ahornung/humanoid_navigation

ROS stack with footstep planning and localization for humanoid robots: http://wiki.ros.org/humanoid_navigation

humanoid_navigation's Issues

problem about localization in an octomap using hmanoid_localization with 3D lidar pointcloud2,IMU,Odometry datas

Firstly, thanks for your excellent work on octomap and humanoid_navigation.

These days I am working on the humanoid_localization package, could you pls provide bags file containing the topics and tf needed by the humanoid_localization package? such as the IMU, Tf (containing the information of odometry), pointCloud2.

Now I am working on localization issue for a robot working in outdoor environment. I created the octomap for the environment by velodyne64 Lidar, IMU, Odometry by SLAM. Now I want to localization in the environment using the existed octomap and I find that your humanoid_localization is a good method to do it. But I found some problems:

My system:

 Ubuntu14.04
 ROS indig0

I got the Error:

ERROR: Raycasting in direction (0,0,0) is not possible!

my imput data for humanoid_localization node can be listed as follow:

1. **octomap** (.bt format)
2. **Lidar datas** from Velodyne64 in PointCloud2, topic name is **velodyne_points**, frame_id is **velodyne_link**.
3. **IMU data** from RT2000 sensor in sensor_msg/IMU, topic name is **imu**, frame_id is **imu_link**.
4. **odometry data** from encoders. I send the data by the tf from the **odom → torso**. I do not sure whether this is right, this tf send the odometry information to **humanoid_localization**.

this is my launch file:

<node pkg="humanoid_localization" type="localization_node" name="humanoid_localization" output="screen" > 
    <param name="odom_frame_id" value="/odom" />
    <param name="base_frame_id" value="/torso" />
    <param name="global_frame_id" value="/map" />
    <param name="num_particles" value="500" />
    <param name="use_raycasting" value="true" />    
    <param name="use_imu" value="true" />
</node>

I change the topic name in humanoid_localization package and humanoid_localization node subscribe the three topic: tf, imu, velodyne_points. But there was no output except for the Error:Raycasting in direction (0,0,0) is not possible!

except for the Error(ERROR: Raycasting in direction (0,0,0) is not possible!), I also have several other question as follow:

1. dose this tf odom → torso send odometry information to the humanoid_localization node?

2. what function does this frame_id **base_footprint** have? just a frame_id fixed on the robot?

3. I am not sure: how the humanoid_localization node get the transfer the odometry data?

Thanks a lot !

PlanFootstepsBetweenFeet msg missed

In hydro-devel branch I have the following errors:

>>>>>>>> g++ on FootstepPlanner.cpp failed with error: 
In file included from /home/enriquefernandez/catkin_ws/src/humanoid_navigation/footstep_planner/src/FootstepPlanner.cpp:21:0:
/home/enriquefernandez/catkin_ws/src/humanoid_navigation/footstep_planner/include/footstep_planner/FootstepPlanner.h:29:56: fatal error: humanoid_nav_msgs/PlanFootstepsBetweenFeet.h: No such file or directory

>>>>>>>> g++ on FootstepPlannerNode.cpp failed with error:
In file included from /home/enriquefernandez/catkin_ws/src/humanoid_navigation/footstep_planner/include/footstep_planner/FootstepPlannerNode.h:29:0,
                 from /home/enriquefernandez/catkin_ws/src/humanoid_navigation/footstep_planner/src/FootstepPlannerNode.cpp:21:
/home/enriquefernandez/catkin_ws/src/humanoid_navigation/footstep_planner/include/footstep_planner/FootstepPlanner.h:29:56: fatal error: humanoid_nav_msgs/PlanFootstepsBetweenFeet.h: No such file or directory

>>>>>>>> g++ on FootstepNavigation.cpp failed with error:
In file included from /home/enriquefernandez/catkin_ws/src/humanoid_navigation/footstep_planner/include/footstep_planner/FootstepNavigation.h:25:0,
                 from /home/enriquefernandez/catkin_ws/src/humanoid_navigation/footstep_planner/src/FootstepNavigation.cpp:21:
/home/enriquefernandez/catkin_ws/src/humanoid_navigation/footstep_planner/include/footstep_planner/FootstepPlanner.h:29:56: fatal error: humanoid_nav_msgs/PlanFootstepsBetweenFeet.h: No such file or directory

I have ros-hydro-humanoid-msgs and ros-hydro-humanoid-nav-msgs installed.
I also tried with master and devel branches from the github repo (https://github.com/ahornung/humanoid_msgs).

how to run

hello, would you please tell me how to run your code? I have compile the code successfully and provide all the topic need for the package. When I run the nao_localization_test_motion.launch, I just can not see anything.I found the node didn't subscribe any topic. I deleted the code "reset();"in this file

https://github.com/AravindaDP/humanoid_navigation/blob/indigo-devel/humanoid_localization/src/HumanoidLocalization.cpp

at line 157, I found the node can subscribe the laser and point_cloud topic, but when I run rostopic echo /pose, there is nothing output. Would you please tell me what should I do to handle this?Should I do something to initialize this node before use? Many thanks!

Indigo needs new build dependency on cmake_modules for finding Eigen

FindEigen.cmake has been moved to the cmake_modules package in Indigo, thus the humanoid_localization package needs an additional build dependency on cmake_modules.

There is no indigo-devel branch yet, so I can't create a pull request. See commit sosswald@abb3e71 in my fork for the changes.

Modified for UAVs?

Hello,

This isn't an issue so much as a request for information. Do you know if anyone has already modified this package, the localization package in particular, for use with autonomous UAVs?

Thanks

Do you have a plan to release on ROS Kinetic version?

Hello! I'm a researcher in ROBOTIS. I have a plan to release the Thormang3 packages (kinetic version, http://wiki.ros.org/ROBOTIS-THORMANG3). So, your footstep_planner package is very important for us. Do you have a plan to release on ROS Kinetic version?