Boa tarde professor @miguelriemoliveira @danifpdra

Estive a refazer a aula/parte08, infelizmente não consigo criar o ros msg (exercício 4) mesmo seguindo os passos meticulosamente.

Executa sem erro quando corro o comando catkin_make mas não aparece nada quando corro o rosmsg list | grep Dog.

Good afternoon Professor @miguelriemoliveira, I have a little problem launching the game_bringup.launch file. I run gazebo and it's working fine but after, launching the game_bringup file the terminal returns this error:

The program is working for my groupmates and it worked also before today. The only thing that I could have done is update Ubuntu and nothing more.

Good morning, When I run this command roslaunch p_gmicheli_bringup bringup.launch the terminal returns this error:

[p_gmicheli/spawn_urdf-2] process has died [pid 5309, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -urdf -model p_gmicheli -x 0.0 -y -2.0 -z 0.0 -param p_gmicheli/robot_description __name:=spawn_urdf __log:=/home/gabriele/.ros/log/b62d7dc4-80e8-11ec-8bdc-9da4fbf35463/p_gmicheli-spawn_urdf-2.log]. log file: /home/gabriele/.ros/log/b62d7dc4-80e8-11ec-8bdc-9da4fbf35463/p_gmicheli-spawn_urdf-2.log*

But the spawn.launch file seems working fine.

After, if I run the command rqt and I open the TF tree, the terminal returns this error:

AttributeError: module 'tf2_ros' has no attribute 'Buffer'

And the same errors appear when I run roslaunch psr_scara_bringup bringup.launch and after rqt.

To fix the problem I searched on google: AttributeError: module 'tf2_ros' has no attribute 'Buffer' and I found this link: https://answers.ros.org/question/306904/tf2-error-attributeerror-module-object-has-no-attribute-buffer/

Here I send the steps that I followed and the screenshot of the terminal, my problem seems very similar to this one.

After, from the forum i found this new link: https://answers.ros.org/question/306956/tf-view_frame-missing-how-to-reinstall/ and I followed the steps, here some screenshots:

Good morning teacher @miguelriemoliveira ,

I'm not beein able to change the color of the robot through the command line. even with the macro apparently working. It keeps giving me the Default color. Thats my: Player.urdf.xacro

<?xml version="1.0" ?>
<robot name="p_amartinho" xmlns:xacro="http://ros.org/wiki/xacro">
  <!--  Xacro description of turtlebot robot waffle pi used to play team hunt.-->
  <!-- Analtino Martinho-->
  <!--  PSR, January 2021-->

  <!--Args are local, properties are global, so we copy the values of the arguments to the properties-->
  <xacro:arg name="player_name" default="p_amartinho" />
  <xacro:arg name="player_color" default="Yellow" /> <!-- e.g. Red, Orange. Must exist in Gazebo/Colors and be defined in properties.xacro.-->

  <!--Properties are global so they can be viewed from inside the included xacros-->
  <!--  args are used with $(arg arg_name), properties are used as ${property_name}-->
  <xacro:property name="player_name" value="$(arg player_name)"/>
  <xacro:property name="player_color" value="$(arg player_color)"/>

  <!-- Include other files-->
  <xacro:include filename="$(find ${player_name}_description)/urdf/properties.xacro"/>

  <!--  <xacro:include filename="$(find ${player_name}_description)/urdf/player.gazebo.xacro"/>-->
  <xacro:include filename="$(find ${player_name}_description)/urdf/player.gazebo.macro.xacro"/>
  <xacro:gazebo_macro player_color="${player_color}" laser_visual="true" camera_visual="false" imu_visual="true"/>

<!-- (...) -->
  <link name="base_footprint"/>

    <joint name="base_joint" type="fixed">
      <parent link="base_footprint"/>
      <child link="base_link" />
      <origin xyz="0 0 0.010" rpy="0 0 0"/>
    </joint>

    <link name="base_link">
      <visual>
        <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://turtlebot3_description/meshes/bases/waffle_pi_base.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <material name="light_black"/>
      </visual>

      <collision>
        <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
        <geometry>
          <box size="0.266 0.266 0.094"/>
        </geometry>
      </collision>

      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1.3729096e+00"/>
        <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
                 iyy="8.6195418e-03" iyz="-3.5422299e-06"
                 izz="1.4612727e-02" />
      </inertial>
    </link>

