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License: Apache License 2.0
Example code to accompany the book Programming Robots with ROS
License: Apache License 2.0
Chapter 21 provides sample c++ code (code/cpp in this repo) that cannot be built because it has errors. service_client.cpp has an error redefining argv when it should just be passed. service_server.cpp also does the same thing but with argc and argv, also this code does not declare l or count as integers before using them. Actions for c++ are not covered in the book at all, and it is not clear that Action is appended to the generated header include file. Finally, action_server.cpp does not declare the SimpleActionServer correctly so it does not compile, it needs to at least provide some parameters. The lines following should not include Action in the class names, as those are the wrapper classes for publishing.
Page 240,
user@hostname$ rosrun gmapping slam_gmapping scan:=base_scan
odom_frame:=odom_combined
prefix of odom_frame should be '~' instead of ''.
PARAMETERS
NODES
Hello,
Not sure where else to leave a message, but I just did the wanderbot tutorials as listed in the rosbook. I wanted to know if there was a way to use the wander.py
or the red_light_green_light.py
scripts on a Tiago Titanium Mobile Manipulator. This is to be run within Gazebo, but I'm not sure I can match the nodes exactly. Is there a place where I should leave this message/request support?
Regards,
tushariyer
Hello,
When I try to run red_light_green_light.py I get a few errors.
line 3: import: command not found
from: can't read /var/mail/geometry_msgs.msg
/home/william/catkin_ws/src/wanderbot_ws/src/wander/red_light_green_light.py: line 6: syntax error near unexpected token (' /home/william/catkin_ws/src/wanderbot_ws/src/wander/red_light_green_light.py: line 6:
cmd_vel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=1) #<1>'
I am trying to learn ROS and any help would be greatly appreciated!
After creating a package name basics (with rospy, roscpp, std_msgs) and added the src, sourced, launched a roscore and tried to run the topic_publisher this was the output:
I assume there needs to be a queue size? That is not explained in the book or in the code.
rosrun basics topic_publisher.py
/home/bpinaya/tmp_ws/src/basics/src/topic_publisher.py:19: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
pub = rospy.Publisher('counter', Int32)
I've created a basics package in my ROS kinetic that depends on rospy and actionlib_msgs, however, any code that has: from basics.msg import <insert msg name here>
I get this issue:
ImportError: No module named basics.msg
Do you know what might be the case?
Hi folks,
I have been struggling with how the origin tag means in URDF files.
In the chapter 18, there is a snippet of URDF as the following:
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.05" radius="0.1"/>
</geometry>
<material name="silver">
<color rgba="0.75 0.75 0.75 1"/>
</material>
<origin rpy="0 0 0" xyz="0 0 0.025"/>
</visual>
</link>
The origin tag xyz = 0 0 0.025 puzzles me. The books says the 0.025 is meant to "... offset in z the point of reference for the base link from its default in the cylinder's center to its bottom." What I don't understand is that if we need to push the origin to the bottom, shouldn't we use -0.25? Why would increase the z value make the origin go down instead of going up?
What's more perplexing is that, later in the joint, it seems using a positive z value in origin actually makes the origin go up:
<joint name="hip" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_link"/>
<child link="torso"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.05"/>
</joint>
Here my understanding is that the z value 0.05 is meant to push the origin of the joint to be top of the base link so the next link can start there.
Why does positive value in link's origin push origin downward but push origin upward in joints?
