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Visualisation and simulation tools for Kobuki

Home Page: http://www.ros.org/wiki/kobuki_desktop

Python 48.54% C++ 44.33% HTML 2.49% CMake 4.65%

robotics kobuki

kobuki_desktop's Introduction

kobuki_desktop

Visualisation and simulation tools for Kobuki

kobuki_desktop's People

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kobuki_desktop's Issues

power connector in use indication - Kobuki Dashboard

Maybe?

Add queue_size for publishers.

From indigo, Publisher complains not having queue_size arguement..

Add bugtracker and repo info to package.xml

Compiling error about c++11 support at ARM

I got an error when compiling the kobuki_gazebo_plugin at NVIDIA TK1. such as
/usr/include/c++/4.8/bits/c++0x_warning.h:32: error: #error This file requires compiler and library support for the ISO C++ 2011 standard. This support is currently experimental, and must be enabled with the -std=c++11 or -std=gnu++11 compiler options. #error This file requires compiler and library support for the \
and I fixed it when I add following code at ./kobukin_gazebo_plugins/CMakeLists.txt.
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLUGS} -std=c++11")

It may useful for any other use kobuki at ARM.

Pyrcc5: not found

I met a problem when i make my space. It stopped here:
[ 98%] Built target kobuki_nodelet
/bin/sh: 1: pyrcc5: not found
make[2]: *** [kobuki_desktop/kobuki_qtestsuite/CMakeFiles/kobuki_qtestsuite] 错误 127
make[1]: *** [kobuki_desktop/kobuki_qtestsuite/CMakeFiles/kobuki_qtestsuite.dir/all] 错误 2
make: *** [all] 错误 2
Invoking "make -j1 -l1" failed
Can you tell me the reason and help me solve it? Thank you.

Unused spin() function in Kobuki gazebo plugin

Kobuki's gazebo plugin has a spin() function, which doesn't seem to be used. Check this and remove the function, if not used.

Dashboard battery update time

Currently it's buggy - set to the battery percantage!

But is this even used by the graphical display?

Fix ABI/API breakages coming with Gazebo 2.0

Same as here: turtlebot/turtlebot_create_desktop#7

Fix it!

Replace license text with a link to the license file

create license branch only contains license file.
replace inline license with a link to the license file in all packages.

Wheel drop sensor data not exposed in simulation

I use the melodic branch of this repo, and start up the simulation with roslaunch kobuki_gazebo kobuki_playground.launch.
I get the topics for the events for the bumper and cliff sensors under the namespace /mobile_base/events, but not the wheel drop sensors.

Is there any easy way I can expose this data via a topic as well?
Else, if I need to write some source code to make this happen, could I please be pointed to the right files to edit? This would save me the many hours required to study the architecture of this stack and trace the origin point.

[kobuki_qtestsuite] rqt_plot api changes

rqt_plot API has been changed by this commit.

ros-visualization/rqt_common_plugins@f7a485e

kobuki_qtestsuite is crashing with this error

PluginManager._load_plugin() could not load plugin "kobuki_qtestsuite/Kobuki Test Suite":
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/qt_gui/plugin_handler.py", line 98, in load
    self._load()
  File "/opt/ros/indigo/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/indigo/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/indigo/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/indigo/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/indigo/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/indigo/lib/python2.7/dist-packages/rqt_gui/ros_plugin_provider.py", line 94, in load
    return class_ref(plugin_context)
  File "/home/jihoonl/research/ros/kobuki/src/kobuki_desktop/kobuki_qtestsuite/src/kobuki_qtestsuite/testsuite.py", line 43, in __init__
    self._widget.setupUi()
  File "/home/jihoonl/research/ros/kobuki/src/kobuki_desktop/kobuki_qtestsuite/src/kobuki_qtestsuite/testsuite_widget.py", line 43, in setupUi
    self._ui.battery_profile_frame.setupUi(self._ui.configuration_dock.cmd_vel_topic_name())
  File "/home/jihoonl/research/ros/kobuki/src/kobuki_desktop/kobuki_qtestsuite/src/kobuki_qtestsuite/battery_profile_frame.py", line 51, in setupUi
    self._plot_widget.switch_data_plot_widget(FullSizeDataPlot(self._plot_widget))
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rqt_plot/plot_widget.py", line 150, in switch_data_plot_widget
    self.data_plot.autoscroll(self.autoscroll_checkbox.isChecked())
AttributeError: 'FullSizeDataPlot' object has no attribute 'autoscroll'

