Hello,
I have an application where I have a camera attached to the end of a 5-DOF robot arm (X, Y, Z, yaw, pitch). The robot arm is moving the camera around a fixed object (0,0,0) for inspection purposes. Given the position and orientation of the camera, is it possible to detect what the the camera is seeing? For example, I would like to know whether the camera is looking at the object, and if so, determine the world coordinates of the object the camera is looking at.
Given the known camera axis (position/orientation), is it possible to extend a line along the +x-axis and see where it hits the fixed object (if it all)?
Thanks
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Simulated raytracing in rviz or gazebo
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Rviz is not loading
When running commands for Rviz I am not getting any output on the terminal and Rviz gui is not loading. I am running Indigo.
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Simulated raytracing in rviz or Gazebo?
Hello,
I have an application where I have a camera attached to the end of a 5-DOF robot arm (X, Y, Z, yaw, pitch). The robot arm is moving the camera around a fixed object (0,0,0) for inspection purposes. Given the position and orientation of the camera, is it possible to detect what the the camera is seeing? For example, I would like to know whether the camera is looking at the object, and if so, determine the world coordinates of the object the camera is looking at.
Given the known camera axis (position/orientation), is it possible to extend a line along the +x-axis and see where it hits the fixed object (if it all)?
Thanks
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rviz view_robot extreme slowdown
I am trying to understand the reason for an extreme slowdown in visualization of the turtlebot view.
I am very new to ROS. I have a recently assembled turtlebot that I can tele-operate. It took me some time to figure out how to launch its 3d camera (Orbbec Astra); I only managed to do it by installing astra_camera and astra_launch packages. I am now trying to visualize what the robot sees using rviz. After launching the camera on the robot (roslaunch astra_launch astra.launch) I launch rviz on the workstation: roslaunch turtlebot_rviz_launchers view_robot.launch.
The problem is that visualization works extremely slow. I only tried Image and DepthCloud. Visualization starts with just a few frames per second, quickly degrading to less than a frame per second, then freezing. Occasionally unfreezing to show a few frames, then freezing again. DepthCloud is probably even worse than Image.
It seems to me there is some problem in communication between the workstation and turtlebot. I observed what happens to ping readings when I use rviz. When there is no stream of data (Image and DepthCloud are unchecked in rviz), everything is fine, ping time is in order of milliseconds, and I have no problem tele-operating the robot. When I turn on the data stream (check Image or DepthCloud), ping time quickly climbs to hundreds or thousands of milliseconds, rviz shows something, then freezes for sometime, like I described above. At this point I either cannot control the bot via teleop, or there is a lag of up to many seconds. If I interrupt the data stream by unchecking corresponding boxes in rviz, everything comes back to normal and I can teleop again.
Can somebody help me understand this behavior and how it can be fixed? I have ubuntu 14.04, ROS-indigo. The turtlebot is new, and the workstation is not very old.
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I can not convert from 2d to 3d using urg -04-lx laser scanner
Hi,
I have a 2d urg-04-lx laser scanner and ubuntu 16.04 and ı am using ros kinetic . I want to convert from 2d to 3d using this laser scanner on Rviz but unfortunatelly ı don't have enough information about ros and this laser scanner . please help me how to make .
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Dynamic texturing on a mesh(actually a 3D model in .dae format)using rviz??
Hi ,
I am trying to do **dynamic texturing** on a specific region of interest of a mesh file (in .dae or .stl format).
so far I found two rviz plugins:
(https://github.com/lucasw/rviz_textured_quads)
(https://github.com/lucasw/vigir_ocs_common/blob/master/vigir_ocs_rviz_plugins/mesh_display_custom_plugin_description.xml)
but I am doubtful that either of these methods will texture wrap a 3D model, they are mostly concerned with texturing a plane in 3D. Can any one help me in this regard?
Thanks
..
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rviz symbol lookup error
I am trying to run rviz on kinetic. while running **$ rosrun rviz rviz**, I get the error:
**"/opt/ros/kinetic/lib/rviz/rviz: symbol lookup error: /opt/ros/kinetic/lib/librviz.so: undefined symbol: _ZNK9QTreeView16viewportSizeHintEv"**.