    <joint name="wheel_left_joint" type="continuous">
      <parent link="base_link"/>
      <child link="wheel_left_link"/>
      <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
      <axis xyz="0 0 1"/>
    </joint>

    <link name="wheel_left_link">
      <visual>
        <origin xyz="0 0 0" rpy="1.57 0 0"/>
        <geometry>
          <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <material name="dark"/>
      </visual>

      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.018" radius="0.033"/>
        </geometry>
      </collision>

      <inertial>
        <origin xyz="0 0 0" />
        <mass value="2.8498940e-02" />
        <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
                 iyy="1.1192413e-05" iyz="-1.4400107e-11"
                 izz="2.0712558e-05" />
        </inertial>
    </link>

    <joint name="wheel_right_joint" type="continuous">
      <parent link="base_link"/>
      <child link="wheel_right_link"/>
      <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
      <axis xyz="0 0 1"/>
    </joint>

    <link name="wheel_right_link">
      <visual>
        <origin xyz="0 0 0" rpy="1.57 0 0"/>
        <geometry>
          <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <material name="dark"/>
      </visual>

      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.018" radius="0.033"/>
        </geometry>
      </collision>

      <inertial>
        <origin xyz="0 0 0" />
        <mass value="2.8498940e-02" />
        <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
                 iyy="1.1192413e-05" iyz="-1.4400107e-11"
                 izz="2.0712558e-05" />
        </inertial>
    </link>

    <joint name="caster_back_right_joint" type="fixed">
      <parent link="base_link"/>
      <child link="caster_back_right_link"/>
      <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
    </joint>

    <link name="caster_back_right_link">
      <collision>
        <origin xyz="0 0.001 0" rpy="0 0 0"/>
        <geometry>
          <box size="0.030 0.009 0.020"/>
        </geometry>
      </collision>

      <inertial>
        <origin xyz="0 0 0" />
        <mass value="0.005" />
        <inertia ixx="0.001" ixy="0.0" ixz="0.0"
                 iyy="0.001" iyz="0.0"
                 izz="0.001" />
      </inertial>
    </link>

    <joint name="caster_back_left_joint" type="fixed">
      <parent link="base_link"/>
      <child link="caster_back_left_link"/>
      <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
    </joint>

    <link name="caster_back_left_link">
      <collision>
        <origin xyz="0 0.001 0" rpy="0 0 0"/>
        <geometry>
          <box size="0.030 0.009 0.020"/>
        </geometry>
      </collision>

      <inertial>
        <origin xyz="0 0 0" />
        <mass value="0.005" />
        <inertia ixx="0.001" ixy="0.0" ixz="0.0"
                 iyy="0.001" iyz="0.0"
                 izz="0.001" />
      </inertial>
    </link>

    <joint name="imu_joint" type="fixed">
      <parent link="base_link"/>
      <child link="imu_link"/>
      <origin xyz="0.0 0 0.068" rpy="0 0 0"/>
    </joint>

    <link name="imu_link"/>

    <joint name="scan_joint" type="fixed">
      <parent link="base_link"/>
      <child link="base_scan"/>
      <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
    </joint>

    <link name="base_scan">
      <visual>
        <origin xyz="0 0 0.0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <material name="dark"/>
      </visual>

      <collision>
        <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
        <geometry>
          <cylinder length="0.0315" radius="0.055"/>
        </geometry>
      </collision>

      <inertial>
        <mass value="0.114" />
        <origin xyz="0 0 0" />
        <inertia ixx="0.001" ixy="0.0" ixz="0.0"
                 iyy="0.001" iyz="0.0"
                 izz="0.001" />
      </inertial>
    </link>

    <joint name="camera_joint" type="fixed">
      <origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
      <parent link="base_link"/>
      <child link="camera_link"/>
    </joint>

    <link name="camera_link">
      <collision>
        <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
        <geometry>
          <box size="0.015 0.030 0.027"/>
        </geometry>
      </collision>
    </link>

    <joint name="camera_rgb_joint" type="fixed">
      <origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
      <parent link="camera_link"/>
      <child link="camera_rgb_frame"/>
    </joint>
    <link name="camera_rgb_frame"/>

