such file or directory
bash: /home/dinu94/catkin_ws/src/rocon/src/rocon_multimaster/rocon_test/shells/env.bash: No such file or directory
bash: /home/dinu94/catkin_ws/src/rocon/src/rocon_tools/rocon_python_comms/completion/rospairbash: No such file or directory
I had installed rocon months before and deleted in quite recently. I don't know how this polluted setup.bash . I can't understand the code and hence unable to fix it. Any help would be appreciated .
Thanks
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How to enable/add camera on Kuka Youbot in Gazebo?
Hi I am pretty new to ROS, Gazebo, and Ubuntu. Now I'm trying to add a camera on the Kuka Youbot Model which I installed from the youbot website: http://www.youbot-store.com/wiki/index.php?title=Gazebo_simulation&hmswSSOID=10b4d7be36c130126e02a9c81ce579a7f71c954f.
So I'm using the Indigo version of ROS, and I've tried to enable the cameras that came with the package but I couldn't get any of them to appear on the simulation. From what I know, to use one of the camera, you just include the refernce and simulation tag of the camera in the youbot.urdf.xacro file. I tried that but didn't work. I need this for a senior design project, in which i need to simulate lane keeping in the road using cameras. I would appreciate any help from anyone with experience with this. Thanks.
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Sleep time is larger than clock resolution, skipping sleep
Hello,
I am using Ubuntu14. Everytime i launch turtlebot(gazebo) in ROS Indigo, i am constantly getting the following warning:
"warning [Time.cc.205] Sleep time is larger than clock resolution, skipping sleep"
Does anyone know why?
Thanks,
Emre
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Unable to communicate with Arduino using ROSSerial client
I'm trying to get the basic ROSSerial [Blink](http://wiki.ros.org/rosserial_arduino/Tutorials/Blink) example to work. I managed to install, compile and upload everything just fine, but when I go to run the final command:
rosrun rosserial_python serial_node.py /dev/ttyACM0
it appears to time-out with the error:
[ERROR] [WallTime: 1450064686.648424] Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino
My target platform is an Arduino Leonardo, and I've uploaded a non-ROS blink example that outputs to the Serial line, so I know it works.
What am I doing wrong? Does `serial_node.py` need some "special" parameter to get it to work with a Leonardo?
I'm using Indigo on both the Arduino and host PC.
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camera_pose_calibration migrate to indigo
Hello guys,
I'm trying to use this [calibration package](http://wiki.ros.org/camera_pose_calibration) for 2 monocular cameras that are fixed on the bottom of a Quadcoter. According to the [documentation](http://wiki.ros.org/camera_pose_calibration?distro=groovy) this package is capable to do this.
### my setup
My setup is shown in this figure
- Ubuntu 14.04 (Trusty)
- ROS Distro= Indigo
- Catkin workspace with catkin tools
### my goal
My goal is to get the pose between the two bottom cameras and also the tf Transformation of the bigger one (I already got the tf from the small bottom camera).
### installation problems
Problem about the whole story is more or less the installation.
I checked with
```javascript
rosdep db
```
for the package ros-indigo-camera-pose so i could use
```javascript
sudo apt-get install ros-indigo-camera-pose
```
but had no success.
Second attempt was to try an installation from source through github.
Somehow Catkin tools does not recognise the camera_pose package when I try to build it through the command:
```javascript
catkin build [package]
```
Checking the dependencies with `rosdep` fails too.
So my first thought was to update this package, so catkin tools can build it. Any suggestion how to do this without studying informatics for 5 years :D?
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I need a working Baxter URDF with Electric Grippers.
I need a Baxter URDF with parallel electric grippers.
Does anyone have one that works and can be controlled with the keyboard gripper controller?
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My question is too long to fit in this block so I have add that in details. Please help me to solve that.
which broken packages are being considered by the system ? Help me to solve this.
neel
sudo apt-get install ros-indigo-desktop-full
Reading package lists... Done
Building dependency tree Reading state information...
Done Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming.
The following information may help to resolve the situation: The following packages have unmet dependencies: ros-indigo-desktop-full : Depends: ros-indigo-simulators but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
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I want to change the speed of ABB IRB2400 in rviz by varying state_display_time property using cpp code ?How can i do this?
I am looking for a function to be included in my cpp code to change stste_display_time when neeeded.
---
Edit: Is it possible to change the speed of manipulation in RVIZ (ROS Indigo) ? I am using an ABB Robot manipulator and I would like to very the speed of manipulation. One way I found is by varying state_display_time using changedstatedisplaytime() function. But in my understanding state_display_time variable is only available up to Groovy, Is that right? Can anybody have any alternate way of solving this problem. Thanking you in advance.
