pirobot / rbx1

ROS By Example Volume 1

PLEASE NOTE: This code is depreciated and will not be maintained or developed further.

This publication is now out of print and no longer available.

Code depreciated: this code will not be update for ROS Kinetic or later.

rbx1's Issues

Arbotix-m board instead of USB2Dynamixel controller

Hi @pirobot

I am following ros-by-example volume 1 for Tracking a visual target, it is really useful.

I am on ros-indigo now, I want to use same material to control Phantomx Pincher robotic arm, since it uses same type of servos which are dynamixel ax-12a

However, I am encountering a problem, I am using arbotix-m board, and in the book they used USB2Dynamixel controller, so the launch file is different.

I want to control the servo id 1 based on the motion of a detected object.

What I did so far is as follow

I run

roslaunch rbx1_vision usb_cam.launch
roslaunch rbx1_vision camshift.launch

When I run roslaunch rbx1_dynamixels head_tracker.launch

The output is

[INFO] [WallTime: 1508247666.419934] Waiting for joint controllers services...

Then I run following launch that I created it by myself since I am using arbotix-m board

roslaunch rbx1_dynamixels arbotix.launch

The content is

<launch>
    <node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen">
        <rosparam file="$(find rbx1_dynamixels)/config/arbotix_params.yaml" command="load" />
    </node>
    
  <node name="gripper_controller" pkg="arbotix_controllers" type="gripper_controller">
      <param name="model" value="singlesided"/>
      <param name="invert" value="true"/>
      <param name="pad_width" value="0.0254"/>
  </node>

</launch>

The file arbotix_params.yaml is

source: pincher_arm.yaml
port: /dev/ttyUSB0
baud: 115200
rate: 20
sync_write: True
sync_read: True
read_rate: 15
write_rate: 25
joints: {
    head_pan_joint: {id: 1, cwlimit: 35,  ccwlimit: 900, offset: 511, speed: 40},
    arm_shoulder_lift_joint: {id: 2, cwlimit: 100, ccwlimit: 900, offset: 511, speed: 40},
    arm_elbow_flex_joint: {id: 3, cwlimit: 100, ccwlimit: 900, offset: 511, speed: 40},
    arm_wrist_flex_joint: {id: 4, cwlimit: 180, ccwlimit: 900, offset: 511, speed: 40},
    gripper_joint: {id: 5, cwlimit: 30,  ccwlimit: 400, offset: 215, speed: 40}
}

ArbotiX is connected BUT when I run rostopic info /roi I see the following output, which is not correct.

imr@IMR-PC:~$ rostopic info /roi
Type: sensor_msgs/RegionOfInterest

Publishers: 
 * /camshift (http://localhost:42869/)

Subscribers: None

The book is giving instruction for USB2Dynamixel controller only, but I am using arbotix-m board.

I am so confusing now, please tell me where I am mistaken !!!!

Thanks

The face_detector can't work on branch kinetic-devel-beta.

The face_detector can't work on branch kinetic-devel-beta.
When I run "roslaunch rbx1_vision face_detector.launch", terminal output is as follows.
Please help me find out why.

process[face_detector-1]: started with pid [7182]
[INFO] [1525413881.073896]: Starting node face_detector

(process:7182): Gtk-WARNING **: Locale not supported by C library.
Using the fallback 'C' locale.
'FaceDetector' object has no attribute 'cascade_1'
'FaceDetector' object has no attribute 'haar_params'
'FaceDetector' object has no attribute 'haar_params'
'FaceDetector' object has no attribute 'haar_params'
Traceback (most recent call last):
File "/home/nvidia/catkin_ws/src/rbx1/rbx1_vision/src/rbx1_vision/face_detector.py", line 145, in
face_detector.show_image(self.cv_window_name, face_detector.display_image)
NameError: name 'self' is not defined
Shutting down vision node.

Does it work with ros kinetic ??

I tried indigo and master branches on ROS-KINETIC, I get the following errors, any help please ??

abdulrahman@abdulrahman-ThinkPad-X230-Tablet:~$ roslaunch rbx1_vision usb_cam.launch device:=/dev/video0
... logging to /home/abdulrahman/.ros/log/4770e6f6-b01c-11e7-b674-e09d31097f54/roslaunch-abdulrahman-ThinkPad-X230-Tablet-1704.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://abdulrahman-ThinkPad-X230-Tablet:37685/

SUMMARY
========

CLEAR PARAMETERS
 * /usb_cam/

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.7
 * /usb_cam/autofocus: True
 * /usb_cam/brightness: 32
 * /usb_cam/camera_frame_id: camera_link
 * /usb_cam/contrast: 32
 * /usb_cam/framerate: 30
 * /usb_cam/image_height: 480
 * /usb_cam/image_width: 640
 * /usb_cam/pixel_format: mjpeg
 * /usb_cam/saturation: 32
 * /usb_cam/video_device: /dev/video0

NODES
  /
    usb_cam (usb_cam/usb_cam_node)

auto-starting new master
process[master]: started with pid [1716]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4770e6f6-b01c-11e7-b674-e09d31097f54
process[rosout-1]: started with pid [1730]
started core service [/rosout]
ERROR: cannot launch node of type [usb_cam/usb_cam_node]: usb_cam
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/abdulrahman/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share

if i just have camera R200,how to i fix??

How to get into the google group?

Is there I special way to get into the google group?
I would like to post a question.

https://groups.google.com/forum/#!forum/ros-by-example

does it work with ros melodic?

readme doesn't work

Hydro readme fails when you try building rbx1. Trying to checkout the branch after cloning the repository does not work. Using the -b option seems to work tho. So git clone -b hydro-devel https://github.com/pirobot/rbx1.git works straight away, without the checkout command.

Get ros topic from kinect

hello ,
how can i get depth topic from kinect "pointcloud2 topic"? i think all topic from kinect are not pointcloud2
thanks in advance .