Topic from SonarBack_frame or SonarFront_frame

asked 2020-08-13 01:46:08 -0600

Pepper_robot
11 ●8 ●13 ●16

updated 2020-08-13 08:11:57 -0600

Hi!

I'm using Pepper robot with Rviz (on ubuntu 14.04) but I can't visualize the map from Pepper. I saw that the node /robot_state_plublisher haven't got any maping node:

Node [/robot_state_publisher]
   Publications:
    * /tf [tf2_msgs/TFMessage]
   * /tf_static [tf2_msgs/TFMessage]
   * /rosout [rosgraph_msgs/Log]
   Subscriptions:
   * /joint_states [unknown type]
   Services:
   * /robot_state_publisher/get_loggers
   * /robot_state_publisher/set_logger_level
   contacting node http://victor-VirtualBox:35267/ ...
   Pid: 2686
   Connections:
   * topic: /rosout
     * to: /rosout
     * direction: outbound
     * transport: TCPROS
   * topic: /tf
     * to: /move_group
     * direction: outbound
     * transport: TCPROS
  * topic: /tf
     * to: /rviz_victor_VirtualBox_2661_3724187526495212161
     * direction: outbound
     * transport: TCPROS
  * topic: /tf_static
     * to: /move_group
     * direction: outbound
     * transport: TCPROS
  * topic: /tf_static
     * to: /rviz_victor_VirtualBox_2661_3724187526495212161
     * direction: outbound
     * transport: TCPROS

Someone know if there are some topic from SonarBack_frame and SonarFront_frame.

If I introduce 'rostopic list' :

victor@victor-VirtualBox:~/catkin_ws$ rostopic list
/attached_collision_object
/camera/camera_info
/camera/image_raw
/collision_object
/execute_trajectory/cancel
/execute_trajectory/feedback
/execute_trajectory/goal
/execute_trajectory/result
/execute_trajectory/status
/joint_states
/move_group/camera_info
/move_group/cancel
/move_group/display_contacts
/move_group/display_cost_sources
/move_group/display_grasp_markers
/move_group/display_planned_path
/move_group/feedback
/move_group/filtered_cloud
/move_group/filtered_cloud/compressed
/move_group/filtered_cloud/compressed/parameter_descriptions
/move_group/filtered_cloud/compressed/parameter_updates
/move_group/filtered_cloud/compressedDepth
/move_group/filtered_cloud/compressedDepth/parameter_descriptions
/move_group/filtered_cloud/compressedDepth/parameter_updates
/move_group/filtered_cloud/theora
/move_group/filtered_cloud/theora/parameter_descriptions
/move_group/filtered_cloud/theora/parameter_updates
/move_group/filtered_label
/move_group/filtered_label/compressed
/move_group/filtered_label/compressed/parameter_descriptions
/move_group/filtered_label/compressed/parameter_updates
/move_group/filtered_label/compressedDepth
/move_group/filtered_label/compressedDepth/parameter_descriptions
/move_group/filtered_label/compressedDepth/parameter_updates
/move_group/filtered_label/theora
/move_group/filtered_label/theora/parameter_descriptions
/move_group/filtered_label/theora/parameter_updates
/move_group/goal
/move_group/model_depth
/move_group/model_depth/compressed
/move_group/model_depth/compressed/parameter_descriptions
/move_group/model_depth/compressed/parameter_updates
/move_group/model_depth/compressedDepth
/move_group/model_depth/compressedDepth/parameter_descriptions
/move_group/model_depth/compressedDepth/parameter_updates
/move_group/model_depth/theora
/move_group/model_depth/theora/parameter_descriptions
/move_group/model_depth/theora/parameter_updates
/move_group/monitored_planning_scene
/move_group/motion_plan_request
/move_group/ompl/parameter_descriptions
/move_group/ompl/parameter_updates
/move_group/plan_execution/parameter_descriptions
/move_group/plan_execution/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/result
/move_group/sense_for_plan/parameter_descriptions
/move_group/sense_for_plan/parameter_updates
/move_group/status
/move_group/trajectory_execution/parameter_descriptions
/move_group/trajectory_execution/parameter_updates
/pickup/cancel
/pickup/feedback
/pickup/goal
/pickup/result
/pickup/status
/place/cancel
/place/feedback
/place/goal
/place/result
/place/status
/planning_scene
/planning_scene_world
/recognized_object_array
/rosout
/rosout_agg
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full