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OSX 10.11 openni_camera make error indigo
I recently install ros in my laptop with desktop with desktop_full mode.
After awhile, I realized that I don't have openni_launch I need for kinect camera.
So I'm following this step to install the openni_launch
[this answer](http://answers.ros.org/question/158546/openni-and-kinect-on-hydro-osx-108/)
Everything runs fine, except for the last step, I got a problem like this:
Felixs-MacBook-Pro:openni_ws FelixJonathan$ catkin_make install
Base path: /Users/FelixJonathan/openni_ws
Source space: /Users/FelixJonathan/openni_ws/src
Build space: /Users/FelixJonathan/openni_ws/build
Devel space: /Users/FelixJonathan/openni_ws/devel
Install space: /Users/FelixJonathan/openni_ws/install
####
#### Running command: "make cmake_check_build_system" in "/Users/FelixJonathan/openni_ws/build"
####
####
#### Running command: "make install -j4 -l4" in "/Users/FelixJonathan/openni_ws/build"
####
[ 5%] Built target openni_camera_gencfg
[ 11%] Linking CXX shared library /Users/FelixJonathan/openni_ws/devel/lib/libopenni_driver.dylib
ld: library not found for -lOpenNI
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Users/FelixJonathan/openni_ws/devel/lib/libopenni_driver.dylib] Error 1
make[1]: *** [openni_camera/CMakeFiles/openni_driver.dir/all] Error 2
make: *** [all] Error 2
Invoking "make install -j4 -l4" failed
My openni installed from brew, with brew info openni result:
homebrew/science/openni: stable 1.5.7.10, devel 1.5.8.5, HEAD
http://www.openni.org/
/usr/local/Cellar/openni/1.5.7.10 (1604 files, 32M) *
Built from source
From: https://github.com/Homebrew/homebrew-science/blob/master/openni.rb
==> Dependencies
Build: automake ✔, libtool ✔, doxygen ✔
Required: libusb ✔
==> Options
--universal
Build a universal binary
--devel
Install development version 1.5.8.5
--HEAD
Install HEAD version
Every dependency seems to already been satisfied:
rosdep install --from-paths ./src --ignore-src -y
#All required rosdeps installed successfully
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What is the effect of changing a parameter using rosparam set command?joint
I want to vary the maximum joint velocities of ABB IRB 2400 robot in rviz from my cpp code dynamically.I tried changing the parameter in command line and the values is changes also.But i am not seeing any changes in the RVIZ visualization.
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How can I build a tf which is required by gampping?
I finished base_link → odom tf like this
map
|
odom
|
base_link
But in another required tf transform, it reads
> (the frame attached to incoming scans) → base_link
> usually a fixed value, broadcast periodically by a robot_state_publisher, or a tf static_transform_publisher.
(http://wiki.ros.org/gmapping)
I can not understand how to build tf: scan→ base_link , and depthimagine_to_laserscan(I use kinect) do not
provide any tf Transform.
And tf transforms in Turtlebot like this:
map
|
odom
|
base_link
|
---------camera_rgb_frame-------
| | |
camera_depth_frame camera_link camera_rgb_optical_frame
|
camera_depth_optical_frame
So, how can I combine **scan data** to base_link and broadcast this tf like turtlebot?
Some keywords like "camera_depth_frame", "camera_link"... Broadcasting them direct without any define or export?
And my kinect is fixed on the underpan, does it need a URDF file, or just use static_transform_publisher is fine?
Sincerely
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smach_viewer does not work in indigo
Hi:
smach_viewer.py does not seem to work in ROS Indigo. It looks like there are a couple of bugs related to the changed Publisher interface and maybe something else. I'm unable to upload this file (no karma) so I'm providing the file at the bottom of this question.
When I run an example state_machine2.py with an introspection server, it runs fine except for a warning about the Publisher not specifying queue_size=1.
[aravind@jeeves src]$ ./state_machine2.py
/opt/ros/indigo/lib/python2.7/dist-packages/smach_ros/introspection.py:132: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'.
data_class=SmachContainerStructure)
/opt/ros/indigo/lib/python2.7/dist-packages/smach_ros/introspection.py:137: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'.
data_class=SmachContainerStatus)
[INFO] [WallTime: 1405615980.267506] State machine starting in initial state 'FOO' with userdata:
[]
[INFO] [WallTime: 1405615980.268563] Executing state FOO
[INFO] [WallTime: 1405615981.270877] State machine transitioning 'FOO':'outcome1'-->'BAR'
[INFO] [WallTime: 1405615981.271551] Executing state BAR
[INFO] [WallTime: 1405615982.273528] State machine transitioning 'BAR':'outcome1'-->'FOO'
Now when I run the introspection server, it does not work.
