arebgun / ua-ros-pkg Goto Github PK

Test our high res webcam with probe node from GT

What steps will reproduce the problem?
1. Follow the instructions in the wiki for Guest installs
2. Run ~/ros/ua-ros-pkg/arrg/make-all.sh

What is the expected output? What do you see instead?
I hoped for it to compile without errors, this is what I get

[ rosmake ] Packages requested are: ['ua_cognition', 'ua_drivers',
'ua_vision', 'ua_apps', 'ua_controllers', 'ua_robots', 'wubble_world',
'ua_experimental']
[ rosmake ] Logging to directory
[ rosmake ] /home/daniel/.ros/rosmake/rosmake_output-20100331-203939
[ rosmake ] Expanded args ['ua_cognition', 'ua_drivers', 'ua_vision',
'ua_apps', 'ua_controllers', 'ua_robots', 'wubble_world',
'ua_experimental'] to:
[]
[ rosmake ] WARNING: The following args could not be parsed as stacks or
packages: ['ua_cognition', 'ua_drivers', 'ua_vision', 'ua_apps',
'ua_controllers', 'ua_robots', 'wubble_world', 'ua_experimental']
[ rosmake ] ERROR: No arguments could be parsed into valid package or stack
names.


What version of the product are you using? On what operating system?
Ubuntu 9.10, fresh checkout of ROS

Please provide any additional information below.

What steps will reproduce the problem?
1. $ rosrun videre_stereo_cam videre_stereo_node _videre_mode:=disparity

New code for point cloud calculation depends on "calculate_points"
parameter to be set, jet the cloud point messages are published regardless.
Therefore, if you don't set "calculate_points", you'll get an error that
you are trying to use a publish() method of something that is not a publisher.

If you run the node trough launch, everything is fine, since it sets
"calculate_points" parameter.

A patch is attached.

Try to use camera_focus package to focus overhead cam

It would be nice to have a new boolean "enable" service that could be used to 
enable or disable an individual joint controller. The idea is that if the servo 
is disabled ("enable false") then subsequent position requests would be 
ignored. This is different from the existing torque_enable service since 
position commands sent after a "torque_enable false" automatically re-enabled 
the torque and move the servo anyway.

Motivation: I am trying to build in some better servo overheating protection 
when using MoveIt for extended periods of time. I have a node that will monitor 
servo temperatures (e.g. using /diagnostics) and will disable a servo if a 
temperature threshold is exceeded. It will then re-enable the servo when the 
temperature falls below a second threshold. I can't use the existing 
torque_enable service for this purpose for the reasons above. Using mux gets 
messy when dealing with so many individual controllers and I don't think mux 
can be made to work with MoveIt anyway.

We could get rid of this custom message and just use standard geometry
message PointStamped that contains all the same information.

Create IK package for SmartArm and move OpenRave model there

I noticed the documentation for dynamixel_controllers says the minimum valid 
motor ID is 1, but it's actually 0 (according to the Dynamixel manuals and my 
own experience). I'm not sure if this is an issue in the code or only in the 
documentation. (Sorry if this is the wrong place to report that.)

Document stacks and packages

In 

ax12_controller_core, ax12_driver_core 

It appears that the compliance settings are not being set correctly, i.e. 
DMXL_SET_COMPLIANCE_MARGINS, DMXL_SET_COMPLIANCE_SLOPES, DMXL_SET_PUNCH (i.e. 
around line 270 in ax12_io.py) are only calling one of the two sets (i.e. a 
Clockwise and Counter-Clockwise setting) and it would seem that it should be 
calling both. 

I'm not 100% sure that its even setting the one side correctly, but I've 
noticed that the arm that I'm using, which uses the dynamixels are much more 
sloppy when I'm using your driver which leads me to believe that these 
compliance settings are not being set correctly. 

Thanks,
John Hoare

Port saliency tracker node to new NMPT ros library

Filter ground from stereo camera readings

When specifying the PUNCH values for servos, the ax12_controller_core dies, 
saying it can not find the appropriate constants. 