Multi-Gazebo Kobukis not updating orientations

KGP - Kobuki Gazebo Plugin

Start two gazebo kobukis (segbot + kobuki is ok)
Send commands to cmd_vel of one kobuki
KGP catches these and moves around properly in gazebo world
KGP does not post rotations to the odom topic (translations are there)
KGP does not publish rotation information on base_footprint-odom tf.

Kobuki Gazebo5 plugin is not working

It moves very weirdly. After looking for it a lot, I found this commit in a fork:

MayfieldRoboticsPublic@4246c6e

That seems to solve it. The changes in Gazebo5 are: https://bitbucket.org/osrf/gazebo/pull-request/1218/change-behavior-of-odejoint-setvelocity/diff
and point 14 Gazebo 5.0.0: https://bitbucket.org/osrf/gazebo/src/default/Changelog.md

Please solve this issue. Thanks!

Kobuki Dashboard - Nav View

Follow up from #4. Add nav view to the kobuki dashboard.

Button pressed indication - Kobuki Dashboard

Maybe good to implement in the future.

boost::shared_*_cast are deprecated, removed in boost 1.53

Details here: yujinrobot-release/kobuki_desktop-release#1

kobuki_gazebo not compiling after gazebo_ros_pkgs cleanup

There was a dependency cleanup in gazebo_ros_pkgs ros/rosdistro#14563

There's a known issue in catkin
ros/catkin#856

http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__kobuki_gazebo_plugins__ubuntu_xenial_amd64__binary/47/console

Kobuki Gazebo simulation

It's a slow process, but it's on its way. Let's gather here all the issues we encounter.
So far:

~~Collada mesh visualisation conflict between unit-aware Gazebo and unit-unaware RViz~~
~~Collada mesh visualisation problem - texture mapping~~
- ~~Gazebo issue: http://answers.gazebosim.org/question/1474/weird-texture-mapping-in-collada-meshes-130/~~
~~Change to new Gazebo controllers for sensors, etc.~~
~~Udapte Kobuki ROS plugin (see #1)~~
~~Correct center of mass (yujinrobot/kobuki#271)~~
~~Update ROS wiki information~~
- ~~http://www.ros.org/wiki/kobuki_gazebo~~
- ~~http://www.ros.org/wiki/kobuki_gazebo_plugins~~
~~Fix cliff (ray) sensor problems:~~
- ~~Gazebo issue: https://bitbucket.org/osrf/gazebo/issue/771/cannot-rotate-ray-sensor-via-urdf-nor-sdf~~
- ~~Gazebo issue: https://bitbucket.org/osrf/gazebo/issue/509/vertical-sensor-doesnt-works~~
- Will be tracked here: yujinrobot/kobuki#298
~~Caster surface friction problem:~~
- ~~Gazebo issue: https://bitbucket.org/osrf/gazebo/issue/740/gzsdf-urdf-parser-ignores-properties-for~~

rqt_plot failed due to kobuki_qtestsuite?