[aravind@jeeves simple_smach]$ rosrun smach_viewer smach_viewer.py
Exception in thread Thread-6:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line 763, in run
self.__target(*self.__args, **self.__kwargs)
File "/opt/ros/indigo/lib/smach_viewer/smach_viewer.py", line 848, in _update_graph
self.set_dotcode(dotstr,zoom=False)
File "/opt/ros/indigo/lib/smach_viewer/smach_viewer.py", line 866, in set_dotcode
if self.widget.set_dotcode(dotcode, None):
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/wxxdot.py", line 455, in set_dotcode
self.set_xdotcode(xdotcode)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/wxxdot.py", line 483, in set_xdotcode
self.graph = parser.parse()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 1146, in parse
DotParser.parse(self)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 951, in parse
self.parse_graph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 960, in parse_graph
self.parse_stmt()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 993, in parse_stmt
self.parse_subgraph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 974, in parse_subgraph
self.parse_stmt()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 993, in parse_stmt
self.parse_subgraph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 974, in parse_subgraph
self.parse_stmt()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 1009, in parse_stmt
self.handle_node(id, attrs)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 1120, in handle_node
shapes.extend(parser.parse())
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 608, in parse
points = self.read_polygon()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 503, in read_polygon
x, y = self.read_point()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 486, in read_point
x = self.read_number()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 480, in read_number
return int(self.read_code())
ValueError: invalid literal for int() with base 10: '79.92'
The contents of file state_machine2.py:
#!/usr/bin/env python
import rospy
import smach
import smach_ros
# define state Foo
class Foo(smach.State):
def __init__(self):
smach.State.__init__(self, outcomes=['outcome1','outcome2'])
self.counter = 0
def execute(self, userdata):
rospy.loginfo('Executing state FOO')
rospy.sleep( 1 )
if self.counter < 10:
self.counter += 1
return 'outcome1'
else:
return 'outcome2'
# define state Bar
class Bar(smach.State):
def __init__(self):
smach.State.__init__(self, outcomes=['outcome1'])
def execute(self, userdata):
rospy.loginfo('Executing state BAR')
rospy.sleep( 1 )
return 'outcome1'
def main():
rospy.init_node('smach_example_state_machine')
# Create a SMACH state machine
sm = smach.StateMachine(outcomes=['outcome4'])
sis = smach_ros.IntrospectionServer('server_name', sm, '/simple')
sis.start()
# Open the container
with sm:
# Add states to the container
smach.StateMachine.add('FOO', Foo(),
transitions={'outcome1':'BAR', 'outcome2':'outcome4'})
smach.StateMachine.add('BAR', Bar(),
transitions={'outcome1':'FOO'})
# Execute SMACH plan
outcome = sm.execute()
if __name__ == '__main__':
main()
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Solution to "nan value in transform" error
I am trying to simulate a Baxter bot in Gazebo2- Indigo. I am getting the following error and need help debugging it.
Here is the first message that I am getting:
INFO] [WallTime: 1450912978.152709] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false].
Error [Param.cc:181] Unable to set value [-nan -nan -nan 0 -0 0] for key[pose]
[ INFO] [1450912979.083195846, 2.069000000]: Block laser plugin missing , defaults to 101
[ INFO] [1450912979.083362043, 2.069000000]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters.
Then the following two errors are continuously sent to the terminal.
[ERROR] [1450913124.345122432, 3.380000000]: Ignoring transform for child_frame_id "l_gripper_l_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
[ERROR] [1450913124.345166827, 3.380000000]: Ignoring transform for child_frame_id "l_gripper_r_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
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Ros packages for RGBD SLAM with Kinect
Hello,
I wanted to perform RGBD SLAM with kinect what are the packages that are available for ROS-INDIGO?
Thank you
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How to control kinect NUI Motor?
hello, i want to control my motor and change the direction of it. how can i doing it?
i've tried [this one](http://csmartonline.com/blog/2012/03/27/kinect-motor-control/). but it doesn't work. i failed compile it, and failed run the .exe program. said that > KinectMotor.cpp:2:19: fatal error: XnUSB.h: No such file or directory
#include
so, is there any option to do it with ROS?
i've heard there's something called kinect_aux package.
but, i don't have those package in openni_launch or openn_camera or libfreenect or blabla.
where can i find it?
Thank's for help !
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