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2014-07-22 05:43:40 -0600 asked a question Connecting a PR2 in Gazebo with MoveIt

Hi,

I want to control a PR2 robot in Gazebo with MoveIt. I am following this tutorial. The robot itself is launching in Gazebo and I was able to configure the robot in Rviz.

As the tutorial declares itself as slightly outdated I'm not wondering to run in some trouble. Unfortunately the "detailed documentation" is completely gone so your help is very appreciated.

I followed the instructions setting the ROS_PACKAGE_PATH, creating the controllers.yaml, edited the pr2_moveit_controller_manager.launch and created the corresponding launch file. I double and triple checked I haven't messed anything with the paths in the configuration files.

roslaunch pr2_gazebo pr2_empty_world.launch will bring up the simulator with the PR2 robot, but

roslaunch pr2_moveit_generated moveit_planning_execution.launch will launch a broken Rviz window with no robot at all. It reported a global error: Fixed Frame [map] does not exist

I hope anyone can help me out. Thanks in advance

2014-07-21 06:46:46 -0600 commented answer Problems spawning PR2

Thanks. Now I have a PR2 in a gas-station. :)

2014-07-21 06:46:44 -0600 commented answer Problems spawning PR2

Thanks. Now I have a PR2 in a gas-station. :) I am still confused with the second problem. But thanks for the advise.

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2014-07-18 06:11:00 -0600 asked a question Problems spawning PR2

Hi,

I have a problem following the instructions given in this tutorial.

I have a plain vanilla hydro installation and followed the tutorial step by step. I ran in some problems I was able to work around. But spawning the PR2 in the newly created world with the gas-station fails and I cannot find the reason...

My pr2-gasstation.launch looks like this:

<!-- Convert an xacro and put on parameter server -->
<param name="robot_description" command="$(find xacro)/xacro.py $(find pr2_description)/robots/pr2.urdf.xacro" />

<!-- Spawn a robot into Gazebo -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model pr2" />

<launch>
  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find pr2_gazebo)/worlds/pr2.world"/>
    <!-- more default parameters can be changed here -->
  </include>
</launch>

I got this error:

Invalid roslaunch XML syntax: junk after document element: line 5, column 0

I checked if the command of line 2 is working on my machine and discovered after resolving the paths by hand that the .urdf seems to be created in the console. Unfortunately line 5 seems to have still a problem...

I also checked if pr2_empty_world.launch is working and I can confirm that this launches the PR2 in an empty world. However, the other predefined scenarios which comes with the ros-hydro-pr2-common e.g. pr2_table_object.launch does not launch properly resulting in the following error:

Invalid <arg> tag: arg 'gui' has already been declared. 

Arg xml is <arg default="true" name="gui"/>

I checked all the others but the empty world is the only one which actually launches the simulator with the robot.

Any help is very appreciated. Thank you in advance.

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2014-07-01 04:21:12 -0600 answered a question Error building gazebo ros Packages 1.9 from source in Groovy

Even progress is shown I still have some problems:

I was able to clone

ros-simulation/gazebo_ros_pkgs.git
ros-controls/ros_control.git
ros-controls/ros_controllers.git

from the groovy-devel branch.

Unfortunately

ros-controls/control_toolbox.git
ros-controls/realtime_tools.git

are not available in the devel branch and so I cloned it the ordinary way.

As mentioned above, catkin_make reaches now 98% but there seems some problem in the point cloud and camera package:

home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_openni_kinect.cpp:376:3: error: ‘toROSMsg’ is not a member of ‘pcl’

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_depth_camera.cpp:277:7: error: ‘toROSMsg’ is not a member of ‘pcl’

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_depth_camera.cpp:437:3: error: ‘toROSMsg’ is not a member of ‘pcl’

I googled the problem but couldn't find an useful solution.

Thanks for your help!