I tried **"dist-upgrade"** and remaking my catkin workspace but neither solved the problem. What might be the source of this issue?
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rviz: cube_list cubes do not disappear
I'm using a cube list. The cubes are displayed correctly they however never disappear. I tried setting the lifetime but this had no effect. How can I fix this?
For code see below:
ros::Rate loop_rate(50);
visualization_msgs::MarkerArray obj_marker_array;
visualization_msgs::Marker obj_marker;
obj_marker.type = visualization_msgs::Marker::CUBE_LIST;
obj_marker.action = visualization_msgs::Marker::ADD;
obj_marker.ns = "cubes";
obj_marker.scale.x = 1;
obj_marker.scale.y = 1;
obj_marker.scale.z = 1;
obj_marker.header.frame_id = "/map"; // shoudl become wepod_base or the like
obj_marker.color.a = 1.0; // Don't forget to set the alpha!
obj_marker.color.r = 1.0;
obj_marker.id = 0;
ros::Duration lifetime;
obj_marker.lifetime = lifetime.fromSec(0.04); // lifetime of 40ms : 25Hz
while(ros::ok())
{
for (int i=o; i
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Rviz Client md5sum Error
I am running Ubuntu 14.04 and indigo on my host computer. I want to visualize some rviz visualization markers on my remote laptop. However, I cannot install Ubuntu 14.04 on my laptop since some hardware problems (too new?kabylake). So I installed Ubuntu 16.04 and kinetic instead. However, when I subscribe to the same topic, I get this error:
[ERROR]: Client [/rviz_1493900002586455363] wants topic /prm_graph to have datatype/md5sum [visualization_msgs/Marker/4048c9de2a16f4ae8e0538085ebf1b97], but our version has [visualization_msgs/Marker/18326976df9d29249efc939e00342cde]. Dropping connection.
I checked that the message type both are "visualization_msgs/Marker". The only difference is those numbers and letters. Any idea why this is happening? I guess it is because the ROS version is different.
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Rviz not showing octomap from converting .dae mesh to .bt
Hello,
I am trying to convert a static Collada (.dae) mesh into an `octomap_msgs::Octomap`. This [link](https://github.com/OctoMap/octomap/wiki/Importing-Data-into-OctoMap) was provided to me for assistance. Here are the steps I took:
1) Used `meshlab` to export mesh.dae into mesh.stl.
2) Used binvox to convert mesh.stl into mesh.binvoz. `./binvox /path/to/mesh/mesh.stl`
3) Used binvox2b to convert mesh.binvox into - mesh.binvox.bt. `./binvox2bt --mark-free /path/to/mesh/mesh.binvox`
4) Confirmed I could see Octomap using [Octovis](http://wiki.ros.org/octovis). `octovis /path/to/mesh/mesh.binvox.bt`
I then tried using the following ROS C++ code to display the Octomap in Rviz using octomap_rviz_plugins->OccupancyGrid.
#include
#include
#include
#include
#include
int main(int argc, char** argv)
{
ros::init(argc, argv, "octomap_read");
ros::AsyncSpinner spinner(1);
spinner.start();
ros::NodeHandle nh;
ros::Publisher octomap_publisher = nh.advertise("octomap",1);
octomap::OcTree* octree = new octomap::OcTree("/path/to/mesh/mesh.binvox.bt");
octomap_msgs::Octomap bmap_msg;
octomap_msgs::binaryMapToMsg(*octree, bmap_msg);
bmap_msg.header.seq = 0;
bmap_msg.header.stamp = ros::Time::now();
bmap_msg.header.frame_id = "base_link";
octomap_publisher.publish(bmap_msg);
while(octomap_publisher.getNumSubscribers() < 1)
{
ROS_WARN("Waiting for Subscribers");
ros::Duration(1.0).sleep();
}
ros::shutdown();
return 0;
}
However, when running the code, nothing happens and the status stays at `0 binary octomap messages received`. If I change the octomap file to an Octomap from [OctoMap 3D scan dataset](http://ais.informatik.uni-freiburg.de/projects/datasets/octomap/), it works just fine and shows up. I tried examining both `octomap_msgs::OctoMap` and they are nearly identical. The only difference is the Resolution and octomap.resolution and octomap.data.size().