Forwarded from O'Reilly:
*My Book:*
*December 2015: First Edition*
*Revision History for the First Edition*
*2015-11-18 first Release*
*Correction:*
*Chapter 5 Actions*
* Defining an Action*
* adding some lines to CMakeList.txt*
* MISSING -> we also need to add two lines to
package.xml
<build_depend>actionlib_msgs</build_depend>
<run_depend>actionlib_msgs</run_depend>*
*The code works only after i added these two lines to the package.xml*
I have added the laser plug-in to my URDF file and launched the model successfully in gazebo. when i tried to visualize the behavior of laser plug-in in rviz after the doing the basic settings as instructed, i couldn't find any results. I read the topic using the command "rostopic echo /scan" and obtained the result below
Below is my URDF file:
<?xml version="1.0"?>
<robot
name="JMbot1.1">
<link
name="Base_plate">
<inertial>
<origin
xyz="9.28103095721513E-18 -0.00236910483921667 1.69476737537172E-19"
rpy="0 0 0" />
<mass
value="0.553781193313651" />
<inertia
ixx="0.00613802647719325"
ixy="-5.56633892187664E-20"
ixz="1.95355359086701E-19"
iyy="0.0102825986842358"
iyz="3.22575373206078E-19"
izz="0.00414996381570526" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://jmbot1_description/meshes/Base_plate.STL" />
</geometry>
<material
name="">
<color
rgba="0.749019607843137 0.749019607843137 0.749019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://jmbot1_description/meshes/Base_plate.STL" />
</geometry>
</collision>
</link>
<link
name="Wheel_R">
<inertial>
<origin
xyz="-0.0394771489417549 -5.20417042793042E-18 1.73472347597681E-18"
rpy="0 0 0" />
<mass
value="0.450643534719172" />
<inertia
ixx="0.000916081598048295"
ixy="1.48930401404157E-20"
ixz="-9.81573335914851E-21"
iyy="0.000533948766711724"
iyz="0"
izz="0.000533948766711724" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://jmbot1_description/meshes/Wheel_R.STL" />
</geometry>
<material
name="">
<color
rgba="0.749019607843137 0.749019607843137 0.749019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://jmbot1_description/meshes/Wheel_R.STL" />
</geometry>
</collision>
</link>
<joint name="Wheel_R"
type="continuous">
<origin
xyz="0.135 0.015 0"
rpy="1.4389236251236 -2.11732407237853E-18 3.14159265358979" />
<parent
link="Base_plate" />
<child
link="Wheel_R" />
<axis
xyz="1 0 0" />
</joint>
<link
name="Wheel_L">
<inertial>
<origin
xyz="-0.0394771489417549 1.21430643318377E-17 8.67361737988404E-18"
rpy="0 0 0" />
<mass
value="0.450643534719172" />
<inertia
ixx="0.000916081598048295"
ixy="2.90916462871053E-20"
ixz="-2.96782618561828E-20"
iyy="0.000533948766711724"
iyz="5.42101086242752E-20"
izz="0.000533948766711724" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://jmbot1_description/meshes/Wheel_L.STL" />
</geometry>
<material
name="">
<color
rgba="0.749019607843137 0.749019607843137 0.749019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://jmbot1_description/meshes/Wheel_L.STL" />
</geometry>
</collision>
</link>
<joint
name="Wheel_L"
type="continuous">
<origin
xyz="-0.135 0.015 0"
rpy="0.928716950811488 0 0" />
<parent
link="Base_plate" />
<child
link="Wheel_L" />
<axis
xyz="-1 0 0" />
</joint>
<link
name="Castor_F">
<inertial>
<origin
xyz="-4.16333634234434E-17 0 0.03116425205832"
rpy="0 0 0" />
<mass
value="0.0565552012132997" />
<inertia
ixx="2.44755054701354E-05"
ixy="-6.23799465703127E-37"
ixz="-1.01877548447475E-20"
iyy="2.44755054701354E-05"
iyz="8.40860868946448E-21"
izz="7.43413937311511E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://jmbot1_description/meshes/Castor_F.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://jmbot1_description/meshes/Castor_F.STL" />
</geometry>
</collision>
</link>
<joint
name="Castor_F"
type="continuous">
<origin
xyz="0 0 0.15"
rpy="-1.5707963267949 -0.957338804063555 8.69652688200404E-17" />
<parent
link="Base_plate" />
<child
link="Castor_F" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Castor_R">
<inertial>
<origin
xyz="0 -1.11022302462516E-16 0.0311642520583196"
rpy="0 0 0" />
<mass
value="0.0565552012132997" />
<inertia
ixx="2.44755054701354E-05"
ixy="-1.69406589450864E-21"
ixz="-3.77743078318297E-20"
iyy="2.44755054701354E-05"
iyz="2.51661046244309E-22"
izz="7.43413937311511E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://jmbot1_description/meshes/Castor_R.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://jmbot1_description/meshes/Castor_R.STL" />
</geometry>
</collision>
</link>
<joint
name="Castor_R"
type="continuous">
<origin
xyz="0 0 -0.15"
rpy="1.5707963267949 -0.931442561406784 3.14159265358979" />
<parent
link="Base_plate" />
<child
link="Castor_R" />
<axis
xyz="0 0 1" />
</joint>
<link name="hokuyo_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
<joint name="hokuyo_joint" type="fixed">
<axis xyz="0 1 0" />
<origin xyz="0 -0.055 0.2" rpy="0 0 0"/>
<parent link="Base_plate"/>
<child link="hokuyo_link"/>
</joint>
<gazebo>
<plugin name="differential_drive_controller"
filename="libgazebo_ros_diff_drive.so">
<leftJoint>Wheel_L</leftJoint>
<rightJoint>Wheel_R</rightJoint>
<robotBaseFrame>Base_plate</robotBaseFrame>
<wheelSeparation>0.235</wheelSeparation>
<wheelDiameter>0.12</wheelDiameter>
<publishWheelJointState>true</publishWheelJointState>
</plugin>
</gazebo>
<gazebo>
<plugin name="joint_state_publisher"
filename="libgazebo_ros_joint_state_publisher.so">
<jointName>Castor_F, Castor_R</jointName>
</plugin>
</gazebo>
<gazebo reference="hokuyo_link">
<sensor type="gpu_ray" name="hokuyo">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>100</samples>
<resolution>1</resolution>
<min_angle>-1.570796</min_angle>
<max_angle>1.570796</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="laser" filename="libgazebo_ros_gpu_laser.so">
<topicName>/scan</topicName>
<frameName>hokuyo_link</frameName>
</plugin>
</sensor>
</gazebo>
</robot>
This assumes that the front of the Tortoisebot robot is the end with the caster (based on Figures 17-7 and 17-9).
