Hello,
I am trying to use `hector_uav_msgs/Altimeter` for barometer sensor data publishing, but I cant figure out what does `qnh` attribute stand for? Is it possible it's pressure difference?
I understand this is a RTFM-like question, but I can't find any documentation regarding this stack. Any links to documentation would be greatly appreciated.
Thanks in advance
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What does qnh attribute stands for in hector_uav_msgs/Altimeter?
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using and communicating between multiple quadrotors (usign hector_quadrotor)
Hi all,
I am doing a project which simulates multiple UAVs going around a specified area (the project I am working on is a flooded area for search and rescue) sending an image stream back to the user. I am currently familiarizing myself with using the hector_quadrotor package (which is quite a challenge given that I have never used neither ros nor gazebo before). Now I am trying to find out how to spawn multiple UAVs (ideally from the same terminal) and how to communicate between the robots for collision avoidance whilst going around the entire area. Could someone kindly give me a few pointers on how this can be achieved efficiently using ROS?
Thanks a lot in advance,
JP
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↧
Hector pose estimation works, but only orientation and altitude is estimated
Hello,
I am trying to use hector_pose_estimation package for a real quadcopter. I have published information from IMU, barometer using `sensor_msgs/Imu`, `hector_uav_msgs/Altimeter` and pressure height messages using `geometry_msgs/PointStamped` message (just like `hector_quadrotor` package does in simulator).
When I visualise pose estimate using `rviz` I see changes in orientation and height, but it doesn't move sideways, it's stuck in center and only height and orientation changes.
Am I missing something out or `hector_pose_estimation` package doesn't calculate movement on XY axes? Using this package with simulator works fine, but with my real data from sensors - pose stuck in center.
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Tf has two or more unconnected trees
Hi,
I am new to ROS and I am trying to run the indoor example of the hector_quadrotor packadge. I followed the instructions ,ran the launch file (indoor_slam_gazebo.launch) and rviz and gazebo windows appeared. The problem is that rviz shows errors in the laserscan, map and robot model all of which are related to not having a transform and having two unconnected trees. I made an image of the tf tree and this showed two seperate trees: a world tree and a base_link tree.
How can I fix this?
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Hector_quadrotor doesn't respond to "rostopic pub" command
Hi Everyone,
I installed the hector_quadrotor package from source then I ran "roslaunch hector_quadrotor_demo indoor_slam_gazebo"
Finally, I tried to input command velocity using the "rostopic pub" but the quadrotor doesn't respond to the command velocity. I verified via "rqt_graph" that gazebo is connected to the correct topic (/cmd_vel ) and via "rostopic echo /cmd_vel" that data is published to the right topic.
I am using 1.9Gazebo&Gazebo-ROS-packs and hydro ROS installed from binaries for this simulation.
Thank you for any help with this issue
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↧
hector sonar
I want to know if libhector_gazebo_sonar works with only one array of Ray data in it field of view. I am testing the sonar right now but the lectures are very bad. If the object is inside the range and inside the field of view, over the mid of the field of view the range becomes the max range without detecting any object. I need detect all objects in the field of view because I want to know where I have to put my sensors.
I upload some images to explain better the case.
http://s15.postimage.org/k1gsg4k6j/sonarwrong_c.png
http://postimage.org/image/p04aunnzb/
4 images:
The first the sonar sensor works very well.
The second: only a little up the sensor doesn't detect anything.
The third and forth the same case but another perspective.
The field of view in libhector_gazebo_ros_sonar is calculate in this line of code:
range_.field_of_view = std::min(fabs((sensor_->GetAngleMax() - sensor_->GetAngleMin()).GetAsRadian()), fabs((sensor_->GetVerticalAngleMax() - sensor_->GetVerticalAngleMin().GetAsRadian()).GetAsRadian()));
I notice GetVerticalAngleMax() don't have the method .GetAsRadian() as angle min has. I don't know if this is the bug.
range_.field_of_view = std::min(fabs((sensor_->GetAngleMax() - sensor_->GetAngleMin()).GetAsRadian()), fabs((sensor_->GetVerticalAngleMax() - sensor_->GetVerticalAngleMin()).GetAsRadian()));
Any Ideas?
