ros-perception / calibration Goto Github PK

The repository must not name branches and tags with the same name. Jenkins is not able to checkout the correct code: http://jenkins.ros.org/job/devel-groovy-calibration/1301/

On hydro with calibration cloned from github, I get this at the end of optimization:

[INFO] [WallTime: 1386193299.722197] Writing original urdf to robot_uncalibrated_2013_12_04_16_41.xml
Traceback (most recent call last):
  File "/home/kohlbrecher/flor_repo/catkin_ws/src/calibration/calibration_estimation/src/calibration_estimation/multi_step_cov_estimator.py", line 367, in 
    outfile.write( robot_params.get_clean_urdf().to_xml() )
  File "/home/kohlbrecher/flor_repo/catkin_ws/src/calibration/calibration_estimation/src/calibration_estimation/urdf_params.py", line 248, in get_clean_urdf
    self.urdf.elements.remove(self.urdf.joint_map[joint])
AttributeError: 'Robot' object has no attribute 'elements'
Estimator exited prematurely with error code [1]

On groovy from .debs, the writing to URDF step works (but optimization performs very poorly for some reason, which I don´t care about right now).

Still uses the old openni_camera names, doesn't account for depth_registered stuff.

On my environment, PyKDL does not provide RPY function and this latest commit does not work.

hydro, ubuntu 12.04,
kdl is ros-hydro-orocos-kdl-1.3.0-0precise-20140819-1746-+0000

Traceback (most recent call last):
  File "/home/lueda/ros/hydro/src/calibration/calibration_estimation/src/calibration_estimation/multi_step_cov_estimator.py",
line 309, in <module>
    robot_params = UrdfParams(robot_description, config)
  File "/home/lueda/ros/hydro/src/calibration/calibration_estimation/src/calibration_estimation/urdf_params.py",
line 103, in __init__
    self.configure(urdf, config)
  File "/home/lueda/ros/hydro/src/calibration/calibration_estimation/src/calibration_estimation/urdf_params.py",
line 137, in configure
    rot = RPY_to_angle_axis(rot)
  File "/home/lueda/ros/hydro/src/calibration/calibration_estimation/src/calibration_estimation/single_transform.py",
line 110, in RPY_to_angle_axis
    quat = rpy_to_quat(vec)
  File "/home/lueda/ros/hydro/src/calibration/calibration_estimation/src/calibration_estimation/single_transform.py",
line 118, in rpy_to_quat
    PyKDL.RPY(rpy[0], rpy[1], rpy[2]).GetQuaternion(q[0], q[1], q[2], q[3])
AttributeError: 'module' object has no attribute 'RPY'
Estimator exited prematurely with error code [1]

Joint commands should be action-based. Do this for hydro as it is API-breaking under groovy.

Releasing calibration into Hydro should be fairly easy.

Checklist:

• Wait for release of actionlib
• Wait for release of pcl and pcl_ros
• Wait for release of tf
• Consider merging/releasing urdf_python

In the following places:

• calibration/calibration_estimation/src/calibration_estimation/single_transform.py

  Line 48 in 20d3bbf

  eval_config = [eval(str(x)) for x in config]

• calibration/calibration_estimation/src/calibration_estimation/joint_chain.py

  Line 52 in 20d3bbf

  self._axis = numpy.matrix([ eval(str(x)) for x in config['axis']], float)

• calibration/calibration_estimation/src/calibration_estimation/urdf_params.py

  Line 144 in 20d3bbf

  transform = [eval(str(x)) for x in transform]

What type of input is this trying to parse?

I wrote calibration package for my own robot using ros-perception/calibration here.

However I see divergence of seveal checkeboard positions.
Do you have any idea about potential issue and how can I debug it?

The following happens when running capture_exec:

Traceback (most recent call last):
  File "/opt/ros/hydro/lib/calibration_launch/capture_exec.py", line 54, in 
    from urdf_python.urdf import *
ImportError: No module named urdf_python.urdf

Already posted in #19 but probably indeed deserves own issue. Already have ros-hydro-urdfdom-py installed, so this apparently does not fix things.

The devel builds are failing due to checking out the tag instead of the branch.

Failure:

Using devel distro file to download repositories
rosinstall file for all repositories: 
 - git: {local-name: calibration, uri: 'http://github.com/ros-perception/calibration.git',
    version: groovy}

Install repo list from source
Executing command 'rosinstall /tmp/test_repositories/src_repository /home/rosbuild/hudson/workspace/devel-groovy-calibration/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/devel/repo.rosinstall --catkin'
rosinstall operating on /tmp/test_repositories/src_repository from specifications in rosinstall files  /home/rosbuild/hudson/workspace/devel-groovy-calibration/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/devel/repo.rosinstall
(Over-)Writing /tmp/test_repositories/src_repository/.rosinstall
Cloning into '/tmp/test_repositories/src_repository/calibration'...
[calibration] Fetching http://github.com/ros-perception/calibration.git (version groovy) to /tmp/test_repositories/src_repository/calibration
[calibration] Done.

rosinstall update complete.
Get build dependencies of repo list
Get the dependencies of source folder /tmp/test_repositories/src_repository
Found no packages in folder /tmp/test_repositories/src_repository. Are you sure your packages have a packages.xml file?

rosinstall prefers the tag when using the rosinstall snippet above.

$ git branch
* (no branch)
  hydro

pull request #44 allows compilation/testing/and passes prerelease tests for noetic/focal should be ready for release after merge @vrabaud

Is there any documentation on calibration packages?