Code sample 16-10, in chapter 16, adds a differential drive controller to the simulated tortoisebot. But when the reader controls the robot, it turns left when told to turn right and vice versa. This leads on to the navigation system getting very confused and the examples towards the end of chapter 17 failing.
This is caused by the following two lines in the URDF file (from the differential_drive_controller plugin part):
<leftJoint>left_wheel_joint</leftJoint>
<rightJoint>right_wheel_joint</rightJoint>
It looks like the differential_drive_controller counter-intuititvely expects the left and right wheel joints to be around the other way:
http://gazebosim.org/tutorials?tut=ros_gzplugins#DifferentialDrive
Changing the above two lines accordingly makes the robot steer correctly, and allows the navigation examples to work.
<leftJoint>right_wheel_joint</leftJoint>
<rightJoint>left_wheel_joint</rightJoint>
PARAMETERS
NODES
On page 22, all the examples are executing the nodes directly, even though rosrun has been introduced. If the intent is to show that the remapping arguments are part of the node rather than rosrun, then one example should be sufficient. The rest should use rosrun, encouraging the reader to use the ROS tools.
In the pick_up_item.py the bot is not able to find any plan for the motion. Can you please suggest anything.
The wording in paragraph 3 on page 55 could confuse the reader into thinking there is a file called "basics.srv", due to the collision between the generated .srv submodule of the (ROS) package module and the .srv extension for service definition files. The wording could be improved, particularly by not calling the submodule an extension, but also by just calling it what it is (a services-containing submodule of the basics Python package?).
I have recorded the rosbag data by simulating the robot in gazebo. I played back the logged bag file and tried to build the map using slam_gmapping node and i ended up in error below
[ WARN] [1453398305.145461344]: Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: -0.03982
After few iterations, i was able to build the map by modifying laser scanner joint origin in my URDF file from
origin xyz="0 -0.040 0.2" rpy="-1.5708 -1.5708 0"
to
origin xyz="0 -1 0.2" rpy="1.5708 -1.5708 0"
but my robot model become weird as below (laser scanner is away from the robot).
How to get around the issue without relocating the laser scanner
Below is my original robot model also fine my URDF file here https://www.dropbox.com/s/af99gstvnv1e3s0/jmbot1.1.urdf?dl=0
The description of using rosservice call on page 57 could be moved to the "checking that everything works" section (on page 56) and referenced from here as "We previously used rosservice to call the service. This is the simplest way to use a service." This would make the "checking" section include actually checking that the service works, and not just that it exists. Particularly as the next section after the "checking" section changes the node source code.
when I run "roslaunch stockroom_bot stockroom.launch" it Don't launch the simulator and gives "Error [parser.cc:581] Unable to find uri[model://bin]"
in aisle.world.em file "model://bin" lines should be "model://models/bin"
I solved it this way
I have launched my roslaunch file (created following tortoisebot). I have reused the willow world and willow map since i got problem in building my own map which was raised as another issue in this repository.
Then i visualized the navigation in Rviz the robot model was improper when i select "map" as fixed frame. The orientation was improper (wheels are not landed on ground surface) also when i choose other links as fixed frame. It is perfectly oriented only when i choose odom as fixed frame. Please find my result in the images.
On page 52, the find_package() call has slightly different arguments from the one given in chapter 3 (on page 42). It should be made consistent. Similarly, the package.xml additions listing includes the rospy dependency in this chapter, but did not in chapter 3.
In Table 3-1 on page 40, the "duration" note for the time ROS type is not particularly informative.
Hi!