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Hector Quadrotor Control Question
Hi
I launched hector quadrotor outdoor flight mode with gazebo running, but I don't know how to control it.\
I followed the hector_quadrotor tutorial , to run "hector_quadrotor_teleop/xbox_controller.launch" to control it. And it shows the error as below :
> core service [/rosout] found> ERROR: cannot launch node of type> [joy/joy_node]: joy ROS path> [0]=/opt/ros/hydro/share/ros ROS path> [1]=/home/glen/hector_quadrotor_tutorial/src> ROS path [2]=/opt/ros/hydro/share ROS> path [3]=/opt/ros/hydro/stacks> process[quadrotor_teleop-2]: started with pid [11000]
I'm not sure what's the problem.
I also tried two packages: joystick and pr2_teleop.
I can't install joystick that when I run "rosdep install joy", it shows:
> ERROR: Rosdep cannot find all required resources to answer your query> Missing resource joy> ROS path [0]=/opt/ros/hydro/share/ros> ROS path [1]=/opt/ros/hydro/share ROS> path [2]=/opt/ros/hydro/stacks
"pr2_teleop" is installed but I don't how to use it to control the quadrotor.
Any advice on how to control hector quadrotor or other similar flyer would be helpful.
Thanks
Glen
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Uncontrollable quadrotor_with_asus in Gazebo - hector_quadrotor
Hi there,
I'm trying to get a simulation working with hector_quadrotor, which urdf model is the on with only an Asus Xtion camera. I adapted the pr2_teleop code so to have a altitude control of the quad in the simulation on Gazebo (thorugh twist off course, sending /cmd_vel).
It appears to work good, for example, to the quad with the hokuyo only, but when I spawn **any** quadrotor with asus, giving it a throttle command (which influences the vertical linear vel), it tombs and rolls straight in front, without being able to control it... then it crashes off course. With the hokuyo only, for example, that doesn't happen.
I thought that could be a substantial difference between the to urdf's (by the way, I converted from xacro to urdf using the xacro tool) but the only difference I found is in the sensor being used, of course. Here are propulsion model parameters for both quads:
k_m = -7.01163e-05
k_t = 0.0153369
CT2s = -0.013077
CT1s = -0.00025224
CT0s = 1.53819e-05
Psi = 0.00724218
J_M = 2.57305e-05
R_A = 0.201084
l_m = 0.275
alpha_m = 0.104864
beta_m = 0.549262
and the quadrotor drag model parameters for both quads also:
C_wxy = 0.12
C_wz = 0.1
C_mxy = 0.0741562
C_mz = 0.0506433
Any tips on finding the problem? Thanks in advance!
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'hector_quadrotor' 'TypeError: 'instancemethod' object has no attribute '__geitem__''
Hi
I was running "hector_quadrotor_demo outdoor_flight_gazebo.launch". And I build a publisher "auto_fly", to publish message to control the quadrotor. The code is showed below:
> #!/usr/bin/env python>> import rospy > from geometry_msgs.msg import Twist>> def auto_fly(): pub= rospy.Publisher('/uav/uav2/cmd_vel',Twist,queue_size=10)> rospy.init_node('auto_fly',anonymous=True)> r=rospy.Rate(10) # 10Hz>> while not rospy.is_shutdown():> pub.publish['x=0,y=1,z=0.2' 'x=0,y=0,z=0']> r.sleep(1.0)>> if __name__== '__main__':> try: auto_fly()> except rospy.ROSInterruptException: pass
When I run it, it shows,
> TypeError: 'instancemethod' object has no attribute '__getitem__'
What does this error mean and how to fix it?
Thanks a lot
Glen
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↧
Package installation error..
