verb55nta / brown-ros-pkg Goto Github PK

when running with current ROS & brown svn, warnings like this one appear:

[WARN] 1260812526.831122: Message being sent with timestamp of zero. Auto-
setting of timestamps is deprecated!

Hello,

I'm trying to get the irobot_create_2_1 working "out of the box" with my iRobot 
Create.  I've hooked up the iRobot to a serial port (/dev/ttyUSB0) via a 
serial-to-USB converter.  I'm able to start the irobot_create_2_1 package 
successfully with the .launch file.  (Incidentally, the test .launch file was 
missing a name attribute for the node; accordingly, I updated that line to 
reflect:  <node pkg="irobot_create" type="driver" output="screen"/>.)

When I listen on the /odom and /sensorPacket topics, they are publishing 
successfully but the /odom messages' position x, position y, orientation z, 
orientation w, and linear x are returning seemingly random numbers on every 
publication.  Likewise, the /sensorPacket messages' distance and angle are also 
returning random numbers and the bumpers, cliffs and other sensors don't appear 
to be changing at all to any resulting physical interaction with the Create.

Finally, the /tank and other services are returning true as a confirmation, but 
aren't making the Create do anything.  The /reset service is the only thing 
which seems to do anything for me; it simply makes /odom and /sensorPacket stop 
publishing.

Any tips would be much appreciated!

Thanks very much!!
Billy McCafferty
http://www.sharprobotica.com

Thank you very much for browneyes driver. However, it only gives access to 
the top camera. Is there anyway to access bottom camera? If yes, then is it 
possible to access both of them simultaneously? You have not provided source 
code for NaoNative. Therefore, it is not possible to make the modifications 
in browneyes. Thanks.

Linker gives following (and multiple more) errors:
ardrone_brown/lib/libsdk.a(vp_stages_o_sdl.o): In function `thread_escaper':
vp_stages_o_sdl.c:(.text+0x5f): undefined reference to `SDL_PollEvent'

Patch which correctly library linking order attached.

What steps will reproduce the problem?
1. Run the Create driver 
2. Try to use rxplot on any of the odometry fields
3. Failure

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

You expect rxplot to scroll by nicely, showing you how the x, y and 
velocities change over time. Instead you see one point fixed on the right 
of the screen.

Please provide any additional information below.

I attached the fix for the driver. All you have to do is toss the time from 
ROS into the header and everything works out nicely. 

What steps will reproduce the problem?
1. Start rosbridge
2. Connect and subscribe to a topic (in my case /stereo/left/image/compressed)
3. Close the application that was connected to rosbridge without unsubscribing


This is rosbridge output:

Connection from 10.68.1.131:51067
2 concurrent connections.

------
raw

------
raw socket
------

subscribing to: /stereo/left/image/compressed
closed 9
Socket did not close smoothly.

From the moment the socket is closed the memory usage starts growing at a rate 
of 10MB per minute. Maybe it is related to the bandwidth of topic it was 
subscribed, my wild guess would be that it is storing the messages of the image 
topic.

Anyway, I'd try to unsubscribe before shutting down the application, but I 
can't guarantee that the application won't crash or that it will go out of wifi 
range.

The memory leak goes on forever. I've had it grow to 1.5GB of RAM.

Using Ubuntu 10.04 and latest rosbridge version.

When I try to run the ar_recog through: " rosrun ar_recog ar_recog 
image:=/camera/image_rect_color camera_info:=/camera/camera_info " It always 
showed Problem loading AR camera parameters.

But I do finished the camera_calibration and can see the information when I run 
the ueyecamera: " rosrun ueye camera "

I am using ROS fuerte on ubuntu 12.04.

Can someone tell me how to load the AR camera parameters in ar_recog?

Thank you.