$ rosrun rqt_plot rqt_plot 
rqt_plot.plot: importing PyQtGraphDataPlot
rqt_plot.plot: import of PyQtGraphDataPlot failed
rqt_plot.plot: importing MatDataPlot
rqt_plot.plot: importing QwtDataPlot
WARNING: Package name "swig-wx" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "swig-wx" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
Traceback (most recent call last):
  File "/opt/ros/groovy/lib/rqt_plot/rqt_plot", line 10, in <module>
    sys.exit(main.main(standalone=plugin, plugin_argument_provider=Plot.add_arguments))
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rqt_gui/main.py", line 57, in main
    return super(Main, self).main(argv, standalone=standalone, plugin_argument_provider=plugin_argument_provider)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/qt_gui/main.py", line 468, in main
    plugins = plugin_manager.find_plugins_by_name(plugin)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/qt_gui/plugin_manager.py", line 118, in find_plugins_by_name
    for plugin_id, plugin_full_name in self.get_plugins().items():
  File "/opt/ros/groovy/lib/python2.7/dist-packages/qt_gui/plugin_manager.py", line 124, in get_plugins
    self.discover()
  File "/opt/ros/groovy/lib/python2.7/dist-packages/qt_gui/plugin_manager.py", line 108, in discover
    self._plugin_menu.add_plugin(plugin_descriptor)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/qt_gui/plugin_menu.py", line 79, in add_plugin
    self._enrich_action(action, action_attributes, base_path)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/qt_gui/plugin_menu.py", line 130, in _enrich_action
    raise UserWarning('icon "%s" not found' % str(path))
UserWarning: icon "../src/kobuki_qtestsuite/resources/images/kobuki_icon.png" not found

Add reset odometry option

Just as implemented in the kobuki_node:

$ rostopic info /mobile_base/commands/reset_odometry
Type: std_msgs/Empty

Publishers: None

Subscribers: 
 * /mobile_base_nodelet_manager (http://pirate-nest:51105/)

Is there gazebo simulation for auto docking?

kobuki_gazebo has turtlebot dependency

@bit-pirate

  <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
    <rosparam command="load" file="$(find turtlebot_bringup)/param/kobuki/diagnostics.yaml" />
  </node>

kobuki_gazebo_plugins: request for tf prefix of base_footprint

Is it possible to instantiate multiple Kobuki models so as to have a single tf tree organized by model names? Organization could be based on prefixes to frame IDs, as with tf_prefix in robot_state_publisher. Similarly, how can the odom topic be pushed into a private namespace?

I have not found a way to achieve these. I suspect that my difficulty is due to a bug in how gazebo_ros_kobuki.cpp handles naming of the topic odom and the frame base_footprint.

I am happy to try to fix it and open a pull request, but I want to first be sure this is indeed an issue. Below is a diff for gazebo_ros_kobuki.cpp (as of 9f509a5) that is a first step toward correction, though it would be better to provide a parameter regarding whether and what to use as a prefix for frame IDs.

--- a/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp
+++ b/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp
@@ -195,7 +195,7 @@ void GazeboRosKobuki::Load(physics::ModelPtr parent, sdf::ElementPtr sdf)
   odom_pose_[0] = 0.0;
   odom_pose_[1] = 0.0;
   odom_pose_[2] = 0.0;
-  odom_pub_ = nh_.advertise<nav_msgs::Odometry>("odom", 1);
+  odom_pub_ = nh_priv_.advertise<nav_msgs::Odometry>("odom", 1);
   odom_reset_sub_ = nh_priv_.subscribe("commands/reset_odometry", 10, &GazeboRosKobuki::resetOdomCB, this);

   /*
@@ -395,7 +395,7 @@ void GazeboRosKobuki::OnUpdate()
    */
   odom_.header.stamp = joint_state_.header.stamp;
   odom_.header.frame_id = "odom";
-  odom_.child_frame_id = "base_footprint";
+  odom_.child_frame_id = node_name_+"/base_footprint";

   // Distance travelled by main wheels
   double d1, d2;

Qtestsuite hydro fixes

Add some documentation to the wiki
Fix some bugs in plotting due to changes in rqt:

Traceback (most recent call last):
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rqt_plot/plot_widget.py", line 168, in update_plot
    self.data_plot.redraw()
  File "/opt/turtlebot/kobuki_desktop/kobuki_qtestsuite/plugins/../src/kobuki_qtestsuite/full_size_data_plot.py", line 54, in redraw
    data_x, data_y, plot = curve
ValueError: too many values to unpack

/bin/sh: 1: pyrcc5: not found

When i catkin_make my workspace,the error happened in the end:
/bin/sh: 1: pyrcc5: not found
make[2]: *** [kobuki_desktop/kobuki_qtestsuite/CMakeFiles/kobuki_qtestsuite] 错误 127
make[1]: *** [kobuki_desktop/kobuki_qtestsuite/CMakeFiles/kobuki_qtestsuite.dir/all] 错误 2
make: *** [all] 错误 2
Invoking "make -j1 -l1" failed
Can you help me solve it?Thank you.

