Problem with package structure? Hokuyo not working

asked 2015-02-25 10:38:27 -0600

schultza
232 ●23 ●31 ●40

updated 2015-02-27 04:07:48 -0600

Hey guys,

Sry I can't find a good question name for this :(

I made the last days my first approach of my very first own package. So i looked up a little bit in the forum and found something I could use. I wanted to publish some laser data from my hokuyo laser. So not really publish I just want to print it on my console. Yesterday I made it to work, but today i started my pc and nothing worked so far. You can review the "package" here link to github.

As I said it my very first test but somehow if I let it run via eclipse nothing happens. The hokuyo itself works I can connect with it via rosrun urg_node urg_node _ip_address:="192.168.0.10". I just cant figure out what happend maybe some problems in my structure or in my CMakeLists.txt or smth like this? maybe you can help me.

Edit:

mkdir -p ~/new_hokuyo_test/src
cd ~/new_hokuyo_test/src/
catkin_init_workspace 3.* cd ..
catkin_make
cd src/
catkin_create_pkg hokuyo_test_pkg std_msgs roscpp rospy
cd ~/new_hokuyo_test/
catkin_make
Uncommented some stuff (like add executable etc) in CMakeLists.txt (see github)
catkin_make (just to test)
added hokuyo_test_pkg_node.cpp in src of hokuyo_test_pkg
catkin_make in ws directory
source devel/setup.bash
rosrun hokuyo_test_pkg hokuyo_test_pkg_node

Thats it basically

Edit2: The launch file

<launch>
<node pkg="urg_node" type="urg_node" name="urg_node"> 
<param name="ip_address" value="192.168.0.10" />
</node>
<node pkg="hokuyo_test_pkg" type="hokuyo_test_pkg_node" name="hokuyo_test_pkg_node" output="screen">
</node>
</launch>

Thanks for helping me, I know these are really beginner questions but anyways I am struggling with it and really try by myself to solve it and dont (maybe looks like :) ) post it instantly here. So Thank you for great help here

Comments

Please update your question description with the exact steps that you are using to build your workspace and run your node.

gvdhoorn ( 2015-02-26 03:48:00 -0600 )edit

Also: we normally only commit the package directory itself to a github repository, not the entire catkin workspace (and especially not the devel directory). We can recreate the workspace and build it ourselves quite easily.

gvdhoorn ( 2015-02-26 03:49:24 -0600 )edit

add a comment

answered 2015-02-26 06:18:55 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

mkdir -p ~/new_hokuyo_test/src
cd ~/new_hokuyo_test/src/

ok.

catkin_init_workspace

you don't need this, catkin_make will do all that is needed for you on first invocation.

catkin_make

I think you forgot a cd .. before catkin_make?

cd src/
catkin_create_pkg hokuyo_test_pkg std_msgs roscpp rospy
cd ~/new_hokuyo_test/
catkin_make

# Uncommented some stuff (like add executable etc) in CMakeLists.txt (see github)

catkin_make (just to test)
added `hokuyo_test_pkg_node.cpp` in `src` of `hokuyo_test_pkg`
catkin_make in ws directory
source devel/setup.bash
rosrun hokuyo_test_pkg hokuyo_test_pkg_node

And at this point you have the urg_node already running in another terminal? And a roscore?

edit flag offensive delete link

Comments

No the cd .. i just forgot to write it. edited. I got an roscore running yea, but not the urg_node is it needed? I tried it with urg node running (rosrun urg_node urg_node _ip_address:="192.168.0.10") But didnt make any diffrence. The node which i wrote strat but there are no prints

schultza ( 2015-02-26 06:33:38 -0600 )edit

How do you expect your test node to print anything, if there is no node that publishes those LaserScan messages? So yes, you need to start all three: roscore, urg_node and your own node. You might want to use a launch file for that.

gvdhoorn ( 2015-02-26 06:43:59 -0600 )edit

After you've started the urg_node, use rostopic list in another terminal (where you've also sourced devel/setup.bash) to see if it is actually publishing on the topic you expect. If it is, use rostopic echo /TOPIC_NAME to make sure there are actually msgs being published.

gvdhoorn ( 2015-02-26 06:45:50 -0600 )edit

You are right :) I started the urg_node which is publishing the /scan (which I am want to subscribe to) and also others like /echoes. So if I rostopic echo /scan I dont see anything, however if I rostopic echo /echoes I can see some data

schultza ( 2015-02-26 07:41:45 -0600 )edit

So ok, somehow it works, I didnt change anything. :( Can't explain why, maybe I missed starting the urd_node sometimes or started the other node too early. Anyways I am happy that its working now. Thank you for your help!!! There is one thing left,I dont know if I should open a new question for this

schultza ( 2015-02-26 11:32:49 -0600 )edit

I tried writing the launch file you mentioned. But it doesnt find my node: Error message here: ERROR: cannot launch node of type [hokuyo_test_pkg/hokuyo_test_package_node]: can't locate node [hokuyo_test_package_node] in package [hokuyo_test_pkg] I added the launch file in the question

schultza ( 2015-02-26 11:33:52 -0600 )edit

Okay found it already got a big typo in launch file

schultza ( 2015-02-27 04:07:25 -0600 )edit

Ok, good to hear that you found it. Question answered? :)

gvdhoorn ( 2015-02-27 04:23:46 -0600 )edit

see more comments

Problem with package structure? Hokuyo not working

Comments

1 Answer

Comments

Question Tools

Stats

Related questions

Problem with package structure? Hokuyo not working edit

Comments

1 Answer

Comments

Question Tools

Stats

Related questions

Problem with package structure? Hokuyo not working