We tried to install the brown's university ros driver for the nao according to 
the readme in the package.
We tried to install the driver on the original nao image version 1.10.10 and on 
1.8.16.
On both we had first the problem that the file paths, which are mentioned in 
the readme of the browns package to copy the "libbrowneyes.so", aren't existing 
("/opt/naoqi/modules/lib"), so we copied the library to "/opt/nao/lib".
The next step was to add the library to the "autoload.ini", which should be 
loacated at "/opt/naoqi/modules/lib" but was located at 
"/opt/naoqi/preferences/".
The next step was to copy the "naoros.tar" to the nao and extract it somewhere 
in the home folder and configure the "envConfig" in "~/naoros/run/".
After sourcing the "envConfig" we started the driver by "./eyes" and got these 
error messages:

1.8.16:
 "./eyes: error while loading shared libraries: libiconv.so.2: cannot open shared object file: No such file or directory"

1.10.10:
 "Couldn't get shared memory!"

On both firmwares the "urbistarter" library is commented out in the 
"autoload.ini". Is it required for the driver? On both versions it doesn't make 
a difference if we comment it in.

Does anyone maybe know what we did wrong? Are the nao image versions we used 
not compatible with this driver?

We also tried to flash the firmware 1.6.13 but this one is not compatible with 
the hardware version of our nao robot.

What steps will reproduce the problem?
1. On a 64-bit Ubuntu 11.10 machine check out the ardrone_brown package
2. rosdep and then rosmake it
3. linking errors to sdl produced (see below for exact errors)

What is the expected output? What do you see instead?
Linking CXX executable bin/ardrone_driver
  /usr/common/bird_repo/cpp/external_ros_pkgs/brown-ros-pkg/experimental/ardrone_brown/lib/libsdk.a(vp_stages_o_sdl.o): In function `vp_stages_output_sdl_stage_close':
  vp_stages_o_sdl.c:(.text+0x14): undefined reference to `SDL_ShowCursor'
  vp_stages_o_sdl.c:(.text+0x1d): undefined reference to `SDL_FreeYUVOverlay'
  vp_stages_o_sdl.c:(.text+0x26): undefined reference to `SDL_FreeSurface'
  vp_stages_o_sdl.c:(.text+0x2b): undefined reference to `SDL_Quit'
  /usr/common/bird_repo/cpp/external_ros_pkgs/brown-ros-pkg/experimental/ardrone_brown/lib/libsdk.a(vp_stages_o_sdl.o): In function `vp_stages_output_sdl_stage_open':
  vp_stages_o_sdl.c:(.text+0x54): undefined reference to `SDL_Init'
  /usr/common/bird_repo/cpp/external_ros_pkgs/brown-ros-pkg/experimental/ardrone_brown/lib/libsdk.a(vp_stages_o_sdl.o): In function `thread_escaper':
  vp_stages_o_sdl.c:(.text+0xe4): undefined reference to `SDL_PollEvent'
  /usr/common/bird_repo/cpp/external_ros_pkgs/brown-ros-pkg/experimental/ardrone_brown/lib/libsdk.a(vp_stages_o_sdl.o): In function `vp_stages_output_sdl_stage_transform':
  vp_stages_o_sdl.c:(.text+0x21e): undefined reference to `SDL_SetVideoMode'
  vp_stages_o_sdl.c:(.text+0x229): undefined reference to `SDL_ShowCursor'
  vp_stages_o_sdl.c:(.text+0x23d): undefined reference to `SDL_CreateYUVOverlay'
  vp_stages_o_sdl.c:(.text+0x2cf): undefined reference to `SDL_LockYUVOverlay'
  vp_stages_o_sdl.c:(.text+0x4e9): undefined reference to `SDL_UnlockYUVOverlay'
  vp_stages_o_sdl.c:(.text+0x4fa): undefined reference to `SDL_DisplayYUVOverlay'
  collect2: ld returned 1 exit status
  make[2]: *** [bin/ardrone_driver] Error 1
  make[1]: *** [CMakeFiles/ardrone_driver.dir/all] Error 2


What version of the product are you using? On what operating system?
ros electric on Ubuntu 11.10 64 bit. 