    <joint name="camera_rgb_optical_joint" type="fixed">
      <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
      <parent link="camera_rgb_frame"/>
      <child link="camera_rgb_optical_frame"/>
    </joint>
    <link name="camera_rgb_optical_frame"/>


</robot>

Thats my: player.gazebo.macro.xacro

<?xml version="1.0" ?>
<robot name="p_amartinho" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- <xacro:macro name="gazebo_macro" params="player_color laser_visual camera_visual imu_visual">-->

    <xacro:arg name="laser_visual"  default="false"/>
    <xacro:arg name="camera_visual" default="false"/>
    <xacro:arg name="imu_visual"    default="false"/>

    <gazebo reference="base_link">
      <material>Gazebo/DarkGrey</material>
    </gazebo>

    <gazebo reference="wheel_left_link">
      <mu1>0.1</mu1>
      <mu2>0.1</mu2>
      <kp>500000.0</kp>
      <kd>10.0</kd>
      <minDepth>0.001</minDepth>
      <maxVel>0.1</maxVel>
      <fdir1>1 0 0</fdir1>
      <material>Gazebo/${player_color}</material>
    </gazebo>

    <gazebo reference="wheel_right_link">
      <mu1>0.1</mu1>
      <mu2>0.1</mu2>
      <kp>500000.0</kp>
      <kd>10.0</kd>
      <minDepth>0.001</minDepth>
      <maxVel>0.1</maxVel>
      <fdir1>1 0 0</fdir1>
      <material>Gazebo/${player_color}</material>
    </gazebo>

    <gazebo reference="caster_back_right_link">
      <mu1>0.1</mu1>
      <mu2>0.1</mu2>
      <kp>1000000.0</kp>
      <kd>100.0</kd>
      <minDepth>0.001</minDepth>
      <maxVel>1.0</maxVel>
      <material>Gazebo/FlatBlack</material>
    </gazebo>

    <gazebo reference="caster_back_left_link">
      <mu1>0.1</mu1>
      <mu2>0.1</mu2>
      <kp>1000000.0</kp>
      <kd>100.0</kd>
      <minDepth>0.001</minDepth>
      <maxVel>1.0</maxVel>
      <material>Gazebo/FlatBlack</material>
    </gazebo>

    <gazebo reference="imu_link">
      <sensor type="imu" name="imu">
        <always_on>true</always_on>
        <visualize>$(arg imu_visual)</visualize>
      </sensor>
      <material>Gazebo/Grey</material>
    </gazebo>

    <gazebo>
      <plugin name="turtlebot3_waffle_pi_controller" filename="libgazebo_ros_diff_drive.so">
        <commandTopic>cmd_vel</commandTopic>
        <odometryTopic>odom</odometryTopic>
        <odometryFrame>odom</odometryFrame>
        <odometrySource>world</odometrySource>
        <publishOdomTF>true</publishOdomTF>
        <robotBaseFrame>base_footprint</robotBaseFrame>
        <publishWheelTF>false</publishWheelTF>
        <publishTf>true</publishTf>
        <publishWheelJointState>true</publishWheelJointState>
        <legacyMode>false</legacyMode>
        <updateRate>30</updateRate>
        <leftJoint>wheel_left_joint</leftJoint>
        <rightJoint>wheel_right_joint</rightJoint>
        <wheelSeparation>0.287</wheelSeparation>
        <wheelDiameter>0.066</wheelDiameter>
        <wheelAcceleration>1</wheelAcceleration>
        <wheelTorque>10</wheelTorque>
        <rosDebugLevel>na</rosDebugLevel>
      </plugin>
    </gazebo>

    <gazebo>
      <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
        <alwaysOn>true</alwaysOn>
        <bodyName>imu_link</bodyName>
        <frameName>imu_link</frameName>
        <topicName>imu</topicName>
        <serviceName>imu_service</serviceName>
        <gaussianNoise>0.0</gaussianNoise>
        <updateRate>0</updateRate>
        <imu>
          <noise>
            <type>gaussian</type>
            <rate>
              <mean>0.0</mean>
              <stddev>2e-4</stddev>
              <bias_mean>0.0000075</bias_mean>
              <bias_stddev>0.0000008</bias_stddev>
            </rate>
            <accel>
              <mean>0.0</mean>
              <stddev>1.7e-2</stddev>
              <bias_mean>0.1</bias_mean>
              <bias_stddev>0.001</bias_stddev>
            </accel>
          </noise>
        </imu>
      </plugin>
    </gazebo>