Hi,
I just followed the instructions (Installation Instructions for Hydro in OSX) and successfully (with some tweaks) installed desktop_full. However, I got the following error when I added the hector_quadrotor packages:
==> Processing catkin package: 'hector_quadrotor_model'
==> Building with env: '/Volumes/Data/ZProjects/ROS/catkin_ws/install_isolated/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/Volumes/Data/ZProjects/ROS/catkin_ws/build_isolated/hector_quadrotor_model'
==> make -j2 -l2 in '/Volumes/Data/ZProjects/ROS/catkin_ws/build_isolated/hector_quadrotor_model'
Scanning dependencies of target hector_quadrotor_aerodynamics
[ 50%] Building CXX object CMakeFiles/hector_quadrotor_aerodynamics.dir/src/quadrotor_aerodynamics.cpp.o
Linking CXX shared library /Volumes/Data/ZProjects/ROS/catkin_ws/devel_isolated/hector_quadrotor_model/lib/libhector_quadrotor_aerodynamics.dylib
Undefined symbols for architecture x86_64:
"boost::system::system_category()", referenced from:
___cxx_global_var_init11 in quadrotor_aerodynamics.cpp.o
boost::thread_exception::thread_exception(int, char const*) in quadrotor_aerodynamics.cpp.o
"boost::system::generic_category()", referenced from:
___cxx_global_var_init9 in quadrotor_aerodynamics.cpp.o
___cxx_global_var_init10 in quadrotor_aerodynamics.cpp.o
"ros::NodeHandle::getParam(std::__1::basic_string, std::__1::allocator> const&, double&) const", referenced from:
hector_quadrotor_model::QuadrotorAerodynamics::configure(ros::NodeHandle const&) in quadrotor_aerodynamics.cpp.o
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Volumes/Data/ZProjects/ROS/catkin_ws/devel_isolated/hector_quadrotor_model/lib/libhector_quadrotor_aerodynamics.dylib] Error 1
make[1]: *** [CMakeFiles/hector_quadrotor_aerodynamics.dir/all] Error 2
make: *** [all] Error 2
make: INTERNAL: Exiting with 3 jobserver tokens available; should be 2!<== Failed to process package 'hector_quadrotor_model':
Command '/Volumes/Data/ZProjects/ROS/catkin_ws/install_isolated/env.sh make -j2 -l2' returned non-zero exit status 2
Reproduce this error by running:
==> cd /Volumes/Data/ZProjects/ROS/catkin_ws/build_isolated/hector_quadrotor_model && /Volumes/Data/ZProjects/ROS/catkin_ws/install_isolated/env.sh make -j2 -l2
Command failed, exiting.
Any help to fix this is greatly appreciated. I'm on a Macbook Pro, running Mac OS X Mavericks 10.9.4.
--Rasit
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Set node parameter in launch file
Hi
I was trying to run a node through launch file and set its node parameter. The correspond launch file code:
When I start the launch file, the node just didn't receive parameter values.
In my node files,
ros::init(argc, argv, "uav1_pathplan");
ros::NodeHandle n;
destination[1]=ref.x;
destination[2]=ref.y;
destination[3]=ref.z;
I just want the node can read "ref" to "destination[]". Then I can do further calculation.
I'm not sure what's wrong.
Any advice appreciated.
Glen
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Segmentation fault in publishing array message
Hi
I'm trying to publish polygonal position as message. The publisher is make correct but "segmentation error" shows when I rosrun the publisher, saying "Segmentation fault (core dumped)".
int main(int argc,char** argv)
{
ros::init(argc, argv, "line_formation");
ros::NodeHandle na;
geometry_msgs::Polygon destination;
ros::Subscriber sub= na.subscribe("/joy",1,joyCallback);
ros::Publisher pub= na.advertise("uav_positions",10);
ros::Rate loop_rate(2);
while (ros::ok)
{
central_x +=array[4];
central_y +=-array[3];
central_z +=array[1];
destination.points[0].x=central_x;
destination.points[0].y=central_y;
destination.points[0].z=central_z;
pub.publish(destination);
ros::spinOnce();
loop_rate.sleep();
}
}
As it shows, I use message "geometry_msgs/Polygon". It seems its caused by publishing array. If I publish single point message as "geometry_msgs/Point", it works. But I need to publish several points. So I have to publish array.
Any idea how to solve it or other ways to publish several points position?
Thanks
Glen
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Frame/TF issues with a quadrotor and MoveIt
Hi all,
I am trying to do 3D navigation using a quadrotor and moveit, using mavros as an interface. I am using hector_quadrotor_urdf as my robot description for MoveIt. I just had a couple of questions about the whole ROS pipeline, it would be great if someone can provide a few inputs.
1. I have a fixed frame called /world to which /base_link is attached (floating). The mavros messages are under the fixed frame /fcu. Would publishing a tf between /base_link and /fcu suffice to introduce this data (IMU etc.) into /world?
2. If I use hector_quadrotor in simulation, the robot position is published through gazebo ground truth data. With the real MAV, mavros returns a sensor_msgs/IMU and a geometry_msgs/PoseStamped message that deal with the robot position. Is there a good way of integrating this into moveit? Because for now, the robot always faces forward and the occupancy map is updated only directly in front of the robot wherever it is moved.