Please provide any additional information below.
On Ubuntu 10.04 the same package compiles without any problems. Whats baffling 
is that libsdl so and .a files are at the same location on both distributions 
(/usr/lib/).

What steps will reproduce the problem?
1. download ar_recog.tar.bz2 from this code repo
2. extract into ROS Hydro workspace
3. run ./getAndBuildARToolkit.py

What is the expected output? What do you see instead?
Expected: compilation successful. Got: bunch of linker warnings about basic gst 
/ glib functions not found (e.g. g_print)


What version of the product are you using? On what operating system?
Ubuntu 13.04 x64, ROS Hydro. Latest codebased as of November 27th, 2013.


SOLUTION:
The problem appears to be due to a change in the process ordering of linked 
libraries. This can be fixed by making a few more patches to ARToolkit's 
Configure script (full python script attached below):

112c112
<         LDFLAG="$GST_LIBS -L/usr/X11R6/lib -L/usr/local/lib"

---
>         LDFLAG="-L/usr/X11R6/lib -L/usr/local/lib"
115c115
<         LIBS="-lpthread -lglut -lGLU -lGL -lXi -lX11 -lm"

---
>         LIBS="-lpthread -lglut -lGLU -lGL -lXi -lX11 -lm $GST_LIBS"

What steps will reproduce the problem?
1. Installation of Ros Virtual Machine
2. launching of "./build_sdk.sh"
3. lauching of "rosmake ardrone_brown"
4. launching of "rosrun ardrone_brown ardrone_driver"

What is the expected output? What do you see instead?
That should launch the achievable of the ardrone_brown package. But I obtain 
that:
[rospack] opendir error [No such file or directory] while crawling 
/home/brownrobot/ros/experimental/pr2-remote-lab
[rospack] opendir error [No such file or directory] while crawling 
/home/brownrobot/ros/stacks/tutorials


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

Please provide any additional information below.
At the beginning, rosmake did'nt work so I modify some access paths in the 
Makefile of the package:
I change "home/aka1/pkgs/ardrone_brown" in 
"home/brownrobot/ros/experimental/ardrone_brown". But "rosrun" still don't work.

What steps will reproduce the problem?
1. roscd ardrone_brown; make

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

vp_stages_o_sdl.c:(.text+0x5f): undefined reference to `SDL_PollEvent'
/home/bakui/ros/electric/brown-ros-pkg/ardrone_brown/lib/libsdk.a(vp_stages_o_sd
l.o): In function `vp_stages_output_sdl_stage_open':
vp_stages_o_sdl.c:(.text+0xb4): undefined reference to `SDL_Init'
/home/bakui/ros/electric/brown-ros-pkg/ardrone_brown/lib/libsdk.a(vp_stages_o_sd
l.o): In function `vp_stages_output_sdl_stage_transform':
vp_stages_o_sdl.c:(.text+0x1e1): undefined reference to `SDL_SetVideoMode'
vp_stages_o_sdl.c:(.text+0x1ec): undefined reference to `SDL_ShowCursor'
vp_stages_o_sdl.c:(.text+0x200): undefined reference to `SDL_CreateYUVOverlay'
vp_stages_o_sdl.c:(.text+0x28f): undefined reference to `SDL_LockYUVOverlay'
vp_stages_o_sdl.c:(.text+0x466): undefined reference to `SDL_UnlockYUVOverlay'
vp_stages_o_sdl.c:(.text+0x477): undefined reference to `SDL_DisplayYUVOverlay'
/home/bakui/ros/electric/brown-ros-pkg/ardrone_brown/lib/libsdk.a(vp_stages_o_sd
l.o): In function `vp_stages_output_sdl_stage_close':
vp_stages_o_sdl.c:(.text+0x584): undefined reference to `SDL_ShowCursor'
vp_stages_o_sdl.c:(.text+0x58d): undefined reference to `SDL_FreeYUVOverlay'
vp_stages_o_sdl.c:(.text+0x596): undefined reference to `SDL_FreeSurface'
vp_stages_o_sdl.c:(.text+0x59b): undefined reference to `SDL_Quit'


What version of the product are you using? On what operating system?