/rviz_victor_VirtualBox_2711_1366379093461206077/motionplanning_planning_scene_monitor/parameter_descriptions /rviz_victor_VirtualBox_2711_1366379093461206077/motionplanning_planning_scene_monitor/parameter_updates /tf /tf_static /trajectory_execution_event

Best, Víctor

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Comments

Can you share rostopic list. robot_state_publisher is only responsible for transform.

Tahir M. ( 2020-08-13 06:48:46 -0600 )edit

Ok! I added in the question.

Pepper_robot ( 2020-08-13 08:03:06 -0600 )edit

add a comment

answered 2020-08-13 13:15:13 -0600

Tahir M.
213 ●16 ●35 ●28

updated 2020-08-13 13:15:25 -0600

It seems like your laser and sonar nodes are not running. You might need to run them. Check pepper_sensors package. Any of the topics described there are not published or any topic on scan seems not to be published. You have to run the laser node provided in this package.

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But How can I run the laser node provided in this package?

Pepper_robot ( 2020-08-14 05:49:56 -0600 )edit

roslaunch pepper_sensors_py laser.launch

HappyBit ( 2020-08-14 07:23:06 -0600 )edit

I can't execute your instruction. I got the following errors:

[W] 1597646070.537385 5392 qimessaging.transportsocket: connect: Connection refused
[ERROR] [WallTime: 1597646070.537808] Could not create Proxy to "ALLaser".
Exception message:
ALBroker::createBroker
Cannot connect to tcp://127.0.0.1:9559
[W] 1597646070.541389 5392 qimessaging.transportsocket: connect: Connection refused
[ERROR] [WallTime: 1597646070.543429] Could not create Proxy to "ALMemory".
Exception message:
ALBroker::createBroker
Cannot connect to tcp://127.0.0.1:9559
could not start either laser or memory proxy

Pepper_robot ( 2020-08-17 01:44:00 -0600 )edit

And the next error:

REQUIRED process [pepper_laser-1] has died!
process has died [pid 5373, exit code 1, cmd /opt/ros/indigo/lib/pepper_sensors_py/laser.py -- 
pip=127.0.0.1 --pport=9559 __name:=pepper_laser __log:=/home/victor/.ros/log/6d3d4662-e053-11ea- 
820e-08002735138a/pepper_laser-1.log].
log file: /home/victor/.ros/log/6d3d4662-e053-11ea-820e-08002735138a/pepper_laser-1*.log
Initiating shutdown!

Pepper_robot ( 2020-08-17 01:44:52 -0600 )edit

Cannot connect to tcp://127.0.0.1:9559

Are you running all nodes on the same computer? If not it seams like the ROS_MASTER_URI is set to localhost, is this intended? If not please read about ROS-EnvironmentVariables

HappyBit ( 2020-08-17 02:02:25 -0600 )edit

I'm running the nodes and the instructions on a Virtual Machine with ubuntu 14.04. How can do to fix the error?

Pepper_robot ( 2020-08-17 02:05:20 -0600 )edit

Sorry I cant help you, since im not familiar with ROS running in VMs. Your messages indicates a network issue.

Could not create Proxy to "ALLaser".
Could not create Proxy to "ALMemory".
could not start either laser or memory proxy

Also this is probably related.

HappyBit ( 2020-08-17 02:16:57 -0600 )edit

Okay, never mind. I'll continue researching.

Thanks a lot for your feedback!

Pepper_robot ( 2020-08-17 02:19:45 -0600 )edit

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