I added the lines to joint_controller.py: 

from ax12_driver_core.ax12_const import DMXL_MIN_PUNCH
from ax12_driver_core.ax12_const import DMXL_MAX_PUNCH

(you could also just import * rather than enumerating these out...)
and it now works. If you could make these changes in your svn repository that 
would be excellent. 

Thanks, 
John 

What steps will reproduce the problem?
1. I followed the instruction for Guests from
http://code.google.com/p/ua-ros-pkg/wiki/DeveloperInstall
2.
3.

What is the expected output? What do you see instead?
at the last step, i.e., ~/ros/ua-ros-pkg/make-all.sh
error message popup:

/home/nyp/ros/pkgs/image_pipeline/stereo_image_proc/include/stereo_image_proc/pr
ocessor.h: In member function ‘bool VidereStereoNode::serviceCam()’:
  /home/nyp/ros/pkgs/image_pipeline/stereo_image_proc/include/stereo_image_proc/processor.h:107: error: ‘void stereo_image_proc::StereoProcessor::processPoints(const stereo_msgs::DisparityImage&, const cv::Mat&, const std::string&, const image_geometry::StereoCameraModel&, sensor_msgs::PointCloud&) const’ is private
  /home/nyp/ros/ua-ros-pkg/ua_drivers/videre_stereo_cam/src/videre_stereo_node.cpp:580: error: within this context
  /home/nyp/ros/pkgs/image_pipeline/stereo_image_proc/include/stereo_image_proc/processor.h:111: error: ‘void stereo_image_proc::StereoProcessor::processPoints2(const stereo_msgs::DisparityImage&, const cv::Mat&, const std::string&, const image_geometry::StereoCameraModel&, sensor_msgs::PointCloud2&) const’ is private
  /home/nyp/ros/ua-ros-pkg/ua_drivers/videre_stereo_cam/src/videre_stereo_node.cpp:588: error: within this context
  /home/nyp/ros/pkgs/image_pipeline/stereo_image_proc/include/stereo_image_proc/processor.h:107: error: ‘void stereo_image_proc::StereoProcessor::processPoints(const stereo_msgs::DisparityImage&, const cv::Mat&, const std::string&, const image_geometry::StereoCameraModel&, sensor_msgs::PointCloud&) const’ is private
  /home/nyp/ros/ua-ros-pkg/ua_drivers/videre_stereo_cam/src/videre_stereo_node.cpp:622: error: within this context
  /home/nyp/ros/pkgs/image_pipeline/stereo_image_proc/include/stereo_image_proc/processor.h:111: error: ‘void stereo_image_proc::StereoProcessor::processPoints2(const stereo_msgs::DisparityImage&, const cv::Mat&, const std::string&, const image_geometry::StereoCameraModel&, sensor_msgs::PointCloud2&) const’ is private
  /home/nyp/ros/ua-ros-pkg/ua_drivers/videre_stereo_cam/src/videre_stereo_node.cpp:630: error: within this context
  make[3]: *** [CMakeFiles/videre_stereo_node.dir/src/videre_stereo_node.o] Error 1
  make[3]: Leaving directory `/home/nyp/ros/ua-ros-pkg/ua_drivers/videre_stereo_cam/build'
  make[2]: *** [CMakeFiles/videre_stereo_node.dir/all] Error 2
  make[2]: *** Waiting for unfinished jobs....
  Linking CXX executable ../bin/disparity_view
  make[3]: Leaving directory `/home/nyp/ros/ua-ros-pkg/ua_drivers/videre_stereo_cam/build'
  [100%] Built target disparity_view
  make[2]: Leaving directory `/home/nyp/ros/ua-ros-pkg/ua_drivers/videre_stereo_cam/build'
  make[1]: *** [all] Error 2
  make[1]: Leaving directory `/home/nyp/ros/ua-ros-pkg/ua_drivers/videre_stereo_cam/build'


What version of the product are you using? On what operating system?
Ubuntu 9.10 32 bit

Please provide any additional information below.

I checked the package "sensor_msgs", only file PointCloud.h exists but no 
PointCloud2.h file.

Create a simple app to demo the use of various wubble actions.

