Hello,
I am working on a PR2 robot (hydro) and I would like to install libfreenect-dev to develop a package for rgbd (kinect) mapping. However, I cannot install this library.
I receive the message "E: Package 'libfreenect-dev' has no installation candidate" from the apt-get manager.
I could install it in my workstation (running the same configuration: ubuntu 12.04, ROS hydro) but not in the PR2.
I looked this library into the ros repositories (from the PR2) but I couldn't find it.
Have you experienced this before? Do you have any clue how to install it or why is it not available for the PR2 platform?
I would appreciate your help.
↧
Ubuntu 12.04 on PR2 is unable to install libfreenect-dev
↧
Timer vs Sleep
Hello everybody,
I am implementing a controller over ros and I need to force the rates of two nested loops as precisely as possible.
I usually use the timer function with a callback, but I was wandering if there is a bettere way. Is there a difference of performance and precision between the timer function and the sleep function?
What do you thin I should use?
Thank you very much
Andrea
↧
↧
Add mysql library to ROS package
Hi, I would like connect ros node with a Mysql DB but I can't do it. I don't know how use mysql lib client in Ros node because when compiled it appears error as undefined reference to `mysql_get_client_info'. I'm try use cpp cflags export in package.xml but I can't found the correct way to do it.
Thanks in advanced.
↧
mapping from camera/Image-raw to kinect RGB-D
Hi every body
I'm working on follow-me task. The goal is to make a turtle-bot-like robot follow a specific person in the crowd. I use [skeleton_markers](http://wiki.ros.org/skeleton_markers) to find joints of target person's body and with some control procedure follow her/him.
To better support the gained information from *skeleton_markers*, I want to know how to find corresponding pixel(s) of a specific joint, so I will be able to extract some visual features to uniquely identify the followed person in the crowd.
Concisely, what is the x-y (in pixel) of a joint (that *skeleton_markers* has published) so I can draw a bounding-box around it. And also in case of losing the followed person (for example due to changing pose), I want to have an approximate place -based on the aforementioned bounding-box- to look for the person in that area.
Can somebody tell any package or method/procedure to achieve this?
Any help would be greatly appreciated.
P.S.: I'm using ROS Hydro on Ubuntu 12.04.
P.P.S: Packages like [OpenTLD](https://github.com/pandora-auth-ros-pkg/open_tld) can follow a textured, but I can't find a way to hint the *skeleton_markers* package to search a specific place to find the person in case of losing her/him.
↧
Importing python module from another ROS package. [Import Error]
I followed tutorials and other questions relationated with this topic but I can't figure what I'm doing wrong.
http://wiki.ros.org/rqt/Tutorials/Create%20your%20new%20rqt%20plugin
http://answers.ros.org/question/11794/how-can-i-use-custom-python-functions-in-other-ros-packages/
http://docs.ros.org/api/catkin/html/howto/format2/installing_python.html
I want to include this node on my my_module.py
from flexbotics_control_nextage_teleop_ps3 import hiro_motion_savingpointsxml
and show me ImportError: No module named flexbotics_control_nextage_teleop_ps3.
---------------------------------------------
/catkin_ws_ruben
/build
/devel
/install
/src
/flexbotics_control_nextage_teleop_ps3
/scripts
|.....