2014-07-01 04:10:14 -0600 commented answer Error building gazebo ros Packages 1.9 from source in Groovy

Thanks, that was very useful, now catkinmake reaches [100%] Built target gazeboros_bumper

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2014-06-24 04:45:51 -0600 asked a question Error building gazebo ros Packages 1.9 from source in Groovy

On the way to control a PR2 Robot with MoveIt! in Gazebo im following this guide. Due to various reasons Ubuntu Precise with Groovy seems to be the right match for this mission.

In point 6 (Installing GazeboRosPackages) it is recommended to install the Gazebo ros packages. I followed the guide up to 7.2.3 building the gazeborospkgs for Groovy from source as there is no precompiled package for Groovy.

Catkin_make'ing I ran in a couple of issues of missing packages I was able to solve by myself. Unfortunately I now got stuck and don't know where to find a solution. To be honest, I don't understand the cause of the error.

Here is the command line output below. I verified all the mentioned .so-files are present where they belong. Any help is highly appreciated. Thanks!


`elias@Precise-Zeus:~/catkin_ws$ catkin\_make

[...]

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins

In file included from /home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins
src/gazebo_ros_hand_of_god.cpp:43:0:

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h:60:30: error: ‘tf2_ros’ was not declared in this scope

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h:60:45: error: template argument 1 is invalid

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h:61:30: error: ‘tf2_ros’ was not declared in this scope

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h:61:56: error: template argument 1 is invalid

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h:62:30: error: ‘tf2_ros’ was not declared in this scope

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h:62:59: error: template argument 1 is invalid

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp: In member function ‘virtual void gazebo::GazeboRosHandOfGod::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)’:

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp:123:16: error: request for member ‘reset’ in ‘((gazebo::GazeboRosHandOfGod*)this)->gazebo::GazeboRosHandOfGod::tf_buffer_’, which is of non-class type ‘int’

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp:123:26: error: expected type-specifier before ‘tf2_ros’

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp:123:26: error: expected ‘)’ before ‘tf2_ros’

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp:124:18: error: request for member ‘reset’ in ‘((gazebo::GazeboRosHandOfGod*)this)->gazebo::GazeboRosHandOfGod::tf_listener_’, which is of non-class type ‘int’

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp:124:28: error: expected type-specifier before ‘tf2_ros’

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp:124:28: error: expected ‘)’ before ‘tf2_ros’

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp:125:21: error: request for member ‘reset’ in ‘((gazebo::GazeboRosHandOfGod*)this)->gazebo::GazeboRosHandOfGod::tf_broadcaster_’, which is of non-class type ‘int’

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp:125:31: error: expected type-specifier before ‘tf2_ros’

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp:125:31: error: expected ‘)’ before ‘tf2_ros’

/home/elias/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp: In member function ‘virtual void gazebo::GazeboRosHandOfGod ...
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2014-06-02 05:00:30 -0600 answered a question Gazebo 1.9 + ROS Hydro + Moveit-PR2 = Cant control Gazebo with Moveit

I'm also struggling with this problem. Unfortunately, I have to relay on the PR2 robot as it is the main robot in our lab and I have to test my code in the simulator before I have access to the actual robot.

To avoid pitfalls I strictly limited myself to Ubuntu 12.04-4, ROS Groovy with the internal Gazebo simulator and the current MoveIt distribution.

I used the guideline above to get the system running but unfortunately, many of the tutorials are broken or restricted to Hydro.

If someone has a working system controlling a PR2 in Gazebo with MoveIt I would really love to learn more about how to setup the environment.

Thanks!

2014-06-02 04:42:58 -0600 asked a question TGA file not found importnig .dae file

Hi,

I'm currently learning my first steps in building my own environment in gazebo 1.9. I aggregated some Collada models from the internet and managed to implement these models in my .world.

The models do appear in the scenery but unfortunately the texture is missing. The console output gives me an error "Unable to find texture..." when it is looking for the .tga texture file.

I triple checked that there is a .tga in the directory. I tried it with two different models, too. Unfortunately the error persists...

Any ideas what might be wrong?