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Pull request review commentros-planning/moveit_tutorials

Add version buttons and indicator in sidebar header

 <br /> <div class="admonition note">-<p class="first admonition-title">Tutorials Version: Master</p>-<p class="last">This is the latest version, which is actively developed. For beginners, we recommmend the stable <a class="reference external" href="http://docs.ros.org/melodic/api/moveit_tutorials/html/index.html">Melodic tutorials</a>. If you are still running a Kinetic release, please use the <a class="reference external" href="http://docs.ros.org/kinetic/api/moveit_tutorials/html/index.html">Kinetic tutorials.</a></p>+<p class="first admonition-title">Tutorials Version: Noetic</p>+<p class="last">This is the latest version, which is actively developed and best for beginners. If you are still running a Melotic release, please use the <a class="reference external" href="http://docs.ros.org/melodic/api/moveit_tutorials/html/index.html">Melodic tutorials</a>.</p>
<p class="last">This is the latest version, which is actively developed and best for beginners. If you are still running a Melodic release, please use the <a class="reference external" href="http://docs.ros.org/melodic/api/moveit_tutorials/html/index.html">Melodic tutorials</a>.</p>
auman66

comment created time in 8 hours

issue closedros-planning/navigation

[Help me, please] The value of topic /robot_pose_ekf/odom_combined is updated very slowly after about 5s

Hi everyone,

I have a data from IMU and Camera (x,y,z, roll, pitch, yaw). And I would like to use EKF to have a position of robot. But my problem is the data is updated very slowly (about 5s). I have tried changing the frequency but it is not working.

May you help me please or give me some advice ? Many thanks,

header: seq: 7 stamp: secs: 1607012387 nsecs: 894536972 frame_id: "odom_combined" pose: pose: position: x: 0.833737413502 y: -0.106431418372 z: -0.00762944485808 orientation: x: -0.0390308254477 y: 0.0617719494511 z: -0.0388283789727 w: 0.996570708938 covariance: [0.3061640397645533, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3061640397645533, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3061640397645533, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1466007.5857820164, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1466007.5857820164, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1466007.5857820164]

header: seq: 8 stamp: secs: 1607012392 nsecs: 495126962 frame_id: "odom_combined" pose: pose: position: x: 0.761013804274 y: -0.0816010701522 z: -0.00170279411871 orientation: x: -0.0500488354215 y: 0.0702702235365 z: -0.0676093798755 w: 0.993974940081 covariance: [0.21165423782076687, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.21165423782076687, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.21165423782076687, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1138968.9381853295, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1138968.9381853295, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1138968.9381853295]

closed time in 9 hours

phamhoanganhbk

issue commentros-planning/navigation

[Help me, please] The value of topic /robot_pose_ekf/odom_combined is updated very slowly after about 5s

Please pose questions to answers.ros.org. Please also note that robot_pose_ekf is no longer maintained by this team - I personally recommend looking at robot_localization package.

phamhoanganhbk

comment created time in 9 hours

issue openedros-planning/navigation

[Help me, please] The value of topic /robot_pose_ekf/odom_combined is updated very slowly after about 5s

Hi everyone,

I have a data from IMU and Camera (x,y,z, roll, pitch, yaw). And I would like to use EKF to have a position of robot. But my problem is the data is updated very slowly (about 5s). I have tried changing the frequency but it is not working.

May you help me please or give me some advice ? Many thanks,

`header: seq: 7 stamp: secs: 1607012387 nsecs: 894536972 frame_id: "odom_combined" pose: pose: position: x: 0.833737413502 y: -0.106431418372 z: -0.00762944485808 orientation: x: -0.0390308254477 y: 0.0617719494511 z: -0.0388283789727 w: 0.996570708938 covariance: [0.3061640397645533, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3061640397645533, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3061640397645533, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1466007.5857820164, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1466007.5857820164, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1466007.5857820164]

header: seq: 8 stamp: secs: 1607012392 nsecs: 495126962 frame_id: "odom_combined" pose: pose: position: x: 0.761013804274 y: -0.0816010701522 z: -0.00170279411871 orientation: x: -0.0500488354215 y: 0.0702702235365 z: -0.0676093798755 w: 0.993974940081 covariance: [0.21165423782076687, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.21165423782076687, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.21165423782076687, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1138968.9381853295, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1138968.9381853295, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1138968.9381853295] `

created time in 9 hours

created repositorybluesky-sandbox/ophyd

created time in 11 hours

issue commentros-planning/navigation

[kinetic] Project 'costmap_2d' specifies '/usr/include/hdf5/openmpi' as an include dir, which is not found