|__init__.py
/src
/flexbotics_control_nextage_teleop_ps3
|hiro_motion_savingpointsxml.py
|__init__.py
/config
/launch
setup.py
__init__.py
CMakeLists.txt
/rqt_mypkg
/scripts
/src
/rqt_mypkg
|my_module.py
|my_module.pyc
|__init__.py
/resource
|MyPlugin.ui
setup.py
__init__.py
package.xml
CMakeLists.txt
-----------------------------------------------------------------------
rqt_mypkg:
CMakeList
cmake_minimum_required(VERSION 2.8.3)
project(rqt_mypkg)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
rospy
rqt_gui
rqt_gui_py
std_msgs
flexbotics_control_nextage_teleop_ps3
)
catkin_python_setup()
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs # Or other packages containing msgs
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES rqt_mypkg
# CATKIN_DEPENDS rospy rqt_gui rqt_gui_py
# DEPENDS system_lib
CATKIN_DEPENDS message_runtime
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
install(PROGRAMS src/rqt_mypkg/my_module.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
-------------------------------
package:
rqt_mypkg 0.0.0 The rqt_mypkg package catkin rospy rqt_gui rqt_gui_py message_generation flexbotics_control_nextage_teleop_ps3 rospy rqt_gui rqt_gui_py flexbotics_control_nextage_teleop_ps3 message_runtime
from flexbotics_control_nextage_teleop_ps3 import hiro_motion_savingpointsxml
ImportError: No module named flexbotics_control_nextage_teleop_ps3
PluginManager._load_plugin() could not load plugin "rqt_mypkg/My Plugin":
Traceback (most recent call last):
File "/opt/ros/hydro/lib/python2.7/dist-packages/qt_gui/plugin_handler.py", line 98, in load
self._load()
File "/opt/ros/hydro/lib/python2.7/dist-packages/qt_gui/plugin_handler_direct.py", line 54, in _load
self._plugin = self._plugin_provider.load(self._instance_id.plugin_id, self._context)
File "/opt/ros/hydro/lib/python2.7/dist-packages/qt_gui/composite_plugin_provider.py", line 71, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "/opt/ros/hydro/lib/python2.7/dist-packages/qt_gui/composite_plugin_provider.py", line 71, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_gui_py/ros_py_plugin_provider.py", line 60, in load
return super(RosPyPluginProvider, self).load(plugin_id, plugin_context)
File "/opt/ros/hydro/lib/python2.7/dist-packages/qt_gui/composite_plugin_provider.py", line 71, in load
instance = plugin_provider.load(plugin_id, plugin_context)
File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_gui/ros_plugin_provider.py", line 83, in load
raise e
ImportError: No module named flexbotics_control_nextage_teleop_ps3
Thanks for your time
↧
↧
rgbdslam v2 crashes after processing the first frame
Hello all,
I have (supposedly) successfully catkin_make'd rgbdslam_v2 following the instructions from [here](http://felixendres.github.io/rgbdslam_v2/) on **ros-hydro** and **ubuntu 12.04**.
Then I run :
roslaunch rgbdslam rgbdslam.launch
and
roslaunch openni_launch openni.launch (since I'm using the Kinect sensor)
Everything good so far (the gui, etc..). Then I press the "enter" button to record a single frame and after a couple of seconds I can see the registered cloud along with the features in the bottom-right window.
But, when I press the "enter" key again, to record a second frame I get the error below:
[ INFO] [1424181067.056503402]: Siftgpu Feature Descriptors size: 600 x 128
[ INFO] [1424181067.056629147]: Feature Count of Node: 600
[ INFO] [1424181067.066904524]: Odometry Delta: Translation 0 0 0
[ INFO] [1424181067.067152611]: Odometry Delta: Rotation 0 0 0 1
[ INFO] [1424181067.067285958]: No Valid Odometry, using identity
[ INFO] [1424181067.067507486]: Node ID's to compare with candidate for node 1. Sequential: 0
[ INFO] [1424181067.067683740]: Nodes to compare: 0
[ INFO] [1424181067.067813802]: Running node comparisons in parallel in 7 (of 8) available threads
[ INFO] [1424181067.078635881]: Depth and RGB image off more than 1/30sec: 36753459 (nsec)
rgbdslam: /tmp/buildd/ros-hydro-opencv2-2.4.9-2precise-20140819-1745/modules/flann/include/opencv2/flann/kdtree_index.h:458:
void cvflann::KDTreeIndex::getNeighbors(cvflann::ResultSet&, const ElementType*, int, float) [with Distance = cvflann::L2, typename Distance::ResultType = float, cvflann::KDTreeIndex::ElementType = float]: Assertion `result.full()' failed.
================================================================================REQUIRED process [rgbdslam-2] has died!
process has died [pid 20933, exit code -6, cmd /home/kokirits/rgbdslam_hydro_ws/devel/lib/rgbdslam/rgbdslam __name:=rgbdslam __log:=/home/kokirits/.ros/log/e3d1a8d6-b6ab-11e4-9f21-4c80931194a0/rgbdslam-2.log].
log file: /home/kokirits/.ros/log/e3d1a8d6-b6ab-11e4-9f21-4c80931194a0/rgbdslam-2*.log
Initiating shutdown!
================================================================================
[rgbdslam-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Anyone got an idea on how to solve this?