Thank you,
Sai
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Problem when compiling hector_quadrotor
I used the source code method to build the "Quadrotor outdoor flight demo" as the ros-hydro-hector-quadrotor-demo cannot be located. However, I cannot proceed with installation as I always encountered the following error message when doing "catkin_make", as shown in the following. The OS I am using is Ubuntu 14.04 and ROS Indigo.
viki@c3po:~hector_quadrotor_tutorial$ catkin_make
........
........
-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'hector_geotiff_plugins'
-- ==> add_subdirectory(hector_slam/hector_geotiff_plugins)
-- Using these message generators: gencpp;genlisp;genpy
-- +++ processing catkin package: 'hector_marker_drawing'
-- ==> add_subdirectory(hector_slam/hector_marker_drawing)
-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'hector_quadrotor_controller'
-- ==> add_subdirectory(hector_quadrotor/hector_quadrotor_controller)
-- Using these message generators: gencpp;genlisp;genpy
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a package configuration file provided by
"hardware_interface" with any of the following names:
hardware_interfaceConfig.cmake
hardware_interface-config.cmake
Add the installation prefix of "hardware_interface" to CMAKE_PREFIX_PATH or
set "hardware_interface_DIR" to a directory containing one of the above
files. If "hardware_interface" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
hector_quadrotor/hector_quadrotor_controller/CMakeLists.txt:7 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/viki/hector_quadrotor_tutorial/build/CMakeFiles/CMakeOutput.log".
See also "/home/viki/hector_quadrotor_tutorial/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
...
Could you help fix this? Thanks.
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Adding two robots in gazebo tfs problem and urdf files
I want to add two robots in gazebo.
The first robot is a quadrotor from hector package
the second robot is husky
I used apt-get to download both of then except the husky_description. I used git clone "link"
I changed in the mesh file of the husky.
My launch file is the following:
freq: 10.0
sensor_timeout: 1.0
publish_tf: true
odom_used: true
vo_used: true
output_frame: /world
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build hector_quadrotor in fedora 18
hello ROS es ..
I want to build an run hector_quadrotor stack and its [slam indoor demo] (http://wiki.ros.org/hector_quadrotor/Tutorials/Quadrotor%20indoor%20SLAM%20demo)
in Fedora .. I know that ros is more compatible with ubuntu .. I build ROS from source ..and now want to make hector as mentioned link , but i have problem ..
when i run catkin_make I get som error :
************************************************************************
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a package configuration file provided by
"hardware_interface" with any of the following names:
hardware_interfaceConfig.cmake
hardware_interface-config.cmake
Add the installation prefix of "hardware_interface" to CMAKE_PREFIX_PATH or
set "hardware_interface_DIR" to a directory containing one of the above
files. If "hardware_interface" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
hector_quadrotor/hector_quadrotor_controller/CMakeLists.txt:7 (find_package)
****************************************************************
i know that i should resolve dependency and I run :
rosdep install --from-paths src --ignore-src --rosdistro hydro -y
but now i get these error :
****************************************************************
hector_quadrotor_controller: No definition of [controller_interface] for OS version [spherical]
hector_quadrotor_teleop: No definition of [joy] for OS version [spherical]
hector_quadrotor_controller_gazebo: No definition of [gazebo_ros_control] for OS version [spherical]
****************************************************************
i'm in Fedora 18 .. i'm sorry for that :!
but i should use this distro ..
please help me around these problem dears in ROS ...
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multiple hector_quadrotor flying simultaneously
I am using hector_quadrotor package but I need to control multiple uavs at the same time. Could someone help me on solving this issue? I can control if only one uav is used, but not many of them simultaneously
Thanks in advance
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↧
Hector_quadrotor catkin_make fails compiling
Hi all,
I am attempting to install hector_quadrotor_tutorial from source on ubuntu 14.10, ROS indigo. And I am experiencing the following problems:
1st I had to install hardware_interface package which was missing. After successful installation of the package still can't compile. Here is the output:
Thanks in advance.