I follow your cougarbot instructions to the t trying to get my robot to simulate. I make it through everything fine, however I cannot get my gazebo simulation to ever not fall over like in Figure18-4. I've modified the urdf file and added the transmissions and gazebo plugin code.
However, I get the following
[WARN] [WallTime: 1452193711.932180] [29.116000] Controller Spawner couldn't find the expected controller_manager ROS interface.
which troubleshooting on answers.ros tell me its a problem with the gazebo plugin/control_manager. I have the gazebo files and gazebo_ros_pkg. Is there something else I need to install for the control plugin to work?
When I run the exact code from this repo I get the previous error as well as
[ WARN] [1452194495.412454939, 0.123000000]: GazeboRosJointStatePublisher Plugin (ns = //) missing , defaults to 100.000000
I am on ROS jade and installed ros_control from source.
Thanks.
Steve
Update: When I rostopic list, it does not come up with any of the /arm_controller/... topics but has the rest as listed on page 405.
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.37
Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]
Error [SDF.cc:788] Missing element description for [pointCloudCutoffMax]
[ INFO] [1453359094.565551428, 0.400000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1453359094.743534238, 0.400000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1453359094.862222063, 0.400000000]: Starting plugin Kobuki(ns = //)!
[ WARN] [1453359094.862647699, 0.400000000]: Kobuki(ns = //): missing default is na
[ INFO] [1453359094.868740176, 0.400000000]: Kobuki(ns = //): <tf_prefix> =
Dbg Plugin model name: mobile_base
[ INFO] [1453359094.870111584, 0.400000000]: Will publish tf. [mobile_base]
Then when I sent the command rostopic echo scan I get nothing.
nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan]
Guys,
I have been following the tutorial in chapter 14 Stockroom-bot. It seems that I can't download the fetch model by following the instructions in the book:
roy@RoysMacUbuntu:~/ws/src/stockroom_bot$ sudo apt-get install ros-indigo-fetch*
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-indigo-fetch*
E: Couldn't find any package by glob 'ros-indigo-fetch*'
I also tried ros-kinetic-fetch* (because I am using ROS kinetic). Didn't work either:
roy@RoysMacUbuntu:~/ws/src/stockroom_bot$ sudo apt-get install ros-kinetic-fetch*
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-kinetic-fetch*
E: Couldn't find any package by glob 'ros-kinetic-fetch*'
E: Couldn't find any package by regex 'ros-kinetic-fetch*'
Any idea how I can get the Fetch model?
Many thanks for your time.
In the first paragraph on page 28, "contains a list of transforms" should be "contains a list of transforms, each between two coordinate frames" and "referred to as parent and child" should be "referred to as the parent and child" to improve clarity.
There's a line in the book on topics, page 34, it states "Remember that the basics directory has to be in your catkin workspace...". However as far as I can tell this is the first mention of the basics directory, previously the user was directed to create a directory to store code in called "my_awesome_code" (p.15). I believe these are equivalent but it can cause confusion (well it confused me).
In paragraph 6 of page 33, "between all publishers and of all subscribers" should be "between all publishers and all subscribers".
I followed the instructions of the book and built a map using slam_gmapping node. I have configured navigation stack to my gazebo robot and created a launch file as below.
Everything went fine with out error, of-course there are some warnings. When i launched the stack and gave initial pose & goal, the robot fails to trace the goal. It wanders with confusion and executes the rotary recovery mode.
The localization of the robot was poor and the navigation getting aborted often. In some cases the robot moves till 50% of goal path and fails there.
I understand there is some problem with my configuration and needs some fine tuning. Where should i apply patches to fix this. Below is my launch and config codes.
PS: I am using non-gpu laser sensor because i got some problem with my gpu_ray laser.