↧
In Eclipse, I'm trying to set a breakpoint, but only getting a 'set bookmark name' popup
Hi
Not sure if this is due to mixing Eclipse with ROS, but while trying to set a breakpoint by double clicking in the left border of the editor on a line in my C++ code I keep getting a popup menu for setting a bookmark name. Right mouse clicking in the left border displays a menu to add a bookmark or a task. This occurs both in the C/C++ and Debug perspectives.
I am able to run the program in Eclipse to completion, I would just like to get use to using the debugging facilities before moving on to more complicated stuff.
I have Eclipse v 4.4.1, running on Ubuntu 12.04. and it is setup (through the use of catkin) to develop ROS (hydro) apps as described at http://wiki.ros.org/IDEs#Eclipse
Any suggestions would be appreciated, thanks...
↧
sicktoolbox hydro error
Hello folks,
I am using Sick LM291 and usb serial converter.
Ubuntu 12.04 intell 64 bits and hydro.
In fuerte, there was no problem to use this laser but we recently change the ros version and this is the output of the laser LM291 sicktoolbox_wrapper:
$ rosrun sicktoolbox_wrapper sicklms
*** Attempting to initialize the Sick LMS...
Attempting to open device @ /dev/ttyUSB0
Device opened!
Attempting to start buffer monitor...
Buffer monitor started!
Attempting to set requested baud rate...
A Timeout Occurred! 2 tries remaining
A Timeout Occurred! 1 tries remaining
A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max number of tries w/o success!
Failed to set requested baud rate...
Attempting to detect LMS baud rate...
Checking 19200bps...
A Timeout Occurred! 2 tries remaining
A Timeout Occurred! 1 tries remaining
A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max number of tries w/o success!
Checking 38400bps...
Detected LMS baud @ 38400bps!
Operating @ 38400bps
Attempting to sync driver...
Driver synchronized!
*** Init. complete: Sick LMS is online and ready!
Sick Type: Sick LMS 291-S05
Scan Angle: 100 (deg)
Scan Resolution: 0.25 (deg)
Measuring Mode: 8m/80m; fields A,B,Dazzle
Measuring Units: Centimeters (cm)
[ INFO] [1410366255.940479716]: Variant setup not requested or identical to actual (100, 0.250000)
[ INFO] [1410366255.940548802]: Measuring units setup not requested or identical to actual ('Centimeters (cm)')
[ WARN] [1410366255.940781220]: You are using an angle smaller than 180 degrees and a scan resolution less than 1 degree per scan. Thus, you are in inteleaved mode and the returns will not arrive sequentially how you read them. So, the time_increment field will be misleading. If you need to know when the measurement was made at a time resolution better than the scan_time, use the whole 180 degree field of view.
Requesting measured value data stream...
Data stream started!
A Timeout Occurred - SickLIDAR::_recvMessage: Timeout occurred!
[ERROR] [1410366261.971579984]: Unknown error.
terminate called after throwing an instance of 'SickToolbox::SickThreadException'
Aborted (core dumped)
The most strange thing is that the node indentify correctly the laser but when try to publish, appear segmentation fault with unknown error.
Tell me if I am doing something wrong or is just package problem. Some related problems but not the same here:
http://answers.ros.org/question/99096/using-sicktoolbox-on-hydro/
Best regards.
************* EDIT ***************
I try it in indigo and it works fine. Maybe some problem related to hydro branch?
↧
ax2550 node
Hello,
I have been trying to run the ax2550_node from the ros ax2550 package found here https://github.com/wjwwood/ax2550.git .
But i get an error which says
AX2550 connecting to port /dev/motor_controller
[ERROR] [1424892454.858165528]: Failed to connect to the AX2550: IO Exception (2): No such file or directory, file /tmp/buildd/ros-hydro-serial-1.1.7-0raring-20141231-2116/src/impl/unix.cc, line 150.
[ INFO] [1424892454.858316111]: Will try to reconnect to the AX2550 in 5 seconds
I have tried changing the port permissions as suggested by this user (http://answers.ros.org/question/186558/ax2550-node-fails-to-connect-to-ax2550/) but to no avail. Could anyone please help me resolve this issue.