What could be going wrong with my Octomap I am creating from a Collada mesh if I can see it using `Octovis` but not inside of Rviz?
Thanks
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No tf data.Fixed Frame my_frame does not exist
Hi, I'm following the rviz tutorial basic shapes.
I change the cpp file and set both fixed and target frame to "my_frame" not "/my_frame" because when i typed it automatically change to "my_frame".
But when i star rivz, it still said Fixed Frame my_frame does not exist. is there something i missed? thank you.
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How to import 3D Model COLLADA (.dae) file to RVIZ
Hello,
I am new to ROS and I am having problems importing a 3D Model of a formula car (COLLADA file) i got from 3D warehouse to RVIZ. This is the COLLADA file:
[FILE](https://3dwarehouse.sketchup.com/model/bc6d79537b6d5a21210da567d50ade76/Formula-Student-Stuttgart)
This is my code. It is working for a simple cube as marker. Now I wanted to change the cube to this formula car using the marker type "visualization_msgs::Marker::MESH_RESOURCE"
visualization_msgs::Marker marker;
marker.header.frame_id = "/my_frame";
marker.header.stamp = ros::Time::now();
marker.ns = "dart";
marker.id = k+current_cone_pos.left.x.size()+current_cone_pos.right.x.size()+1;
marker.type = visualization_msgs::Marker::MESH_RESOURCE;
marker.action = visualization_msgs::Marker::ADD;
marker.mesh_resource = "file://models/v1-01/model.dae";
marker.pose.position.x = 0;
marker.pose.position.y = 0;
marker.pose.position.z = 0;
marker.pose.orientation.x = 0.0;
marker.pose.orientation.y = 0.0;
marker.pose.orientation.z = 0.0;
marker.pose.orientation.w = 1.0;
marker.scale.x = 0.1;
marker.scale.y = 0.5;
marker.scale.z = 0.5;
marker.color.b = 0.0f;
marker.color.g = 0.0f;
marker.color.r = 1.0; // oder 1.0f?
marker.color.a = 1.0;
marker.lifetime = ros::Duration();
visualizer_.publish(marker);
The error that i get using "rosrun rviz rviz" while running my C++ Node is:
Could not load resource [file://models/v1-01/model.dae]: Unable to open file "file://models/v1-01/model.dae".
Thank you guys for your support!
Greetings,
Alex
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Error in rviz tf2 tutorial
In the tf2 tutorial the following line is incorrect:
sudo apt-get install ros-$ROS_DISTRO-turtle-tf2 ros-$ROS_DISTRO-turtle-tf2-tools ros-$ROS_DISTRO-tf
because `ros-lunar-turtle-tf2-tools` doesn't exist, but `ros-lunar-tf2-tools` does. Just a naming error. So it should be:
sudo apt-get install ros-$ROS_DISTRO-turtle-tf2 ros-$ROS_DISTRO-tf2-tools ros-$ROS_DISTRO-tf
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How to use polygon markers to add it as a obstacle layer in rviz?
There are tutorials on using the publish point tool and marker display in RVIZ but I am not able to connect these two things together to add a polygon marker and treat it as an obstacle.
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when i study the rviz:Markers: Sending Basic Shapes (C++), i come across some problem: when i run this order: rosrun using_markers basic_shapes, it told me that "Please create a subscriber to the marker",so how to solve this problem?
1.my rosdistro: indigo; my ros workspace is catkin.
2.my tutorial:[link text](http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Basic%20Shapes)
3.and then when i run :rosrun rviz rviz, it come up with nothing in my rviz, like this picture:no fixed frame, no shape on the plane.
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sharing rviz data through network
I'm using Ubuntu 16.04 on my Surface Pro and I'm trying to share my ROS rviz data through network to another machine that doesn't have ROS or Ubuntu. any idea on how to do this?
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sharing rviz data through network
I'm using Ubuntu 16.04 on my Surface Pro and I'm trying to share my ROS rviz data through network to another machine that doesn't have ROS or Ubuntu. any idea on how to do this?