What steps will reproduce the problem?
1.after successful installation of ua-ros-pkg together with c-turtle ros 
distribution following the new wiki instruction, I tried to run the demo 
program under ua-cs665-ros-pkg,
--------------
nyp@nyp-desktop:~$ cd 
~/ros/ua-cs665-ros-pkg/ua_cs665_navigation/wubble_navigation_class/launch
nyp@nyp-desktop:~/ros/ua-cs665-ros-pkg/ua_cs665_navigation/wubble_navigation_cla
ss/launch$ ls
2dnav_blocks_world.launch  2dnav_wg.launch
nyp@nyp-desktop:~/ros/ua-cs665-ros-pkg/ua_cs665_navigation/wubble_navigation_cla
ss/launch$ roslaunch 2dnav_blocks_world.launch 
----------------

2.
3.

What is the expected output? What do you see instead?
Then I get this error: 

... logging to 
/home/nyp/.ros/log/c4ca61a2-9f73-11df-ad71-001ee5e49e84/roslaunch-nyp-desktop-65
24.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last):
  File "/home/nyp/ros/ros/tools/roslaunch/src/roslaunch/__init__.py", line 212, in main
    p.start()
  File "/home/nyp/ros/ros/tools/roslaunch/src/roslaunch/parent.py", line 241, in start
    self._start_infrastructure()
  File "/home/nyp/ros/ros/tools/roslaunch/src/roslaunch/parent.py", line 197, in _start_infrastructure
    self._load_config()
  File "/home/nyp/ros/ros/tools/roslaunch/src/roslaunch/parent.py", line 118, in _load_config
    self.config = roslaunch.config.load_config_default(self.roslaunch_files, self.port, verbose=self.verbose)
  File "/home/nyp/ros/ros/tools/roslaunch/src/roslaunch/config.py", line 381, in load_config_default
    loader.load(f, config, verbose=verbose)
  File "/home/nyp/ros/ros/tools/roslaunch/src/roslaunch/xmlloader.py", line 731, in load
    self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
  File "/home/nyp/ros/ros/tools/roslaunch/src/roslaunch/xmlloader.py", line 704, in _load_launch
    self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
  File "/home/nyp/ros/ros/tools/roslaunch/src/roslaunch/xmlloader.py", line 630, in _recurse_load
    n = self._node_tag(tag, context.child(''), ros_config, default_machine, verbose=verbose)
  File "/home/nyp/ros/ros/tools/roslaunch/src/roslaunch/xmlloader.py", line 94, in call
    return f(*args, **kwds)
  File "/home/nyp/ros/ros/tools/roslaunch/src/roslaunch/xmlloader.py", line 356, in _node_tag
    self.opt_attrs(tag, context, ('machine', 'args', 'output', 'respawn', 'cwd', 'launch-prefix', 'required'))
  File "/home/nyp/ros/ros/tools/roslaunch/src/roslaunch/xmlloader.py", line 177, in opt_attrs
    return [self.resolve_args(tag_value(tag,a), context) for a in attrs]
  File "/home/nyp/ros/ros/tools/roslaunch/src/roslaunch/xmlloader.py", line 158, in resolve_args
    return roslib.substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
  File "/home/nyp/ros/ros/core/roslib/src/roslib/substitution_args.py", line 200, in resolve_args
    resolved = _find(resolved, a, args, context)
  File "/home/nyp/ros/ros/core/roslib/src/roslib/substitution_args.py", line 135, in _find
    return resolved[0:idx-len(arg)] + roslib.packages.get_pkg_dir(args[0]) + resolved[idx:]
  File "/home/nyp/ros/ros/core/roslib/src/roslib/packages.py", line 213, in get_pkg_dir
    raise InvalidROSPkgException("Cannot locate installation of package %s: %s. ROS_ROOT[%s] ROS_PACKAGE_PATH[%s]"%(package, rperr.strip(), ros_root, ros_package_path))
InvalidROSPkgException: Cannot locate installation of package 
wubble_navigation: [rospack] couldn't find package [wubble_navigation]. 
ROS_ROOT[/home/nyp/ros/ros] 
ROS_PACKAGE_PATH[/home/nyp/ros/foote-ros-pkg:/home/nyp/ros/wg-ros-pkg-unreleased
:/home/nyp/ros/bosch-ros-pkg:/home/nyp/ros/ros-pkg-unreleased:/home/nyp/ros/ua-r
os-pkg:/home/nyp/ros/stacks:/home/nyp/ros/ros-experimental-trunk:/home/nyp/ros/u
a-cs665-ros-pkg]
--------------