Ah, not PCL, but things that depend upon PCL and libvtk6, yeah you're probably right.

fmessmer

comment created time in a day

issue commentros-planning/navigation

[kinetic] Project 'costmap_2d' specifies '/usr/include/hdf5/openmpi' as an include dir, which is not found

We're not actually asking for anything from libhdf5-openmpi anywhere in our CMake - so it is probably trickling in from PCL.

We could add those dependencies here as a hack - but it sounds like from your comments here: https://github.com/ros/rosdistro/issues/27538 we'll still have problems until PCL gets rebuilt/rereleased

fmessmer

comment created time in a day

issue commentros-planning/navigation

[kinetic] Project 'costmap_2d' specifies '/usr/include/hdf5/openmpi' as an include dir, which is not found

You're right, this is related to the libvtk6 bugfix in Xenial leapfrogging the libvtk6 OR has in the ROS archive. The one in Xenial has never depended upon libhdf5-openmpi, so if you depend on it you might consider making it explicit. I'm not sure why OR's version depends on it.

fmessmer

comment created time in a day

issue commentDLu/roscompile

roscompile scripts have issues with plugin.xml files

here is another plugin.xml that roscompile has issues with:

<class_libraries>
  <library path="lib/liboutlier_scan_filters">
    <class name="outlier_scan_filters/ClusterScanFilter" type="outlier_scan_filters::ClusterScanFilter"
            base_class_type="filters::FilterBase<sensor_msgs::LaserScan>">
      <description>
        Cluster filters outliers based on cluster building.
      </description>
    </class>
    <class name="outlier_scan_filters/NeighbourScanFilter" type="outlier_scan_filters::NeighbourScanFilter"
            base_class_type="filters::FilterBase<sensor_msgs::LaserScan>">
      <description>
        Neighbour filters out outliers based on the distance from a points left and right neighbour.
      </description>
    </class>
  </library>
</class_libraries>

results in the following error:

rosrun roscompile noetic_migration -m
ERROR: Trouble parsing package @ ./outlier_scan_filters
Traceback (most recent call last):
  File "/home/fxm/projects/default/care-o-bot/src/roscompile/ros_introspection/src/ros_introspection/util.py", line 17, in get_packages
    packages.append(Package(root))
  File "/home/fxm/projects/default/care-o-bot/src/roscompile/ros_introspection/src/ros_introspection/package.py", line 31, in __init__
    self.plugin_configs.append(PluginXML(rel_fn, file_path))
  File "/home/fxm/projects/default/care-o-bot/src/roscompile/ros_introspection/src/ros_introspection/plugin_xml.py", line 18, in __init__
    self.read()
  File "/home/fxm/projects/default/care-o-bot/src/roscompile/ros_introspection/src/ros_introspection/plugin_xml.py", line 21, in read
    tree = parse(self.file_path)
  File "/usr/lib/python2.7/xml/dom/minidom.py", line 1918, in parse
    return expatbuilder.parse(file)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 924, in parse
    result = builder.parseFile(fp)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 207, in parseFile
    parser.Parse(buffer, 0)
ExpatError: not well-formed (invalid token): line 4, column 4
fmessmer

comment created time in a day

pull request commentDLu/roscompile

Fix #78

running this branch, I get the following error:

Traceback (most recent call last):
  File "/home/fxm/projects/default/care-o-bot/src/roscompile/roscompile/scripts/noetic_migration", line 39, in <module>
    existing = manifest.get_packages_by_tag(tag_name)
NameError: name 'manifest' is not defined
DLu

comment created time in a day

Pull request review commentros-planning/navigation

add onOriginChanged logic

 void StaticLayer::updateBounds(double robot_x, double robot_y, double robot_yaw,       return;   } +  // if the origin has not changed, skip the re-painting, since we cannot add+  // any new information+  if(!has_updated_data_)+    return;