    <gazebo reference="base_scan">
      <material>Gazebo/${player_color}</material>
      <sensor type="ray" name="lds_lfcd_sensor">
        <pose>0 0 0 0 0 0</pose>
        <visualize>$(arg laser_visual)</visualize>
        <update_rate>5</update_rate>
        <ray>
          <scan>
            <horizontal>
              <samples>360</samples>
              <resolution>1</resolution>
              <min_angle>0.0</min_angle>
              <max_angle>6.28319</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.120</min>
            <max>3.5</max>
            <resolution>0.015</resolution>
          </range>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.01</stddev>
          </noise>
        </ray>
        <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
          <topicName>scan</topicName>
          <frameName>base_scan</frameName>
        </plugin>
      </sensor>
    </gazebo>

  <!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
    <gazebo reference="camera_rgb_frame">
      <sensor type="camera" name="Pi Camera">
        <always_on>true</always_on>
        <visualize>$(arg camera_visual)</visualize>
        <camera>
            <horizontal_fov>2.085595</horizontal_fov>
            <image>
                <width>1200</width>
                <height>480</height>
                <format>R8G8B8</format>
            </image>
            <clip>
                <near>0.03</near>
                <far>100</far>
            </clip>
        </camera>
        <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>30.0</updateRate>
          <cameraName>camera</cameraName>
          <frameName>camera_rgb_optical_frame</frameName>
          <imageTopicName>rgb/image_raw</imageTopicName>
          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
          <hackBaseline>0.07</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>
    </gazebo>
<!-- </xacro:macro>-->
</robot>

and thats my : bringup_player.launch

<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="player_name" default = "p_amartinho"/>
  <arg name="x_pos" default="0.0"/>
  <arg name="y_pos" default="-1.5"/>
  <arg name="z_pos" default="0.0"/>

  <group ns= "$(arg player_name)">
      <param name="tf_prefix" value="$(arg player_name)"></param>
      <param name="robot_description" command="$(find xacro)/xacro --inorder $(find p_amartinho_description)/urdf/player.urdf.xacro" />

      <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
  </group>
<!--   include do spawn.launch -->
  <include file="$(find p_amartinho_bringup)/launch/spawn.launch">
    <arg name="player_name" value="$(arg player_name)"/>
    <arg name="x_pos" value="$(arg x_pos)"/>
    <arg name="y_pos" value="$(arg y_pos)"/>
    <arg name="z_pos" value="$(arg z_pos)"/>
  </include>

<!--       include do visualize.launch -->
    <include file="$(find p_amartinho_bringup)/launch/visualize.launch">
    </include>

    <!--     include do teleop.launch -->
<!--     <group ns= "$(arg player_name)"> -->
<!--         <node pkg="rqt_robot_steering" type="rqt_robot_steering" name="teleop_rqt" output="screem"> -->
<!--             <param name="default_topic" value="/$(arg player_name)/cmd.vel"></param> -->
<!--         </node> -->

<!--     </group> -->
</launch>

and I'm launching that way:

roslaunch p_amartinho_bringup bringup_player.launch player_color:=red

the result is:

Good afternoon,

I was trying to subscribe the topic '/move_base_simple/goal' that sends a message that is geometry_msgs.msg - PoseStamped. Then I tried to transform the reception message into a new target frame, but then is would give an error that says that the type "geometry_msgs.msg._PoseStamped.PoseStamped" is not supported.

I don't understand why it is coverting the type from "PoseStamped" to "_PoseStamped.PoseStamped".

The reading of the message is actually correct, I can print it and see that everything is okay, but when I try to do the transformation he just doesn't recognize the type of the message.

Thanks for your help!

Martin

Hello @miguelriemoliveira,

in the TP1 group distribution launched, my NMecAluno is switched with some other student... Maybe not only mine?

Also, would be helpful if everyone commented on this issue so we would, more easily, find our group partners.

Thanks all

Good night @miguelriemoliveira and @danifpdra ,

I am having a problem understanding how to pass the lidar points to the image. Right now, I found my extrinsic and intrinsic values, the intrinsic from the camera_info and the extrinsic from the urdf.