Bumpers not working any more

Somehow the bumpers stopped working. Fix it!

Kobuki wheels sliding in Gazebo7 [kinetic]

Sometimes it move, but very erratically. I thought this was solved with #42 for Jade-Gazebo5 (also merged in kinetic).

move from pointcloud_to_laserscan to depthimage...

We no longer use pointcloud_to_laserscan, update accordingly.

sort stack dependencies and roll a deb

kobuki specific gazebo plugin

Currently its a copy of create.

Remove the dependency for the create from manifest and stack.xml's once done.

Problem of arm+kobuki in gazebo

Env: ros kinetic + gazebo 7

when I use hardware_interface/EffortJointInterface for joint transmission_interface/SimpleTransmission,
following error can be found when start gazebo:

[ WARN] [1537083452.199473832, 0.330000000]: Gazebo ROS Kobuki plugin: NaN in d1. Step time: 0.01, WD: 0.07, velocity: -nan
[ WARN] [1537083452.199515712, 0.330000000]: Gazebo ROS Kobuki plugin: NaN in d2. Step time: 0.01, WD: 0.07, velocity: -nan
[ WARN] [1537083452.299705087, 0.430000000]: Gazebo ROS Kobuki plugin: NaN in d1. Step time: 0.01, WD: 0.07, velocity: -nan
[ WARN] [1537083452.299738738, 0.430000000]: Gazebo ROS Kobuki plugin: NaN in d2. Step time: 0.01, WD: 0.07, velocity: -nan

I guess, the reason is we have to ensure the consistency of kobuki wheel hardware interface and joint interface in gazebo, and kobuki wheel hardware is based on velocity as implemented in https://github.com/yujinrobot/kobuki_desktop/blob/devel/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_updates.cpp#L230-L231.

So we can not choose hardware_interface/EffortJointInterface, which applies setForce()

Is it right?

Add IMU model to kobuki plugin

Since we stopped using robot_pose_ekf for the real robot, we should do the same for simulation. This requires adding processing of IMU data to the kobuki plugin.

fix SDF deprecated warnings in the gazebo_ros_kobuki plugin

For example:

/opt/kobuki_workspace/catkin_ws/src/turtlebot_create_desktop/create_gazebo_plugins/src/gazebo_ros_create.cpp: In member function ‘virtual void gazebo::GazeboRosCreate::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)’:
/opt/kobuki_workspace/catkin_ws/src/turtlebot_create_desktop/create_gazebo_plugins/src/gazebo_ros_create.cpp:54:80: warning: ‘std::string sdf::Element::GetValueString(const string&)’ is deprecated (declared at /usr/include/sdformat-1.4/sdf/SDFImpl.hh:226) [-Wdeprecated-declarations]

Kobuki dashboard

Bugs & ideas for Kobuki's dashboard

Playground does not load correctly on initial try

When first loading a world file with models from the online model database, Gazebo can't find those resources (e.g. dae files).

However, once one adds the unknown objects from the online database manually to the world, the next loading of that world file works. I guess, that is because a local copy of the model exists now.

Maybe we have the wrong resource links in our world files?