Update:
I have switched the usb-serial converter. I am now using Aten uc232-a. I am able to communicate with the controller via the roboteq roborun pc utility for windows 8. But somehow this node is unable to connect. I have tried assigning the serial port string("/dev/ttyUSB0") to the serial port parameter of the node using the following line : [**rosrun ax2550 ax2550_node _serial_port:="/dev/ttyUSB0"**] (&) [**rosrun ax2550 ax2550_node serial_port:="/dev/ttyUSB0"**] but it too has failed.
I dont know what iam doing wrong. Could anyone please guide me into the right direction. It is absolutely important for me to get this node working.
↧
↧
Using joy topic to increase/decrease a variable's value continuously
Hi :)
I've just started learning ROS and want to use it for a project of mine at the university. One of the things I'd like to do is to use a joystick to control a cute little KUKA KR3 CR robot using an inverse kinematics cpp file generated by OpenRAVE. I've looked into the example in the ROS wiki about controlling a turtle with a joystick and got it up and running in no time. My configuration is:
- Host: Debian 7.0 Wheezy 64bit
- VirtualBox Guest: Lubuntu 12.04 with ROS Hydro
- Joystick Logitech Attack 3
I'm using a VirtualBox since 1)installing ROS on Debian proved to be a pain in the butt (at least for me) and 2)I like keeping thing separate so that I can possibly transfer my virtual machine to my working PC once I go to the lab in a couple of days. Here is how things are supposed to work:
1. Joy_node publishes a joy message
2. My node (let's call it JoyControl_node) has subscribed to the topic and receives joy messages
3. These messages are processed accordingly and the movement of my stick + pressing some of the buttons generates a Transformation message looking like this:
`std_msgs/Header header`
`float32[3] translationXYZ`
`float32[3] rotationXYZ`
4. JoyControl_node publishes the Transformation message
5. ...
Taking into account the movement of the stick and also a bunch of buttons (sadly the stick has only 2 DoF, which I can only map to either translation along or rotation around two axes so I have to map some of the translation and rotation to the buttons of the joystick) I increase/decrease/don't change at all a set of translations (X,Y and Z) and rotation (around X, Y and Z). These are supposed to be the Cartesian coordinates of a point including its orientation. Note that I do realize that I have to do some additional checking if the coordinates are plausible but this will be done in another node, which uses the inverse kinematics by OpenRAVE. For now just imagine that the results produced here are useful. ;)
The issue I'm having is that I can't figure out how to make the change (increase/decrease of the value of my 6 variables) continuous. Here is my code (read about the TODO after the code section):
#include
#include
#include
class TeleopTransformation
{
void joyCallback(const sensor_msgs::Joy::ConstPtr& joy);
ros::NodeHandle nh;
float transX, transY, transZ;
float rotX, rotY, rotZ;
ros::Subscriber joy_sub;
ros::Publisher transformation_pub;
public:
TeleopTransformation();
};
TeleopTransformation::TeleopTransformation()
: transX(0), transY(0), transZ(0)
, rotX(0), rotY(0), rotZ(0)
{
joy_sub = nh.subscribe("joy", 10, &TeleopTransformation::joyCallback, this);
transformation_pub = nh.advertise("teleop_transformation/point", 1);
}
void TeleopTransformation::joyCallback(const sensor_msgs::Joy::ConstPtr &joy)
{
JoyControl_node::Transformation tmsg;
// ROS_DEBUG_STREAM("axis 0: " << joy->axes[0] << "\naxis 1:" << joy->axes[1] << "\naxis 2:" << joy->axes[2]);
// TODO convert movement of the axes to Cartesian coordinates and angles
// ...
tmsg.translationXYZ[0] = transX;
tmsg.translationXYZ[1] = transY;
tmsg.translationXYZ[2] = transZ;
tmsg.rotationXYZ[0] = rotX;
tmsg.rotationXYZ[1] = rotY;
tmsg.rotationXYZ[2] = rotZ;
transformation_pub.publish(tmsg);
}
int main (int argc, char **argv)
{
ros::init(argc, argv, "teleop_transformation");
TeleopTransformation tt;
ros::spin();
}
Previously at the TODO position in my code I had something like
if(joy->axes[0] < 0) transX -= .5;
else if(joy->axes[0] > 0) transX += .5;
...