What version of the product are you using? On what operating system?
ubuntu 10.04, 32 bit; ROS c-turtle

Please provide any additional information below.
roscd can enter wubble_navigation folder, 


roscd wubble_navigation
nyp@nyp-desktop:~/ros/ua-ros-pkg/wubble_navigation$ ls -l
total 28
-rw-r--r-- 1 nyp nyp  815 2010-07-30 15:08 CMakeLists.txt
-rw-r--r-- 1 nyp nyp   47 2010-07-30 15:08 Makefile
-rw-r--r-- 1 nyp nyp 1163 2010-07-30 15:08 stack.xml
drwxr-xr-x 6 nyp nyp 4096 2010-08-02 15:22 wubble_navigation_config
drwxr-xr-x 6 nyp nyp 4096 2010-08-02 15:22 wubble_navigation_global
drwxr-xr-x 6 nyp nyp 4096 2010-08-02 15:23 wubble_navigation_local
drwxr-xr-x 6 nyp nyp 4096 2010-08-02 15:22 wubble_navigation_slam


any suggestion?
thanks

What steps will reproduce the problem?
1. rosmake videre_stoc

What is the expected output? What do you see instead?
Output:
...
[rosmake-0] <<< cv_bridge <<< [PASS] [ 0.83 seconds ]
[ rosmake ] [ 22 of 23  Completed ]
[rosmake-0] >>> videre_stoc >>> [ make ]
[ rosmake ] All 39 lines
{-------------------------------------------------------------------------------
  mkdir -p bin
  cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find
rosbuild`/rostoolchain.cmake  ..
  [rosbuild] Building package videre_stoc
  [rosbuild] Including
/home/jou_133/Code/ros/ros/core/roscpp/cmake/roscpp.cmake
  [rosbuild] Including /home/jou_133/Code/ros/ros/core/rospy/cmake/rospy.cmake
  -- Configuring done
  -- Generating done
  -- Build files have been written to:
/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build
  cd build && make -j1
  make[1]: Entering directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[2]: Entering directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[3]: Entering directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[3]: Leaving directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  [  0%] Built target rospack_genmsg_libexe
  make[3]: Entering directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[3]: Leaving directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  [  0%] Built target rosbuild_precompile
  make[3]: Entering directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[3]: Leaving directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[3]: Entering directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  [100%] Building CXX object CMakeFiles/stoc.dir/src/stoc.o

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:
In member function ‘void stoc::STOC::readData(sensor_msgs::PointCloud&,
sensor_msgs::Image&, sensor_msgs::Image&, stereo_msgs::DisparityImage&)’:

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:456:
error: ‘class stereo_msgs::DisparityImage’ has no member named ‘width’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:457:
error: ‘class stereo_msgs::DisparityImage’ has no member named ‘height’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:458:
error: ‘class stereo_msgs::DisparityImage’ has no member named 
‘encoding’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:460:
error: ‘class stereo_msgs::DisparityImage’ has no member named ‘cx’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:461:
error: ‘class stereo_msgs::DisparityImage’ has no member named ‘cy’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:462:
error: ‘class stereo_msgs::DisparityImage’ has no member named ‘Tx’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:463:
error: ‘class stereo_msgs::DisparityImage’ has no member named ‘step’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:464:
error: ‘class stereo_msgs::DisparityImage’ has no member named 
‘set_data_size’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:465:
error: ‘class stereo_msgs::DisparityImage’ has no member named ‘data’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:465:
error: ‘class stereo_msgs::DisparityImage’ has no member named 
‘get_data_size’
  make[3]: *** [CMakeFiles/stoc.dir/src/stoc.o] Error 1
  make[3]: Leaving directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[2]: *** [CMakeFiles/stoc.dir/all] Error 2
  make[2]: Leaving directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[1]: *** [all] Error 2
  make[1]: Leaving directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package videre_stoc written to:
[ rosmake ]   
/home/jou_133/.ros/rosmake/rosmake_output-20100323-094154/videre_stoc/build_outp
ut.log
[rosmake-0] <<< videre_stoc <<< [FAIL] [ 3.43 seconds ]
[ rosmake ] Halting due to failure in package videre_stoc. 
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Summary output to directory
[ rosmake ] /home/jou_133/.ros/rosmake/rosmake_output-20100323-094154