It gave me this values:

        self.cameraIntrinsic = np.array([[1060.9338813153618, 0.0, 640.5, -74.26537169207533],
                                        [0.0, 1060.9338813153618, 360.5, 0.0],
                                        [0.0, 0.0, 1.0, 0.0]])
        # camera extrinsic from the lidar to the camera (back and front have different extrinsic values )
        self.cameraExtrinsicFront = np.array([[1.0, 0.0, 0.0, -0.073],
                                             [0.0, 1.0, 0.0, 0.011],
                                             [0.0, 0.0, 1.0, -0.084],
                                             [0.0, 0.0, 0.0, 1.0]])

        self.cameraExtrinsicBack = np.array([[-1.0, 0.0, 0.0, 0.2],
                                            [0.0, -1.0, 0.0, 0.011],
                                            [0.0, 0.0, 1.0, -0.084],
                                            [0.0, 0.0, 0.0, 1.0]])

I also found the coordinates from the lidar, the way we made in class 10:

...
        z = 0
        for idx, range in enumerate(msg.ranges):
            theta = msg.angle_min + idx * msg.angle_increment
            x = range * math.cos(theta)
            y = range * math.sin(theta)
            self.points.append([x, y, z, 0])
....

When I multiply these values I get values in the order of the 2000, 2300 most of the time... (my camera has a width of 1280 and height of 720) I already tried thinking that it's from the middle and subtracting -1280/2 and -720/2 but I still got no results I can also have the extrinsic matrix wrong but I don't know

Probably I'm thinking this wrong but I cannot figure it out

Bom dia Professor,

Desde que coloquei o launch file para o gmapping o meu robô no Rviz não mexe, ou seja, tudo o resto ( mapa e nuvem de pontos) mexe em relação ao robô mas ele está sempre fixo no mesmo ponto. Alguma ideia do que pode ter causado isto e de como resolver?

Obrigado

Good evening, I am installing ROS Noetic (I am late I know but I had many problems ...) following the tutorial on wiki: but I have a problem (see attachment) when I use the sudo apt install ros-noetic-desktop-full command. Have any of you had this problem? Before asking on Github I searched a lot of things on google but still couldn't solve the problem. Could you help me please?

Hello!

Just a notice. On Part 7 (TP2) the key 'c' is mentioned that should be use for cleaning the canvas but, further down, is also the key for drawing a circle.

Is this intended or can we use other key for the circle (like 'e' for ellipse)?

Hi @miguelriemoliveira , @danifpdra

He are trying to transform a pose between to existing and connect frames. Yet, the following error always occurs.

tf2.ExtrapolationException: Lookup would require extrapolation 0.003000000s into the past. Requested time 1126.316000000 but the earliest data is at time 1126.319000000, when looking up transform from frame [red1/map] to frame [red1/camera_rgb_optical_frame]

It's just 3ms... do you know why this small difference is such a big issue?

@Pinh0 @GoncaloPeixinho @FelicianoSachilombo

Boa tarde professor @miguelriemoliveira ,

Eu estou a tentar encontrar a matriz transformação entre a câmara e o lidar, sendo que a matriz atual é calculada da seguinte maneira:

    self.rpy = (0.0, 0.45, 0.0)
    self.XYZ = (0.073 + 0.064,-0.011,0.584 - 0.122) # Camera joint to base_scan transformation

    K = np.array([[373.2663253873802, 0.0, 640.5], [0.0, 373.2663253873802, 240.5], [0.0, 0.0, 1.0]])
    C_T_L = transf.Rotation.from_rotvec(np.asarray(self.rpy)).as_matrix()
    C_T_L_trans = np.vstack(self.XYZ)

    P = np.dot(K, C_T_L)
    t = np.dot(K, C_T_L_trans)

Para além do mais eu criei umas restrições, nomeadamente, os pontos do lidar não podem ser infinitos e que os pontos calculados só são guardados se estiverem dentro da height e da width da imagem da câmara. No entanto, quando vou visualizar esses pontos, estes não estão nos sítios corretos. Como tal, eu gostaria de perguntar como posso obter a matriz transformação através de um tf listener, nomeadamente, entre que links realizo a operação?