However I found out that this leads to a very dull way of handling the data that is passed from the joy_node to my JoyControl_node. I have to constantly move my joystick in order to trigger a change in my values. This is of course understandable since the callback function is triggered only when it receives a new message. I'm thinking about implementing some kind of a trigger, which starts a thread that increases/decreases the specific variable's value accordingly. I want to mimic the behaviour of the velocity command in the joystick tutorial, where you simply push the stick of your joystick, hold it in a certain position and the turtle continuously moves in the TurtleSim.
Suggestions, criticism etc. are more than welcome!
RB
↧
"No module named catkin_pkg.package" on catkin_make w/ Hydro
Working with ROS Hydro on Lubuntu 12.04. I have previously worked with Hydro on this OS before so I am relatively sure theres no compatibility differences between it and the standard Ubuntu 12.04 release. All links below are either to wiki.ros or answers.ros.
I followed the ROS installation tutorial [here](http://wiki.ros.org/hydro/Installation/Ubuntu), selecting the recommended options, and then proceeded to test the installation by following the first tutorial [here](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment). However, running: ~/catkin_ws$ catkin_make fails and shows the error down below.
There are several other questions here that deal with similar problems such as [here](http://answers.ros.org/question/56873/problem-with-catkin_make/) and [here](http://answers.ros.org/question/49143/problems-with-rqt-groovy-ubuntu/?answer=49153#post-id-49153), but following the solutions provided did not solve the issue. [Here](http://answers.ros.org/question/173508/catkin_pkgpackage-missing/), the possibility of not using the system version of python is brought up. This is possibly the issue but I'm unsure how to confirm or remedy this. If this is the case, I'd have to add the catkin_pkg to the PYTHONPATH, but without confirmation that I am not using the system version of python I'm unsure how and where to do this.
Base path: /home/khitrir/catkin_ws
Source space: /home/khitrir/catkin_ws/src
Build space: /home/khitrir/catkin_ws/build
Devel space: /home/khitrir/catkin_ws/devel
Install space: /home/khitrir/catkin_ws/install
####
#### Running command: "cmake /home/khitrir/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/khitrir/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/khitrir/catkin_ws/install" in "/home/khitrir/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/khitrir/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/hydro
-- This workspace overlays: /opt/ros/hydro
-- Using PYTHON_EXECUTABLE: /usr/local/bin/python
-- Python version: 2.7
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/khitrir/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
ImportError: "from catkin_pkg.package import parse_package" failed: No module named catkin_pkg.package
Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.
CMake Error at /opt/ros/hydro/share/catkin/cmake/safe_execute_process.cmake:11 (message):
execute_process(/usr/local/bin/python
"/opt/ros/hydro/share/catkin/cmake/parse_package_xml.py"
"/opt/ros/hydro/share/catkin/cmake/../package.xml"
"/home/khitrir/catkin_ws/build/catkin/catkin_generated/version/package.cmake")
returned error code 1
Call Stack (most recent call first):
/opt/ros/hydro/share/catkin/cmake/catkin_package_xml.cmake:63 (safe_execute_process)
/opt/ros/hydro/share/catkin/cmake/all.cmake:152 (_catkin_package_xml)
/opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:20 (include)
CMakeLists.txt:52 (find_package)
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed
↧
Cartesian Planner Plugin not selectable on RViz
Following [its wiki](http://wiki.ros.org/moveit_cartesian_plan_plugin#Run_for_the_first_Time) I opened a plugin list in a trial to add `Cartesian Path Planner MoveIt Plugin` after running:
roslaunch motoman_sia20d_moveit_config moveit_planning_execution.launch
I don't see the plugin in the list.
`rospack find moveit_cartesian_plan_plugin` seems to be returning the right path to the package.
Anything missing am I?
↧
roslint error
I am trying to perform an extrinsic calibration based on the following tutorial:
http://wiki.ros.org/industrial_extrinsic_cal/Tutorials/Camera%20to%20Target
I have installed all the dependencies outlines and when I try catkin_make before carrying out the steps outlined in the tutorial I get the following errors:
...catkinConfig.cmake:75 (find_package):
Could not find a configuration file for package roslint.
Set roslint_DIR to the directory containing a CMake configuration file for
roslint. The file will have one of the following names:
roslintConfig.cmake
roslint-config.cmake
**And**
...CMakeLists.txt:206 (roslint_cpp):
Unknown CMake command "roslint_cpp".