What version of the product are you using? On what operating system?
ROS Box Turtle, ua-ros-pkg latest version
Ubuntu-32bit

Please provide any additional information below.
I'm using SVS Version 4.4g

What steps will reproduce the problem?
xinwei@ubuntu:~$ rosrun object_tracking object_tracker image:=usb_cam/image_raw 
camera_info:=usb_cam/camera_info


What is the expected output? What do you see instead?
libdc1394 error: Failed to initialize libdc1394
[ERROR] [1281954794.530358360]: Failed to call service get_bg_stats

OpenCV Error: Bad flag (parameter or structure field) (Unrecognized or 
unsupported array type) in cvGetMat, file 
/opt/ros/cturtle/stacks/vision_opencv/opencv2/build/opencv-svn/modules/core/src/
array.cpp, line 2476
terminate called after throwing an instance of 'cv::Exception'
  what():  /opt/ros/cturtle/stacks/vision_opencv/opencv2/build/opencv-svn/modules/core/src/array.cpp:2476: error: (-206) Unrecognized or unsupported array type in function cvGetMat

/opt/ros/cturtle/ros/bin/rosrun: line 35: 20070 Aborted                 
$exepath "$@"

What version of the product are you using? On what operating system?
1. ROS (cturtle) with openCV2
2. usb_cam_node of usb_cam package [http://www.ros.org/wiki/usb_cam]
3. object_tracker (node)  from object_tracking package

Please provide any additional information below.
I am try to use the object_tracker(node) subscribe to the topic 
*usb_cam/image_raw[type:sensor_msgs/image] of usb_cam(node).

While testing my code with fuerte, the joint_trajectory_action_controller.py 
module would sometimes die because it gets unexpected values, and then outputs 
a stack trace: 

[ERROR] [WallTime: 1337809749.854860] Incoming trajectory joints do not match 
the joints of the controller
[ERROR] [WallTime: 1337809749.856918] Exception in your execute callback: 'int' 
object has no attribute 'error_code'
Traceback (most recent call last):
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 292, in executeLoop
    self.execute_callback(goal)
  File "/home/bob/john/ros/dynamixel_motor/dynamixel_controllers/src/dynamixel_controllers/joint_trajectory_action_controller.py", line 145, in process_follow_trajectory
    self.process_trajectory(goal.trajectory)
  File "/home/bob/john/ros/dynamixel_motor/dynamixel_controllers/src/dynamixel_controllers/joint_trajectory_action_controller.py", line 155, in process_trajectory
    self.action_server.set_aborted(result=res, text=msg)
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 170, in set_aborted
    self.current_goal.set_aborted(result, text);
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/actionlib/server_goal_handle.py", line 172, in set_aborted
    self.action_server.publish_result(self.status_tracker.status, result);
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/actionlib/action_server.py", line 177, in publish_result
    self.result_pub.publish(ar);
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rospy/topics.py", line 792, in publish
    self.impl.publish(data)
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rospy/topics.py", line 968, in publish
    serialize_message(b, self.seq, message)
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/rospy/msg.py", line 152, in serialize_message
    msg.serialize(b)
  File "/opt/ros/fuerte/stacks/control/control_msgs/src/control_msgs/msg/_FollowJointTrajectoryActionResult.py", line 158, in serialize
    buff.write(_struct_i.pack(self.result.error_code))
AttributeError: 'int' object has no attribute 'error_code'

The issue is that joint_trajectory_action_controller.py returns an 'int' as the 
result, rather than the FollowJointTrajectoryResult, that ROS expects. I've 
attached a Patch which addresses this issue. 

Filter robot from stereo and laser readings

After upgrading my system, dynamixel_motor stopped working. First I get a 
division by zero exception. After I fixed this in the source, joint controller 
does not work.