<launch>
<!-- Load the TortoiseBot URDF model into the parameter server -->
<param name="robot_description" textfile="$(find jmbot2_description)/urdf/jmbot1.2.urdf" />
<!-- Start Gazebo with a world containing a large building-->
<include file="$(find gazebo_ros)/launch/willowgarage_world.launch"/>
<!-- include file="$(find gazebo_ros)/launch/empty_world.launch"/ -->
<!-- Spawn a TortoiseBot in Gazebo, taking the description from the
parameter server -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"
args="-param robot_description -urdf -model jmbot1.2 -x 8 -y -8" />
<!-- Convert /joint_states messages published by Gazebo to /tf messages,
e.g., for rviz-->
<node name="robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher"/>
<node name="map_server" pkg="map_server" type="map_server"
args="$(find mapping2)/src/maps/mapnew.yaml" />
<include file="$(find amcl)/examples/amcl_diff.launch"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find jmbot2_description)/src/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find jmbot2_description)/src/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find jmbot2_description)/src/local_costmap_params.yaml" command="load" />
<rosparam file="$(find jmbot2_description)/src/global_costmap_params.yaml" command="load" />
<rosparam file="$(find jmbot2_description)/src/base_local_planner_params.yaml" command="load" />
<param name="controller_frequency" value="5.0"/>
</node>
</launch>
base_local_planner_params.yaml
TrajectoryPlannerROS:
holonomic_robot: false
meter_scoring: true
costmap_common_params.yaml
obstacle_range: 2.5
raytrace_range: 3.0
robot_radius: 0.5
inflation_radius: 0.55
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: hokuyo_link, data_type: LaserScan, topic: scan, marking: true, clearing: true}
global_costmap_params.yaml
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 2.0
static_map: true
local_costmap_params.yaml
local_costmap:
global_frame: /odom
robot_base_frame: base_link
update_frequency: 2.0
publish_frequency: 1.0
static_map: false
rolling_window: true
width: 10.0
height: 10.0
resolution: 0.0
I get these warnings occasionally but these are not consistent
[ WARN] [1454605148.779801697, 21.830000000]: Failed to transform initial pose in time (Lookup would require extrapolation into the future. Requested time 21.825000000 but the latest data is at time 21.821000000, when looking up transform from frame [base_link] to frame [map])
[ WARN] [1454605512.623590430, 69.784000000]: Map update loop missed its desired rate of 2.0000Hz... the loop actually took 0.6400 seconds
Hello
My Gazebo simulation is running already and the topic /cmd_vel_mux/input/teleop
is there but when I run ./red_light_green_light.py cmd_vel:=cmd_vel_mux/input/teleop
there is displayed nothing. Like this:
ibrahim@ibrahim-aspire-v5-591g:~/catkin_workspaces/ros_python_ws/src/wanderbot/src$ ./red_light_green_light.py cmd_vel:=cmd_vel_mux/input/teleop
ibrahim@ibrahim-aspire-v5-591g:~/catkin_workspaces/ros_python_ws/src/wanderbot/src$
Can anyone help me to point out the problem ?
Thanks
On page 42, the find_package() call arguments do not match what catkin generates for a Python node. It only adds rospy, not roscpp (since we are creating a Python-only package). Also std_msgs was not added earlier when the dependency was added to the package.xml file. This is confusing for the reader.
The below suggestions are based on considering the book from the point of view of someone completely new to ROS, and my own experience teaching students to use new software frameworks.
When I run the codes in followbot package the window doesn't show up and freeze, but when I comment cv2.namedWindow("window", 1) line as in this link :: http://answers.ros.org/question/257440/python-opencv-namedwindow-and-imshow-freeze/
it works this's happening when I run any node in followbot package
On page 19, the paragraph talks about how anazingly useful rostopic is, then suddenly asks the reader to run rqt_graph. This is a jarring disconnect. The reader should be asked to run rostopic first, then, with a connecting statement like "but GUIs are easier to understand for this sort of thing", introduce rqt_graph.
NASA appears to have moved all their code for the R2 simulation to gitlab.
https://gitlab.com/nasa-jsc-robotics/robonaut2/wikis/R2%20Gazebo%20Simulation
The bitbucket repositories have all been marked as deprecated and renamed, meaning that the instructions on page 172 no longer work.
https://bitbucket.org/nasa_ros_pkg/
Additionally, the install process appears to have changed (probably the code has been reorganised); see the above page.
Hi!
For the cougarbot section, there is a yaml file you make with the controller_manager_ns: / etc... to interface the moveit config and gazebo, rviz.
The format as it appears, it fails to work in the gazebo cougarbot launch file. To make it work, the controller_list: line must be deleted and the rest one indent less. Otherwise, an error about not loading the arm_controller into the namespace or that it doesn't exist.
Could not load controller 'arm_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/arm_controller')?
[ERROR] [WallTime: 1452296250.613456] [2.923000] Failed to load arm_controller
Further, when you try to open move_group.launch it complains that there is no controller_list.
MoveitSimpleControllerManager: No controller_list specified.
These seem to be mutually unworkable.
I am in ROS indigo
The code related with key_publisher does not work.
It has two issues
Under the rviz heading, a node with the "keys_to_teleop_with_rates.py" is mentioned which helps to create a suitable environment for rviz to work for the first time but this node or node name is only mentioned here only and can't be found anywhere in the entire book. I believe it is a printing error, so i would kindly request you to please assist me in this as i am facing difficulty in rviz specially setting up my fixed frame.
Thank You.
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