Anybody ever have the same problem or could help in fixing it?
Thanks
↧
↧
mysql connection
Hello,
I am trying to establish a mysql database connection within a ROS package.
I have found the following two questions;
- answers.ros.org/questions/32520/add-mysql-to-a-ros-project
- answers.ros.org/questions/34308/mysql-and-ros
In regards to the first question, I have done everything as said.
libmysqlclient15-dev is installed, but still getting the error below. What have I done wrong?
======Error
mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=/opt/ros/hydro/share/ros/core/rosbuild/rostoolchain.cmake ..
[rosbuild] Building package zuros_sequencer
-- Using CATKIN_DEVEL_PREFIX: /home/robot/git/zuros/zuros_sequencer/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/hydro
-- This workspace overlays: /opt/ros/hydro
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Skip enable_testing() for dry packages
-- Using CATKIN_TEST_RESULTS_DIR: /home/robot/git/zuros/zuros_sequencer/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.77
[rosbuild] Including /opt/ros/hydro/share/roslisp/rosbuild/roslisp.cmake
[rosbuild] Including /opt/ros/hydro/share/roscpp/rosbuild/roscpp.cmake
[rosbuild] Including /opt/ros/hydro/share/rospy/rosbuild/rospy.cmake
CMake Error at CMakeLists.txt:23 (find_package):
Could not find module FindMySql.cmake or a configuration file for package
MySql.
Adjust CMAKE_MODULE_PATH to find FindMySql.cmake or set MySql_DIR to the
directory containing a CMake configuration file for MySql. The file will
have one of the following names:
MySqlConfig.cmake
mysql-config.cmake
-- Configuring incomplete, errors occurred!
make: *** [all] Error 1
======Cmakelists.txt
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)
rosbuild_init()
# add include search paths
INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/ros/include
${PROJECT_SOURCE_DIR}/common/include)
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
find_package(MySql REQUIRED)
include_directories(${MYSQL_INCLUDE_DIRS})
add_definitions(${MYSQL_DEFINITIONS})
#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()
#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})
# add build commands
rosbuild_add_executable(sequence ros/src/sequence.cpp
ros/src/zwaveSubscriber.cpp
ros/src/databaseConnector.cpp)
======manifest.xml
zuros_sequencer robot BSD XXX
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Order of nodes in roslaunch for accessing camera images
I am trying to run two nodes, one being the usb_cam node to start the camera and the second node to use the images for image processing.
As there is no particular order in which the nodes are launched, the image processing node doesn't start displaying the highgui window as I'd written, which I think is probably because the usb_cam node hasn't started ?
It works fine when I run the node independently using rosrun, starting usb_cam node first and then the image processing thread.
How can I solve this problem?
EDIT:
Code -
IMAGE PROCESSING CODE
#include
#include
#include
#include
#include
#include
static const std::string OPENCV_WINDOW = "Image window";
class ImageConverter
{
ros::NodeHandle nh_;
image_transport::ImageTransport it_;
image_transport::Subscriber image_sub_;
image_transport::Publisher image_pub_;
public:
ImageConverter()
: it_(nh_)
{
// Subscrive to input video feed and publish output video feed
image_sub_ = it_.subscribe("/usb_cam/image_raw", 1,
&ImageConverter::imageCb, this);
image_pub_ = it_.advertise("/image_converter/output_video", 1);
cv::namedWindow(OPENCV_WINDOW);
}
~ImageConverter()
{
cv::destroyWindow(OPENCV_WINDOW);
}
void imageCb(const sensor_msgs::ImageConstPtr& msg)
{
cv::Mat img, img_resize;
try
{
img = cv_bridge::toCvCopy(msg, "mono8")->image;
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
if (img.rows > 60 && img.cols > 60)
cv::circle(img, cv::Point(50, 50), 10, CV_RGB(255,0,0));
cv::resize(img, img_resize, cv::Size2i(img.cols/2, img.rows/2));
cv::imshow(OPENCV_WINDOW, img_resize);
cv::waitKey(3);
}
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "image_converter");
ImageConverter ic;
ros::spin();
return 0;
}
Launch File:
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Kinect No Image received
Hello,i am using ubuntu12.04 and hydro in VMware.i installed openni-camera,openni-launch,and SensorKinect,when I tried to view the data using openni_camera package,
yake@ubuntu:~$ roslaunch openni_camera openni_node.launch
It shows the following message:
[ INFO] [1425880374.263482333]: Number devices connected: 1
[ INFO] [1425880374.264281088]: 1. device on bus 001:17 is a SensorKinect (2bf) from PrimeSense (45e) with serial id '0000000000000000'
[ INFO] [1425880374.266841490]: Searching for device with index = 1
[ INFO] [1425880376.162143780]: Opened 'SensorKinect' on bus 1:17 with serial number '0000000000000000'
[ INFO] [1425880377.080038868]: rgb_frame_id = '/camera_rgb_optical_frame'
[ INFO] [1425880377.080617873]: depth_frame_id = '/camera_depth_optical_frame'
[ WARN] [1425880377.085363076]: Camera calibration file /home/yake/.ros/camera_info/rgb_0000000000000000.yaml not found.