Ubuntu 11.10

Please provide any additional information below.

following patch fix the problem

Index: CMakeLists.txt
===================================================================
--- CMakeLists.txt  (revision 2783)
+++ CMakeLists.txt  (working copy)
@@ -32,4 +32,4 @@
 link_directories(${PROJECT_SOURCE_DIR}/lib/)
 include_directories(${SDK} ${SDK}/Soft/Common ${SDK}/Soft/Lib ${SDK}/VP_SDK ${SDK}/VP_SDK/VP_Os/linux)
 rosbuild_add_executable(ardrone_driver src/ardrone_driver.cpp src/video.cpp src/ardrone_sdk.cpp src/teleop_twist.cpp)
-target_link_libraries(ardrone_driver vlib pc_ardrone SDL sdk)
+target_link_libraries(ardrone_driver vlib pc_ardrone sdk SDL)

Header needs to be translated to roslib/Header.

See attached diff for a patch.

What steps will reproduce the problem?
1. build_sdk.sh

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

What version of the product are you using? On what operating system?
Ubuntu precise

Attached is a patch to include the missing dependency.

What steps will reproduce the problem?
1. Get an Ubuntu 10.10 machine with ROS and check out brown-ros-pkg
2. rosmake gscam --rosdep-install

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

Failed to find rosdep libgstreamer-plugins-base0.10-dev for package gscam on 
OS:ubuntu version:10.10
Failed to find rosdep libgstreamer0.10-dev for package gscam on OS:ubuntu 
version:10.10
WARNING: Rosdeps [u'libgstreamer-plugins-base0.10-dev', 
u'libgstreamer0.10-dev'] could not be resolved

What version of the product are you using? On what operating system?

I checked out all of svn/tags/brown-ros-pkg on Ubuntu 10.10

Please provide any additional information below.

If you check out the entire directory, sometimes ROS seems to think it is a 
stack, even though it has no stack.xml.  If a package is in a stack, its 
rosdep.yaml is ignored.  As a workaround, I copied the same rosdep.yaml to the 
root directory of the repo, and made an empty stack.xml with "<stack></stack>". 
 Then rosdep worked again.

Hello, I am using the ScratchROS image and I need to update and have failed to 
download some files, some idea about it? 

I have to use EROS to cross compiling. Anyone know how I could install it?

Regards,

What steps will reproduce the problem?
1. Start rosbridge
2. Open TCP socket connection to rosbridge and don't close it
3. rosbridge wil consume 100% cpu


What version of the product are you using? On what operating system?
Latest checkout on ubuntu 10.04

Please provide any additional information below.
I tried to debug it a little bit and managed to find a workaround, the problem 
and my solution are explained here: 
http://answers.ros.org/question/3766/rosbridge-cpu-usage

I attach the ws.py file with the changes I mentioned in ros answers 

Hello!

In the experimental branch i found the rosbridge_clients folder containing a 
java client for rosbridge. I'm using it successfully on Android. I was 
wondering if there is a way to write an action client using these java files. 
Maybe with a little modification? Does rosbridge support actionlib?

Hello,
I use your create controller package and it is fantastic, the one feature that 
I would like to see implemented is a way to clear the distance and angle sums 
without having to send a tank command. Just a simple service that resets the 
distance and angle counts to 0.

I have implemented it myself, but as soon as I update I'm sure that will break. 
Anyway, thanks for all the hard work. This package has made my life much easier!
Liam

gscam should publish a frame_id in the header of the images. The attached patch 
reads this from a parameter "gscam/frame_id". The default is "/world"

The patch also reads a param called "gscam/camera_parameters_file" for the name 
of the parameters file. The default is "camera_parameters.txt"

Greetings!

Alexis Maldonado
TU-Munich