I believe "useExtraBounds" is only called in clearing the cost maps? It forces data to be copied over? I think removing this extra if/return statement will suffice.

dorezyuk

comment created time in a day

push eventros-planning/navigation

Dima Dorezyuk

commit sha 194d4958db5fa701c55ca0cd7b1934841f9ab1b2

Fix carrot planner (#1056) * fix memory leak of world_model_ * fix uninitialized raw pointers * move the angles header into cpp * add missing angles dependency Co-authored-by: Dima Dorezyuk <dorezyuk@magazino.eu>

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PR merged ros-planning/navigation

Fix carrot planner

Hey guys,

found out during testing, that the carrot-planner may crash the same way as global-planner did if not called initialize. This PR bundles some miner fixes

Fixes

  • memory leak of world_model
  • unitilialized raw pointer
  • add missing dependency of angles
+16 -3

0 comment

4 changed files

dorezyuk

pr closed time in a day

Pull request review commentros-planning/navigation

Fix carrot planner

 PLUGINLIB_EXPORT_CLASS(carrot_planner::CarrotPlanner, nav_core::BaseGlobalPlanne namespace carrot_planner {    CarrotPlanner::CarrotPlanner()-  : costmap_ros_(NULL), initialized_(false){}+  : costmap_ros_(NULL), costmap_(NULL), world_model_(NULL), initialized_(false){}    CarrotPlanner::CarrotPlanner(std::string name, costmap_2d::Costmap2DROS* costmap_ros)-  : costmap_ros_(NULL), initialized_(false){+  : costmap_ros_(NULL), costmap_(NULL), world_model_(NULL), initialized_(false){     initialize(name, costmap_ros);   }++  CarrotPlanner::~CarrotPlanner() {+    // deleting a nullptr is a noop+    delete world_model_;

Hmm, it does seem like this is OK - maybe it's just a very common anti pattern in this codebase? Seems like an unlikely to occur crash then.

dorezyuk

comment created time in a day

push eventros-planning/navigation

Matthijs van der Burgh

commit sha 9c5fb8bc042bebfabe466158a18e593ac8052ad1

(map_server) add rtest dependency to tests (#1062)

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PR merged ros-planning/navigation

[kinetic](map_server) add rtest dependency to tests

To make sure that rtest can be executed in the same run as being build. This matches the tests in costmap_2d.

+1 -0

1 comment

1 changed file

MatthijsBurgh

pr closed time in a day

pull request commentros-planning/navigation

[kinetic](map_server) add rtest dependency to tests

Build failure is due to https://github.com/ros-planning/navigation/issues/1058 - going to merge anyways since things passed on melodic/noetic without issue

MatthijsBurgh

comment created time in a day

push eventros-planning/navigation

Matthijs van der Burgh

commit sha 31439dd25de09fda227625a24bc7882e626e7343

(map_server) add rtest dependency to tests (#1060)

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push time in a day

PR merged ros-planning/navigation

[melodic](map_server) add rtest dependency to tests

To make sure that rtest can be executed in the same run as being build. This matches the tests in costmap_2d.

+1 -0

0 comment

1 changed file

MatthijsBurgh

pr closed time in a day

push eventros-planning/navigation

Matthijs van der Burgh

commit sha 0446a5086c43d6c31f0848dc3387ea4758479e73

(map_server) add rtest dependency to tests (#1061)

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PR merged ros-planning/navigation

[noetic](map_server) add rtest dependency to tests

To make sure that rtest can be executed in the same run as being build. This matches the tests in costmap_2d.

Melodic in #1060 Kinetic in #1062

+1 -0

0 comment

1 changed file

MatthijsBurgh

pr closed time in a day

PR opened ros-planning/navigation

[kinetic](map_server) add rtest dependency to tests

To make sure that rtest can be executed in the same run as being build. This matches the tests in costmap_2d.

+1 -0

0 comment

1 changed file

pr created time in a day

PR opened ros-planning/navigation

[noetic](map_server) add rtest dependency to tests

To make sure that rtest can be executed in the same run as being build. This matches the tests in costmap_2d.

