ros | 易学教程

如何找bug

阅读更多关于如何找bug

将发送端sleep时间定为0，即sleep(0). 事例率也在700Hz持续3分钟后降为0.查看log文件： 1. SFI 的log文件： WARNING 2017-Feb-08 15:39:55 [DC::StatusWord EventAssembly::EventCompleted(...) at SFI/src/EventAssembly.cxx:480] Problem with the flow of data: Event with LVL1ID 130745 misses 1 data fragment(s) from: ROS-Eth-07, WARNING 2017-Feb-08 15:39:55 [DC::StatusWord EventAssembly::EventCompleted(...) at SFI/src/EventAssembly.cxx:480] Problem with the flow of data: Event with LVL1ID 130749 misses 1 data fragment(s) from: ROS-Eth-07, WARNING 2017-Feb-08 15:39:55 [DC::StatusWord EventAssembly::EventCompleted(...) at SFI/src

ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so: undefined symbol: PyCObject_Type

阅读更多关于 ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so: undefined symbol: PyCObject_Type

Anaconda 安装opencv和Ros的opencv冲突问题，报错： ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so: undefined symbol: PyCObject_Type 解决方法参考以下链接： https://blog.csdn.net/qq_34544129/article/details/81946494 来源： CSDN 作者： fzu_zhengbinchen 链接： https://blog.csdn.net/qq_26894673/article/details/104008211

How to launch a node with a parameter in ROS2?

阅读更多关于 How to launch a node with a parameter in ROS2?

问题 Migrating ros1 package to ros2 and couldn't figure how to launch with a paramter in ros2. With ros1 I have a launch file that refers to a config file and from cpp code I use node.getParam launch file: <launch> <arg name="node_name" default="collector" /> <arg name="config_file" default="" /> <node name="$(arg node_name)" pkg="collector" type="collector" respawn="true"> <rosparam if="$(eval config_file!='')" command="load" file="$(arg config_file)"/> </node> </launch> config file: my_param: 5

ros学习指南

阅读更多关于 ros学习指南

Turtlebot https://blog.csdn.net/hongliang2009/article/details/73274966 http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation https://github.com/lazyparser/weloveinterns/wiki/ros-checklist 学习 http://wiki.ros.org/turtlebot/Tutorials/indigo http://edu.gaitech.hk/turtlebot/speech-doc.html 导航自主导航 http://wiki.ros.org/turtlebot_navigation/Tutorials/indigo/Autonomously%20navigate%20in%20a%20known%20map 跟随 http://wiki.ros.org/turtlebot_follower/Tutorials/Demo 修改地图参数 http://wiki.ros.org/turtlebot_stage/Tutorials/indigo/Customizing%20the%20Stage%20Simulator gazebo： http://wiki.ros.org

ros机器人之小乌龟仿真－路径记录

阅读更多关于 ros机器人之小乌龟仿真－路径记录

------------恢复内容开始------------ 通过自己不断地摸索，对ros系统有了一定的了解，首先装系统，这一过程中也遇到了很多问题，但通过不断地尝试，经过一天一夜的倒腾，总算是把系统给安装好了，接下来配置环境，虽然这个过程比较艰辛，总是出现编译出错或者没有功能包依赖等各种问题。但是通过我们的努力，都一点一点的解决了，我会再接再厉，１．首先运行个小乌龟例程：　　打开一个终端： roscore 　　　　　　　　#运行ros环境　　打开一个终端： rosrun turtlesim turtlesim_node 　　　　　　 #运行小乌龟仿真器节点，打开小乌龟运行场景　　打开一个终端：rosrun turtlesim turtle_teleop_key 　　　　　　　　　 #运行键盘控制节点，通过方向键控制小乌龟的运动２.通过话题给小乌龟发送消息让小乌龟定向运动命令如下 qqtsj  ~  rostopic pub /turtle1/cmd_vel geometry_msgs/Twist "linear: x: 3.0 y: 0.0 z: 2.0 angular: x: 0.0 y: 0.0 z: 0.0" publishing and latching message. Press ctrl-C to terminate