[ WARN] [1425880377.085733467]: Using default parameters for RGB camera calibration.
[ WARN] [1425880377.086030252]: Camera calibration file /home/yake/.ros/camera_info/depth_0000000000000000.yaml not found.
[ WARN] [1425880377.086327993]: Using default parameters for IR camera calibration.
Output of lsusb:
yake@ubuntu:~$ lsusb
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 001 Device 016: ID 045e:02be Microsoft Corp.
Bus 002 Device 002: ID 0e0f:0003 VMware, Inc. Virtual Mouse
Bus 002 Device 003: ID 0e0f:0002 VMware, Inc. Virtual USB Hub
Bus 001 Device 017: ID 045e:02bf Microsoft Corp.
To view the video, i therefore run:
$ rosrun image_view image_view image:=/camera/rgb/image_color
but it only have a image windows,have not receive data from kinect.when i run:
$ rosrun image_view disparity_view image:=/camera/depth/disparity
it also have not image data,but we can see the depth camera turn on.
Please help me!
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Vector3 deserialize problem
Dear all,
I found a strange problem with my robot running ROS on UDOO board. The cmd_vel published by teleop is subscribed by Arduino sketch that drive motors according to received speed. Arduino and ROS communicate using rosserial python node. When a cmd_vel is published with positive speed all works fine. Sending negative speed result in robot moving at smallest speed in back direction. After some test I found the problem on Vector3 message in Arduino ros_lib: deserialize method fails with negative float (I receive -0.0000 instead -0.200). I'm sure the published message is correct since using `rostopic echo /cmd_vel` print the right values.
At the end I success to make it works adding delays in deserialize method:
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
uint32_t * val_x = (uint32_t*) &(this->x);
offset += 3;
*val_x = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
*val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
*val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
*val_x |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
uint32_t exp_x = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
exp_x |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
if(exp_x !=0)
*val_x |= ((exp_x)-1023+127)<<23;
delay(1);
if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x;
uint32_t * val_y = (uint32_t*) &(this->y);
offset += 3;
*val_y = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
*val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
*val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
*val_y |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
uint32_t exp_y = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
exp_y |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
if(exp_y !=0)
*val_y |= ((exp_y)-1023+127)<<23;
delay(1);
if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y;
uint32_t * val_z = (uint32_t*) &(this->z);
offset += 3;
*val_z = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
*val_z |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
*val_z |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
*val_z |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
uint32_t exp_z = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
exp_z |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
if(exp_z !=0)
*val_z |= ((exp_z)-1023+127)<<23;
delay(1);
if( ((*(inbuffer+offset++)) & 0x80) > 0) this->z = -this->z;
return offset;
}
This is working now but I have no idea why delays are needed! I'm quite sure is as problem of Arduino but since I found this problem using ROS make sense to advertise the ROS community.
Thanks
Alessandro
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↧
pointcloud_to_laserscan catkin_make fail
I'm am trying to utilize the Microsoft Kinect for navigation. I am utilizing ROS Hydro on Ubuntu 12.04.
I have not figured out how to use the navigation stack yet, so if you have any pointers on that, send them my way.
I have noticed that most of the navigation packages require `/laserscan` rather than`/pointcloud2`, so I have begun to try to get [pointcloud_to_laserscan](http://wiki.ros.org/pointcloud_to_laserscan) up and running.