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MoveIt Tutorial rviz does not start
Hi guys,
I try to move the robot Sawyer from rethinkrobotics to a given point. My base program for this is [here](http://sdk.rethinkrobotics.com/intera/IK_Service_Example).
Because it doesn't work well just typing in coordinates I want to try to simulate the movement or at least read out the joint positions with rviz. Therefor I completed the [MoveIt tutorial from rethinkrobotics](http://sdk.rethinkrobotics.com/intera/MoveIt_Tutorial) and now I try to apply the [python tutorial](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/scripts/doc/move_group_python_interface_tutorial.html) to reach my goal.
Right now I am trying to get the first lines of code from the given example working (just to "printing robot state") but rviz won't start. The output in the console seems to be like it should be, the action server is up and running and rviz works fine if I start it manually by
> $ roslaunch sawyer_moveit_config sawyer_moveit.launch
So I leave that console window open and start the example which should start rviz, but nothing happens. Any ideas?
Here's the part of the code example I want to work (cleaned it a bit):
#!/usr/bin/env python
################### CORRECT STARTUP ###################
# $ rosrun file.py joint_states:=/robot/joint_states
#######################################################
#######################################################
## BEGIN_SUB_TUTORIAL imports
##
## To use the python interface to move_group, import the moveit_commander
## module. We also import rospy and some messages that we will use.
import sys
import copy
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
## END_SUB_TUTORIAL
from std_msgs.msg import String
def move_group_python_interface_tutorial():
## BEGIN_TUTORIAL
##
## Setup
## ^^^^^
## CALL_SUB_TUTORIAL imports
##
## First initialize moveit_commander and rospy.
print "============ Starting tutorial setup"
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('move_group_python_interface_tutorial',
anonymous=True)
## Instantiate a RobotCommander object. This object is an interface to
## the robot as a whole.
robot = moveit_commander.RobotCommander()
## Instantiate a PlanningSceneInterface object. This object is an interface
## to the world surrounding the robot.
scene = moveit_commander.PlanningSceneInterface()
## Instantiate a MoveGroupCommander object. This object is an interface
## to one group of joints. In this case the group is the joints in the left
## arm. This interface can be used to plan and execute motions on the left
## arm.
group = moveit_commander.MoveGroupCommander("right_arm")
## We create this DisplayTrajectory publisher which is used below to publish
## trajectories for RVIZ to visualize.
display_trajectory_publisher = rospy.Publisher(
'/move_group/display_planned_path',
moveit_msgs.msg.DisplayTrajectory,
queue_size=20)
## Wait for RVIZ to initialize. This sleep is ONLY to allow Rviz to come up.
print "============ Waiting for RVIZ..."
rospy.sleep(10)
print "============ Starting tutorial "
## Getting Basic Information
## ^^^^^^^^^^^^^^^^^^^^^^^^^
##
## We can get the name of the reference frame for this robot
print "============ Reference frame: %s" % group.get_planning_frame()
## We can also print the name of the end-effector link for this group
print "============ Reference frame: %s" % group.get_end_effector_link()
## We can get a list of all the groups in the robot
print "============ Robot Groups:"
print robot.get_group_names()
## Sometimes for debugging it is useful to print the entire state of the
## robot.
print "============ Printing robot state"
print robot.get_current_state()
print "============"
## When finished shut down moveit_commander.
moveit_commander.roscpp_shutdown()
## END_TUTORIAL
print "============ STOPPING"
if __name__=='__main__':
try:
move_group_python_interface_tutorial()
except rospy.ROSInterruptException:
pass
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RViz Motion Planner GUI explanation?
Is there a documentation of the RViz GUI where it's explained what the parameters do?
I only find tutorials where it doesn't say anything about the workspace parameters (center and size). What are they for?
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RViz move Interactive Marker to other joint
Hey there, I am new to RViz and wondering if it's possible to move the interactive marker from the TCP to another joint. I use Sawyer from rethinkrobotics and I wanna move the arm dependent of the camera on it's wrist joint. Or do I have to code a new marker for this?
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