E.g. the cinder block from the playground.world

<model name='cinder_block'>
       [...]
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://cinder_block/meshes/cinder_block.dae</uri>
            </mesh>
          </geometry>
        </visual>
        [...]
</model>

kobuki_dashboard: add coloured battery statuses

Currently they are always grey, although https://github.com/ros-visualization/rqt_robot_plugins/tree/hydro-devel/rqt_robot_dashboard/images holds coloured icons.

fails to build with newer boost versions

Same thing happened in Gazebo:

https://bitbucket.org/osrf/gazebo/issue/581/boost-shared_-_cast-are-deprecated-removed

This is the error I get (on my mac) with Boost 1.55.0:

/Users/william/hydro_tb_sim/src/kobuki_desktop/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp:251:31: error: no member named 'shared_dynamic_cast' in namespace 'boost'
  cliff_sensor_left_ = boost::shared_dynamic_cast<sensors::RaySensor>(
                       ~~~~~~~^
/Users/william/hydro_tb_sim/src/kobuki_desktop/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp:251:69: error: expected '(' for function-style cast or type construction
  cliff_sensor_left_ = boost::shared_dynamic_cast<sensors::RaySensor>(
                                                  ~~~~~~~~~~~~~~~~~~^
/Users/william/hydro_tb_sim/src/kobuki_desktop/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp:253:33: error: no member named 'shared_dynamic_cast' in namespace 'boost'
  cliff_sensor_center_ = boost::shared_dynamic_cast<sensors::RaySensor>(
                         ~~~~~~~^
/Users/william/hydro_tb_sim/src/kobuki_desktop/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp:253:71: error: expected '(' for function-style cast or type construction
  cliff_sensor_center_ = boost::shared_dynamic_cast<sensors::RaySensor>(
                                                    ~~~~~~~~~~~~~~~~~~^
/Users/william/hydro_tb_sim/src/kobuki_desktop/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp:255:32: error: no member named 'shared_dynamic_cast' in namespace 'boost'
  cliff_sensor_right_ = boost::shared_dynamic_cast<sensors::RaySensor>(
                        ~~~~~~~^
/Users/william/hydro_tb_sim/src/kobuki_desktop/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp:255:70: error: expected '(' for function-style cast or type construction
  cliff_sensor_right_ = boost::shared_dynamic_cast<sensors::RaySensor>(
                                                   ~~~~~~~~~~~~~~~~~~^
/Users/william/hydro_tb_sim/src/kobuki_desktop/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp:301:20: error: no member named 'shared_dynamic_cast' in namespace 'boost'
  bumper_ = boost::shared_dynamic_cast<sensors::ContactSensor>(
            ~~~~~~~^
/Users/william/hydro_tb_sim/src/kobuki_desktop/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp:301:62: error: expected '(' for function-style cast or type construction
  bumper_ = boost::shared_dynamic_cast<sensors::ContactSensor>(
                                       ~~~~~~~~~~~~~~~~~~~~~~^
/Users/william/hydro_tb_sim/src/kobuki_desktop/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp:325:17: error: no member named 'shared_dynamic_cast' in namespace 'boost'
  imu_ = boost::shared_dynamic_cast<sensors::ImuSensor>(
         ~~~~~~~^
/Users/william/hydro_tb_sim/src/kobuki_desktop/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp:325:55: error: expected '(' for function-style cast or type construction
  imu_ = boost::shared_dynamic_cast<sensors::ImuSensor>(
                                    ~~~~~~~~~~~~~~~~~~^
8 warnings and 10 errors generated.

Branch for upgrading to Melodic

Hi all,

Is it posible to create a branch for Melodic? I don't know if your are planning to release all your kobuki packages for Melodic (pleeeease), but it would be the first step.

I have it running in Melodic from sources, compiling also from sources, with no changes:

capabilities
kobuki
kobuki_desktop
yocs_msgs
yujin_ocs

But a package would save some time ;)

Best
Francisco

rosdistro is missing source info

It seems that https://github.com/ros/rosdistro/blob/master/hydro/distribution.yaml is missing the source entry for kobuki_desktop and also others, like kobuki_core or kobuki_soft. I did not check the other ROS distros.

Kobuki Dashboard - Extra Features

Update with extra features that help non-developers exhibit kobuki for us.

Priority to features that highlight errors in the system and recovery methods/info.

As we test over the next two-three weeks, list here things we think should be in it.

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