[ 98%] Building CXX object ros_control/controller_manager_tests/CMakeFiles/controller_manager_tests.dir/src/my_dummy_controller.cpp.o
In file included from /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:29:0:
/home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/include/hector_quadrotor_pose_estimation/pose_estimation_node.h:41:76: error: ‘StatePtr’ does not name a type
QuadrotorPoseEstimationNode(const SystemPtr& system = SystemPtr(), const StatePtr& state = StatePtr());
^
/home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/include/hector_quadrotor_pose_estimation/pose_estimation_node.h:41:103: error: ISO C++ forbids declaration of ‘state’ with no type [-fpermissive]
QuadrotorPoseEstimationNode(const SystemPtr& system = SystemPtr(), const StatePtr& state = StatePtr());
^
/home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/include/hector_quadrotor_pose_estimation/pose_estimation_node.h:41:103: error: ‘StatePtr’ was not declared in this scope
/home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:34:89: error: ‘StatePtr’ does not name a type
QuadrotorPoseEstimationNode::QuadrotorPoseEstimationNode(const SystemPtr& system, const StatePtr& state)
^
/home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:34:99: error: ISO C++ forbids declaration of ‘state’ with no type [-fpermissive]
QuadrotorPoseEstimationNode::QuadrotorPoseEstimationNode(const SystemPtr& system, const StatePtr& state)
^
/home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp: In constructor ‘hector_quadrotor_pose_estimation::QuadrotorPoseEstimationNode::QuadrotorPoseEstimationNode(const SystemPtr&, const int&)’:
/home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:35:37: error: no matching function for call to ‘hector_pose_estimation::PoseEstimationNode::PoseEstimationNode(const SystemPtr&, const int&)’
: PoseEstimationNode(system, state)
^
/home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:35:37: note: candidates are:
In file included from /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/include/hector_quadrotor_pose_estimation/pose_estimation_node.h:32:0,
from /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:29:
/home/marcello/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/include/hector_pose_estimation/pose_estimation_node.h:61:3: note: hector_pose_estimation::PoseEstimationNode::PoseEstimationNode(const SystemPtr&)
PoseEstimationNode(const SystemPtr& system = SystemPtr());
^
/home/marcello/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/include/hector_pose_estimation/pose_estimation_node.h:61:3: note: candidate expects 1 argument, 2 provided
/home/marcello/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/include/hector_pose_estimation/pose_estimation_node.h:59:7: note: hector_pose_estimation::PoseEstimationNode::PoseEstimationNode(hector_pose_estimation::PoseEstimationNode&)
class PoseEstimationNode {
^
/home/marcello/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/include/hector_pose_estimation/pose_estimation_node.h:59:7: note: candidate expects 1 argument, 2 provided
/home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp: In member function ‘void hector_quadrotor_pose_estimation::QuadrotorPoseEstimationNode::baroCallback(const AltimeterConstPtr&)’:
/home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:54:7: error: ‘sensor_pose_publisher_’ was not declared in this scope
if (sensor_pose_publisher_) {
^
/home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:56:5: error: ‘sensor_pose_’ was not declared in this scope
sensor_pose_.pose.position.z = baro->getModel()->getAltitude(Baro::Update(altimeter->pressure, altimeter->qnh)) - baro->getElevation();
^
↧
Spawning hector quadrotor crashes gazebo on indigo
Hi,
I was trying to start hector quadrotor demo launch files and keep getting gazebo segmentation faults when the script tries to spawn quadrotor. After some time I have tried to spawn it on my own using these launch files:
roslaunch gazebo_ros empty_world.launch
roslaunch hector_quadrotor_gazebo spawn_quadrotor.launch
But even then the gazebo server crashes with following error:
spawn_model script started
[INFO] [WallTime: 1423382867.059244] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1423382867.061820] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1423382867.064229] [0.000000] Calling service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1423382867.111548] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
Segmentation fault (core dumped)
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
[gazebo-1] process has died [pid 24654, exit code 139, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver worlds/empty.world __name:=gazebo __log:=/home/rokas/.ros/log/25359450-af08-11e4-930f-fcf8ae311424/gazebo-1.log].
The log files after the error is empty, so I can't traceback what happening. But it seems like spawning quadrotor crashes the gzserver.
I have tried using the packages installed via `apt-get` and then tried with latest version of `hector_quadrotor` from github and the problem persists. Maybe some of you will have some ideas on this problem?
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Help with global planning of hector_quadrotor
Hi!
I am bringing up with hector_quadrotor and after one month I has not obtain results.
I am working with ros hydro and gazebo. I has written a c++ planner like turtlebot tutorial and it works well, but when I intend with quadrotor, it doesn't move. The trayectory is marked on rviz but quadrotor does nothing.
Can anyone help me?
My move_base is this:
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