When I start controller_manager.py, I get :

[INFO] [WallTime: 1366616184.935567] [0.000000] servo12_port: Pinging motor IDs 
1 through 2...
[INFO] [WallTime: 1366616184.995282] [0.000000] servo12_port: Found 2 motors - 
2 AX-12 [1, 2], initialization complete.
Exception in thread Thread-4:
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 551, in __bootstrap_inner
    self.run()
  File "/usr/lib/python2.7/threading.py", line 504, in run
    self.__target(*self.__args, **self.__kwargs)
  File "/opt/ros/groovy/stacks/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py", line 250, in __update_motor_states
    rates.append(1.0 / (current_time - last_time).to_sec())
ZeroDivisionError: float division by zero

I wonder why didn't I have the same error before. Perhaps resolution of 
rospy.Time.now() decreased. I fixed this problem by adding if to check if 
current > latest_time. After this the controller_manager did not fail anymore.

But now my jointcontroller does not communicate with the servos anymore. I see 
no serial traffic and the /state topic does not publish either.

This happened with latest binary for ROS Groovy/Ubuntu Precise

This redesign should match camera_pan_tilt controller changes. The goal is
to match the simulator, and add configuration (yaml and launch files).

Uses some stereo information with opencv face detector. See how good it works 
with our stereo cam.

What steps will reproduce the problem?
1.I have AX12+ motor and Hokuyo UHG laser at hand, now am following the 
ua-ros-pkg for laser tilting. The mechanism can work, but I also experienced 
such issues:

2. In file ua_controllers/wubble_actions/nodes/hokuyo_laser_action.py, when 
ERROR_THRESHOLD=0.01, the motor sometimes will stop with actual error=0.015xx; 
if ERROR_THRESHOLD sets to 0.02,motor running is non-stop, no matter what 
joint_speed is in laser_tilt.yaml. Then what are the adjustments I can use to 
achieve ERROR_THRESHOLD 0.01? 

3.Line 63 of the file 
ua_controllers/wubble_actions/nodes/hokuyo_laser_action.py, the message type of 
topic_tilt_controller/state should not be JointControllerState but JointState


What is the expected output? What do you see instead?


What version of the product are you using? On what operating system?
Ubuntu 10.04, ROS cturtle

Please provide any additional information below.

What steps will reproduce the problem?
1.  install simulator_gazebo 1.6.8
2.  compile erratic_gazebo_plugins
3.  compile fails due to missing gazebo.h

attached patch removes references to gazebo.h, should fix the problem.

Hi, I started to use dynamixel_motor stack, that is very nice for me!

I'm using AX-12W dynamixel motor, that is minor, but robotis sells it.
(the name might mean AX-12 for Wheels)

http://support.robotis.com/en/product/dynamixel/ax_series/ax-12w.htm

I want to add the ID of AX-12W to dynamixel_const.py. Please check attached 
diff file.

Dashboard for servos status.

What steps will reproduce the problem?
1. Try add #include <ua_controller_msgs/JointState.h>


What is the expected output? What do you see instead?
Expected is a clean compilation output with rosmake
Instead, the compiler cannot find JointState.h

What version of the product are you using? On what operating system?
Boxturtle ROS and latest ua_controller_msgs stack

Please provide any additional information below.
To solve the problem, all you need to do is add the following lines in the 
manifest.xml file in ua_controller_msgs package:

  <export>
   <cpp cflags="-I${prefix}/msg/cpp"/>
  </export>


and voila :)

Raphael

This is mainly a test of the bug tracking system, but it's also a reminder 
to update the URDF model to match the actual robot more closely. Most 
importantly, the laser needs to be upside-down and the arm needs to be 
added.

Make a separate self-contained stack for Dynamixel related stuff.

I want to catkinize (this means move from rosbuild to catkin) my packages that 
depends on dynamixel_motor stack.
Because dynamixel_motor is not catkinized yet, it can be done.

Are there any plan to move to catkin from rosbuild ?

I found a project in github that is already catkinized.

https://github.com/contradict/dynamixel_motor

That may be good, but I prefer the official repository.

What do you think?

This redesign should match camera_pan_tilt controller changes. The goal is
to match the simulator, and add configuration (yaml and launch files).