I downloaded the package utilizing:
git clone https://github.com/ros-perception/perception_pcl.git
but when I ran `catkin_make` I received the following error:
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a configuration file for package tf2_sensor_msgs.
Set tf2_sensor_msgs_DIR to the directory containing a CMake configuration
file for tf2_sensor_msgs. The file will have one of the following names:
tf2_sensor_msgsConfig.cmake
tf2_sensor_msgs-config.cmake
Call Stack (most recent call first):
perception_pcl/pointcloud_to_laserscan/CMakeLists.txt:4 (find_package)
CMake Error at perception_pcl/pcl_ros/CMakeLists.txt:5 (find_package):
Could not find module Findcmake_modules.cmake or a configuration file for
package cmake_modules.
Adjust CMAKE_MODULE_PATH to find Findcmake_modules.cmake or set
cmake_modules_DIR to the directory containing a CMake configuration file
for cmake_modules. The file will have one of the following names:
cmake_modulesConfig.cmake
cmake_modules-config.cmake
-- Configuring incomplete, errors occurred!
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
I'm relatively new at this. Any thoughts?
↧
Incomplete configuration during ROS Hydro installation on OSX 10.9
Hello everyone, I am an absolute beginner when it comes to ROS or Homebrew or even using the Terminal! Please bear with me here.
I've been following this tutorial (wiki.ros.org/hydro/Installation/OSX/Homebrew/Source) to the letter trying to install ROS Hydro to my Mac OSX 10.9. I am stuck at section 2.1.3 where I'm told to run `./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release`. Upon running it, the command fails with this error:
-- Configuring incomplete, errors occurred!
See also "/Users/jcRebanal/ros_catkin_ws/build_isolated/catkin/CMakeFiles/CMakeOutput.log".
<== Failed to process package 'catkin':
Command 'cmake /Users/jcRebanal/ros_catkin_ws/src/catkin -DCATKIN_DEVEL_PREFIX=/Users/jcRebanal/ros_catkin_ws/devel_isolated/catkin -DCMAKE_INSTALL_PREFIX=/Users/jcRebanal/ros_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release' returned non-zero exit status 1
Reproduce this error by running:
==> cd /Users/jcRebanal/ros_catkin_ws/build_isolated/catkin && cmake /Users/jcRebanal/ros_catkin_ws/src/catkin -DCATKIN_DEVEL_PREFIX=/Users/jcRebanal/ros_catkin_ws/devel_isolated/catkin -DCMAKE_INSTALL_PREFIX=/Users/jcRebanal/ros_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release
Command failed, exiting.
I have no idea how I can continue installation from here, may it have something to do with the command `cmake /...Release` ending with `returned non-zero exit status 1`? Like I said, I'm an absolute beginner here and can't make sense of this or how to proceed.
I DID try running `brew doctor` and I was told my `system is ready to brew` with no warnings.
The rest of the installation up to this point was relatively smooth and was only met with one other major warning/error. At tutorial section 2.1.2 I'm told to resolve dependencies. I ran `rosdep install --from-paths src --ignore-src --rosdistro hydro -y` and at the end of the command I was asked my `sudo` password. I was met with this error:
Could not find any downloads that satisfy the requirement PIL
Some externally hosted files were ignored (use --allow-external PIL to allow).
No distributions at all found for PIL.
Storing debug log for failure in /Users/.../pip.log
Error: the following rosdeps failed to install: pip: command [sudo pip install -U PIL] failed
Not sure if that's relevant or not but it does provide more detail on my situation. I could not find anyone else having the same problem, I have no idea if this is easily fixable or if this is a hard compatibility issue.
Please, if you can provide any insight, I would appreciate it very much. I can provide other details if needed. Thank you!!
edit 1: Using both William's and demmein's answers did solve my original PIL install issue. However, I still ended up getting stuck installing the rosdeps, mainly pcl. I dropped trying to install ROS on OSX 10.9 and installed it on Ubuntu and ran than on OSX through VirtualBox. I used a .ova file with ROS Hydro pre-installed and have been able to use it without issue since. Here is the link I used: (nootrix.com/downloads/#RosVM) (I used the 3.7 GB torrent). Thanks again everyone for the help!
↧
Packages for OCR and NLP
Is there any package in **ROS hydro** for optical character recognition (OCR) and natural language processing (NLP)
↧