Obrigado,

Pedro Carvalho

Boa tarde professor,

Basicamente estamos a tentar fazer o clustering dos pontos do lidar, o objetivo é criar markers apenas para as paredes e excluir os clusters dos robôs. Fizemos isso através do numero de pontos de cada marker. O problema é que ele não está a publicar apenas os que são maiores que o thresh, está a publicar tudo. Já tentamos com o count=30, =300, ou até mesmo =10 000 000. Por isso parece que o problema só pode estar no código. Quando vejo no rviz estão todos os clusters com a mesma cor. Alguma ideia de como resolver isto?

aqui está a função do clustering:

Clustering function

    thresh = 0.8
    marker_array = MarkerArray()
    marker = self.createMarker(0)
    marker_array.markers.append(marker)

    for idx, (range1, range2) in enumerate(zip(msgScan.ranges[:-1], msgScan.ranges[1:])):
        if range1 < 0.1 or range2 < 0.1:
            continue

        diff = abs(range2 - range1)

        if range1 > 3.5 or range2 > 3.5:
            marker = self.createMarker(idx + 1)
            marker_array.markers.append(marker)
            continue

        if diff > thresh:
            marker = self.createMarker(idx + 1)

        theta = msgScan.angle_min + idx * msgScan.angle_increment
        x = range1 * cos(theta)
        y = range1 * sin(theta)

        point = Point(x=x, y=y, z=0)
        
        last_marker = marker
        last_marker.points.append(point)
        count = len(last_marker.points)

        if count > 2000:
            marker_array.markers.append(last_marker)

    rospy.loginfo(f'publishing a marker array with {len(marker_array.markers)} markers')

    # for marker in marker_array.markers:
    #     if len(marker.points) == 0:
    #         marker_array.markers.remove(marker)

    self.clustering_lidar.publish(marker_array) '

e aqui a função para criar o marker:

def createMarker(self, id): marker = Marker() marker.id = id marker.header.frame_id = self.name + '/base_scan' marker.type = marker.CUBE_LIST marker.action = marker.ADD marker.scale.x = 0.05 marker.scale.y = 0.05 marker.scale.z = 0.05 marker.color.r = random.random() marker.color.g = random.random() marker.color.b = random.random() marker.color.a = 1.0 marker.pose.orientation.w = 1.0 marker.pose.position.x = 0 marker.pose.position.y = 0 marker.pose.position.z = 0

    return marker`

Eu fiz um tutorial do Ros Navigation com o turtlebot3 (https://emanual.robotis.com/docs/en/platform/turtlebot3/nav_simulation/) e estou tentando adapta-lo para o codigo do meu robo. Consegui faze-lo reconhecer o 2D pose estimate, entretanto o Nav goal nao esta a ser reconhecido para implementar o path planner. No terminal nao tem erros nem warnings, mas mostra a INFO "Requesting the map...". Previamente eu fiz o Slam mapping e salvei o mapa gerado. Ja conferi se os launch files estao buscando corretamente esse mapa e aparentamente esta ok nesta parte. Nao sei mais onde pode estar o problema...

@miguelriemoliveira @danifpdra

Good afternoon @miguelriemoliveira ,

I'm having a minor issue with the textures in gazebo. Some of my textures don't load properly, I already had this problem was never an issue. Right now, when I load the arena1, sometimes I get the following texture:

This is starting to be an issue because the green is to close to the vehicle, which influences the mask of the camera and the centroid

Good afternoon!

Today I was trying to develop some functionalities and for that I cloned some ros packages from the internet, but some of them weren't working and gave problems. In the end, I erased all these packages, but when I tried to run my code I'm getting a new error.

So I developed a ROS msg called "detection_info.msg", and it is recognize by rosmsg list and the catkin_ws also compile when I run the command "catkin_make", but then, when I try to run the node that uses this message, it shows the following error:

I've been trying to solve this, but I really don't know how. The message is also recognized by pycharm:

I don't know if the problem has something to do with the fact that I tried to compile some packages that weren't working, but now it's in fact compiling but still doesn't recognize the message.

Thank you for your help!

Martin

Desde a ultima aula,depois de implementar as diferentes cores para os robots começou a dar me este erro.Pensando que era do meu codigo, fui experimentar o do professor atualizado.Quando tento fazer o launch do bringup da me esse mesmo erro.Isto é,até com o codigo do professor da o mesmo erro.