Hi,

I am trying to use the dynamixel_motor stack on my Debian system. Could you 
please copy paste the ubuntu line with "debian" instead (it's a general 
behavior, ubuntu and debian repositories are often close, in doubts you can 
always duplicate this line). 

so the rosdep.yaml file would be :

pyserial:
    ubuntu: python-serial
    debian: python-serial

What steps will reproduce the problem?
1. set the compliance slope to softest mode
2. turn motor both directions
3. notice any difference? I do with my RX-28

What is the expected output? What do you see instead?

same soft start/stop for both rotational directions
I only see it for one of the two

What version of the product are you using? On what operating system?
ROS fuerte, newest 2012-10-29 ubuntu 12.04 version of the dynamixel stack that 
comes as an ubuntu package

Please provide any additional information below.

Make actions for laser tilt and arm control

Currently, nmpt and phidgets_py_api makefiles pull zip files from outside
websites. Should we guard against code changes, disappearing zip files etc
by archiving these in our repo? or, just checking in and changing code if
OK-ed by the license?

I'm not sure the correct way to reproduce this, but I believe the error is 
actually a problem with one of our machines somehow, as I have only experienced 
this one one machine. Anyhow, the issue is in the exception_on_error function, 
and I believe this is a bug regardless of what is actually throwing us into the 
function...

The following is the python stack trace: 


Exception in thread Thread-4:
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 552, in __bootstrap_inner
    self.run()
  File "/usr/lib/python2.7/threading.py", line 505, in run
    self.__target(*self.__args, **self.__kwargs)
  File "/opt/ros/electric/stacks/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py", line 205, in __update_motor_states
    state = self.dxl_io.get_feedback(motor_id)
  File "/opt/ros/electric/stacks/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 801, in get_feedback
    self.exception_on_error(response[4], servo_id, 'fetching full servo status')
  File "/opt/ros/electric/stacks/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 835, in exception_on_error
    if not error_code & DXL_OVERHEATING_ERROR == 0:
TypeError: unsupported operand type(s) for &: 'float' and 'int'

Let me know if there's anything more I can do to give you more information, 
although I'm still investigating the cause of this, I'm currently thinking 
something wrong at a device driver level of my USB controller chip... 

Hi,

when I try to simulate more than one robot using the DiffDrivePlugin there 
arise problems with tf. The plugin is publishing the tf Transform "/odom" -> 
"/base_footprint" for all robots in the simulation. As far as I can see, there 
is no opportunity to set a kind of tf prefix to send e.g. the transforms 
"/robot1/odom" -> "/robot1/base_footprint" and "/robot2/odom" -> 
"/robot2/base_footprint"

This is because of the fix frame_ids set in the function 
DiffDrivePlugin::publish_odometry() in lines 319-322.

There is a similar problem with the odom message (sent in the same function).

As a workaround, I added a parameter "tfPrefix" and I use the corresponding 
variable "my_tf_prefix_" when sending the transform:

transform_broadcaster_->sendTransform(tf::StampedTransform(base_footprint_to_odo
m,                                                            current_time_,    

tf::resolve(my_tf_prefix_, "odom"),                                             
               tf::resolve(my_tf_prefix_, "base_footprint")));

Any other suggestions for better solution?

Regards,
Sabrina

I am running 3 AX-12+ servos using a USB2Dynamixel and the smart_arm_controller 
and dynamixel_motor package. The servos work fine when controlled for a long 
period of time through other means, such as the Mac OSX Dynamixel Monitor from 
http://www.lucs.lu.se/Downloads/DynamixelMonitor.zip. However, when run through 
this ROS stack it only works for 10 seconds to 1 minute before it just freezes. 
The status messages from the nodes stop updating but no error messages are 
displayed from the roslaunch command window, roscore window, etc. The commands 
continue to be send without issue but the arm simply does not move.

I am not sure where to continue debugging this issue but I believe I have 
isolated it to a software problem, not a hardware problem, because it works 
perfect in other control programs.

The launch file, config file, etc can be found on our github repo: 
https://github.com/waffleguy4/CLAM2/tree/master/smart_arm_controller

Thanks for your help!