Melodic in #1060

+1 -0

0 comment

1 changed file

pr created time in a day

PR opened ros-planning/navigation

[melodic](map_server) add rtest dependency to tests

To make sure that rtest can be executed in the same run as being build. This matches the tests in costmap_2d.

+1 -0

0 comment

1 changed file

pr created time in a day

issue closedDLu/navigation_layers

Could not load library range_sensor_layer.so

When trying to launch move_base with the range_sensor plugin I keep getting the error message:

terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
  what():  Failed to load library /home/lslabon/shotbot/catkin_ws/devel/lib//librange_sensor_layer.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/lslabon/shotbot/catkin_ws/devel/lib//librange_sensor_layer.so: undefined symbol: _ZN10costmap_2d12CostmapLayer9clearAreaEiiii)

I got another error when trying to launch move_base with range_sensor plugin and in other threads it said installing navigation from source will solve the issue.. But after trying this I get the above error. I already tried deleting and reinstalling navigation_layers but I keep getting this error.

I hope somebody can help me.. I found a thread where someone had exactly the same issue but it was posted under a wrong repository, therefore it was closed...

closed time in a day

lslabon

issue commentDLu/navigation_layers

Could not load library range_sensor_layer.so

Nevermind... I had to build navigation AND navigation_layers from source

lslabon

comment created time in a day

issue openedDLu/navigation_layers

Could not load library range_sensor_layer.so

When trying to launch move_base with the range_sensor plugin I keep getting the error message:

terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
  what():  Failed to load library /home/lslabon/shotbot/catkin_ws/devel/lib//librange_sensor_layer.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/lslabon/shotbot/catkin_ws/devel/lib//librange_sensor_layer.so: undefined symbol: _ZN10costmap_2d12CostmapLayer9clearAreaEiiii)

I got another error when trying to launch move_base with range_sensor plugin and in other threads it said installing navigation from source will solve the issue.. But after trying this I get the above error. I already tried deleting and reinstalling navigation_layers but I keep getting this error.

I hope somebody can help me.. I found a thread where someone had exactly the same issue but it was posted under a wrong repository, therefore it was closed...

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issue openedDLu/roscompile

noetic_migration script forgets about python*_setuptools buildtool_depend

I have been using the noetic_migration script - with option -m (multi distro) while the script correctly replaces distutils with setuptools in the setup.py files, it forgets about adding the python version specific buildtool_depend as recommended in the Noetic Migration Guide

created time in 2 days

issue openedDLu/roscompile

roscompile scripts have issues with plugin.xml files

I have been using both noetic_migration and upgrade_manifest scripts I did not really look into the code to figure out what the problem is, but I wanted to report this here

whenever there is a plugin.xml file in the repository, I get errors similar to the following:

ERROR: Trouble parsing package @ ./ur_kinematics
Traceback (most recent call last):
  File "/home/fxm/projects/default/care-o-bot/src/roscompile/ros_introspection/src/ros_introspection/util.py", line 15, in get_packages
    packages.append(Package(root))
  File "/home/fxm/projects/default/care-o-bot/src/roscompile/ros_introspection/src/ros_introspection/package.py", line 30, in __init__
    self.plugin_configs.append(PluginXML(rel_fn, file_path))
  File "/home/fxm/projects/default/care-o-bot/src/roscompile/ros_introspection/src/ros_introspection/plugin_xml.py", line 18, in __init__
    self.read()
  File "/home/fxm/projects/default/care-o-bot/src/roscompile/ros_introspection/src/ros_introspection/plugin_xml.py", line 21, in read
    tree = parse(self.file_path)
  File "/usr/lib/python2.7/xml/dom/minidom.py", line 1918, in parse
    return expatbuilder.parse(file)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 924, in parse
    result = builder.parseFile(fp)
  File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 207, in parseFile
    parser.Parse(buffer, 0)
ExpatError: junk after document element: line 11, column 0

what I did to work around this is:

  • remove the plugin file temporarily
  • run the roscomplie scripts
  • re-add the plugin file again

created time in 2 days

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