ROS publishing array from python node

阅读更多关于 ROS publishing array from python node

问题 I'm new to ros+python and i'm trying to publish a 1-D array from python ros node. I used Int32MultiArray but i cant understand the concept of layout in multiarray. Can anyone explain it to me? or is there any other way of publishing an array ? Thanks. #!/usr/bin/env python import roslib roslib.load_manifest('test_drone') import numpy import rospy import sys import serial from std_msgs.msg import String,Int32,Int32MultiArray,MultiArrayLayout,MultiArrayDimension from rospy.numpy_msg import

ROS节点

阅读更多关于 ROS节点

ROS节点介绍在ROS的世界里，最小的进程单元就是节点（node）一个软件包里可以有多个可执行文件，可执行文件在运行之后就成了一个进程(process)，这个进程在ROS中就叫做节点从程序角度来说，node就是一个可执行文件（通常为C++编译生成的可执行文件、Python脚本）被执行，加载到了内存之中从功能角度来说，通常一个node负责者机器人的某一个单独的功能。由于机器人的功能模块非常复杂，我们往往不会把所有功能都集中到一个node上，而会采用分布式的方式，把鸡蛋放到不同的篮子里例如有一个node来控制底盘轮子的运动，有一个node驱动摄像头获取图像，有一个node驱动激光雷达，有一个node根据传感器信息进行路径规划，这样做可以降低程序发生崩溃的可能性，试想一下如果把所有功能都写到一个程序中，模块间的通信、异常处理将会很麻烦。主节点由于机器人的元器件很多，功能庞大，因此实际运行时往往会运行众多的node，负责感知世界、控制运动、决策和计算等功能。那么如何合理的进行调配、管理这些node？这就要利用ROS提供给我们的节点管master ,master在整个网络通信架构里相当于管理中心，管理着各个node node首先master处进行注册，之后master会将该node纳入整个ROS程序中 node之间的通信也是先由master进行“牵线”

How can I embed another software in my qt window in Linux?

阅读更多关于 How can I embed another software in my qt window in Linux?

问题 I would like to create a GUI using pyqt5 and qt designer for a robot controlling system in Ubuntu. This GUI should have two QTabWidget. Tab1 is for the setting of the parameters and some other functions. Tab2 is to embed a software "rviz", which is a software in ROS to see the model of a robot (We can run it by typing "$ rosrun rviz rviz" in terminal). When I run this GUI script, the rviz should also be run in the Tab2. The expected outcome please see the following pictures. Tab1 Tab2 Tab1 is

ROS time stamp and sync

阅读更多关于 ROS time stamp and sync

1. https://answers.ros.org/question/189867/what-is-the-timestamp/ In ROS messages timestamp is taken from your system, which is unix epoch time . Check Unix epoch time here. For synchronisation look message_filters Documentaiton of the datatypes are at: http://wiki.ros.org/rospy/Overview/Time and http://wiki.ros.org/rospy/Overview/Time link Comments Also, if the workstation and the device are significantly off, you can sync the two with chrony . Just mentioning because it took me too long to figure out... 2. The Unix epoch (or Unix time or POSIX time or Unix timestamp ) is the number of

“cv2.imdecode(numpyArray, cv2.CV_LOAD_IMAGE_COLOR)” returns None

阅读更多关于 “cv2.imdecode(numpyArray, cv2.CV_LOAD_IMAGE_COLOR)” returns None

问题 I'm trying to convert an image into Opencv (into numpy array) and use the array to publish the message over a ROS node. I tried doing the same through the following code fig.canvas.draw() nparr = np.fromstring ( fig.canvas.tostring_argb(), np.uint8 ) print nparr img_np = cv2.imdecode(nparr, cv2.CV_LOAD_IMAGE_COLOR) print img_np image_message = bridge.cv2_to_imgmsg(img_np, encoding="passthrough") pub.publish(image_message) But, when I tried doing this I get an error message AttributeError: