pr2/pr2_common

pr2_common's Issues

conduct api review of all of common_msgs as a whole (ros ticket #1742)

sign off on each individual package being API cleared

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Thu Jul 2 13:51:52 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1742

Home directory doesn't symlink on prf (ros ticket #1786)

My home is on prf3 and it didn't link properly when I logged in today.

trac data:

• Owner: blaise
• Reporter: sorokin
• Reported at: Fri Jul 10 12:23:52 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1786

rename joy to linux_joystick (ros ticket #1664)

this is what it is and it's a little clearer

trac data:

• Owner: watts
• Reporter: tfoote
• Reported at: Tue Jun 23 15:36:09 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1664

Increase speed of door detection (ros ticket #1338)

Use current detector with faster scan

or

Use detector based on base laser

trac data:

• Owner: wim
• Reporter: meeussen
• Reported at: Thu May 7 20:08:56 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1338

throttle: excessive CPU usage (ros ticket #1519)

throttle was observed on prf2 to consume ~20% CPU while throttling /stereo/cloud. It appeared that no subscribers were connected.

A quick test shows that a high input rate to throttle can indeed bring up its CPU usage. It can probably be fixed by being smarter about reusing memory rather than reallocating for each message. If necessary, the memcpy on incoming messages can be skipped when no subscribers are connected.

trac data:

• Owner: gerkey
• Reporter: gerkey
• Reported at: Thu May 28 19:49:46 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1519

create "projection policies" for laser projection (ros ticket #1464)

This will replace preservative and try to capture more error codes, and set invalid ranges etc. (min range, max range, 0, or other)

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Thu May 21 18:55:03 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1464

rospy does not use sim time (ros ticket #1387)

I'm playing back a bag file, using "rosplay -b 100 name.bag". The -b option makes rosplay publish the bag recording time on the /time topic. On the parameter server I set the use_sim_time parameter:

$ rosparam get use_sim_time
true

In the python code I'm running, I want to get the rostime that is published by rosplay. I use:

rospy.sleep(2.0)
d.header.stamp = rospy.get_rostime()
print "time ",d.header.stamp

The problem is that the time that is printed is the system time, not the time when the bag was recorded:

$ ./detect_handle_from_bag.py
time 1242246848651374101

The actual rostime I want to get is:
$ rostopic echo time
rostopic: topic is [/time]
... logging to /u/meeussen/ros/ros/log/rostopic-13657-1242247140575.log

topic type is [roslib/Time]

header:
seq: 18
stamp: 1242147450772084035
frame_id:
rostime: 1242147450986051982

trac data:

• Owner: kwc
• Reporter: meeussen
• Reported at: Wed May 13 13:49:19 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1387

look at combining msgs and srvs packages (ros ticket #1740)

The distinction doesn't seem that useful.

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Thu Jul 2 13:50:34 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1740

bring nav_srvs into common_msgs from common (ros ticket #1741)

I haven't moved it yet.

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Thu Jul 2 13:51:01 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1741

Change DiagnosticValue to become KeyValue (ros ticket #1903)

string key
string value

replace DiagnosticString too

trac data:

• Owner: blaise
• Reporter: tfoote
• Reported at: Wed Jul 22 11:54:38 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1903

Replace PoseDot with Twist (ros ticket #1316)

Rename DiagnosticMessage to DiagnosticArray (ros ticket #1904)

as above

trac data:

• Owner: watts
• Reporter: tfoote
• Reported at: Wed Jul 22 11:54:59 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1904

laser_scan test tolerance needs to be larger than desired (ros ticket #1651)

hi Tully,

Some of the laser_scan tests have been failing on 64-bit since this build:

http://build.willowgarage.com/view/personalrobots/job/personalrobots-update-test-64/461/testReport/

Looks like your changes in r17401,r17402 triggered the failures.

If I'm reading the results correctly, then the test is pretty close, e.g.:

/home/rosbuild/hudson/workspace/personalrobots-update-test-64/personalrobots/common/laser_scan/test/projection_test.cpp:234
The difference between cloud_out.pts[i].x and scan.ranges[i] * cos(scan.angle_min + i * scan.angle_increment) is 1.08708e-06, which exceeds tolerance, where
cloud_out.pts[i].x evaluates to 2.57519,
scan.ranges[i] * cos(scan.angle_min + i * scan.angle_increment) evaluates to 2.57519, and
tolerance evaluates to 1e-06.

Perhaps the tolerance should be loosened a bit?

brian.

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Sat Jun 20 17:10:00 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1651

fix param calls in ground plane node (ros ticket #1524)

like I did in the incremental updates

{{{
Revision: 16337
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16337&view=rev
Author: tfoote
Date: 2009-05-29 03:37:11 +0000 (Fri, 29 May 2009)

Log Message:

fixing param call to be cached for it was causing major delays sometimes 40Hz -> 1/2Hz

Modified Paths:

pkg/branches/milestone2/mapping/semantic_point_annotator/src/sac_inc_ground_removal.cpp

Modified: pkg/branches/milestone2/mapping/semantic_point_annotator/src/sac_inc_ground_removal.cpp

--- pkg/branches/milestone2/mapping/semantic_point_annotator/src/sac_inc_ground_removal.cpp 2009-05-29 03:31:35 UTC (rev 16336)
+++ pkg/branches/milestone2/mapping/semantic_point_annotator/src/sac_inc_ground_removal.cpp 2009-05-29 03:37:11 UTC (rev 16337)
@@ -132,10 +132,10 @@
void
updateParametersFromServer ()
{

•  if (node_.hasParam ("~z_threshold")) node_.getParam ("~z_threshold", z_threshold_);
  

•  if (node_.hasParam ("~ground_slope_threshold")) node_.getParam ("~ground_slope_threshold", ground_slope_threshold_);
  

•  if (node_.hasParam ("~sac_fitting_distance_threshold"))  node_.getParam ("~sac_fitting_distance_threshold", sac_fitting_distance_threshold_);
  

•  if (node_.hasParam ("~sac_distance_threshold"))  node_.getParam ("~sac_distance_threshold", sac_distance_threshold_);
  

•  node_.getParam ("~z_threshold", z_threshold_, true);
  

•  node_.getParam ("~ground_slope_threshold", ground_slope_threshold_, true);
  

•  node_.getParam ("~sac_fitting_distance_threshold", sac_fitting_distance_threshold_, true);
  

•  node_.getParam ("~sac_distance_threshold", sac_distance_threshold_, true);
  

  }
  }}}

trac data:

• Owner: ethan
• Reporter: tfoote
• Reported at: Fri May 29 15:58:08 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1524

add intermediate callback to filter_chain (ros ticket #1038)

This will provide for introspection on intermediate values for debugging.

It will provide a const reference and a string filter name

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Mon Mar 9 15:19:09 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1038

Wrong Scopes in tf/broadcaster.py (ros ticket #1459)

The rospy.Publisher is assigned to a local rather than an instance variable. This makes things not work at all.

trac data:

• Owner: tfoote
• Reporter: [email protected]
• Reported at: Thu May 21 06:48:25 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1459

merge manipulation_msgs into robot_msgs (ros ticket #1663)

it doesn't make sense to be on it's own at this point

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Tue Jun 23 14:22:18 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1663

conduct an API review of robot_actions (ros ticket #1250)

there are many of us that don't really know what robot actions are and how they work. And they've made there way into prcore so we should do a quick API review of them this week.

Conner if you could put up a review page for them with a summary of their API and usage. And then schedule a review sometime this week that would be great.

trac data:

• Owner: mcgann
• Reporter: tfoote
• Reported at: Wed Apr 29 00:10:12 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1250

Ensure that pr2_alpha depends on mechanism_bringup (ros ticket #1601)

throttle: assign node name based on topic (ros ticket #1520)

Create wiki pages for all packages in common stack (ros ticket #1593)

I've been creating a new sub-menu system on the wiki, including one for the common stack. In creating it, I noticed that several packages within the common stack do not have a wiki page yet. Please create them and also add the appropriate include macro:

{{{
[[Include(Menus/CommonStack)]]
}}}

(easier to copy and paste from another package in the stack

trac data:

• Owner: tfoote
• Reporter: kwc
• Reported at: Mon Jun 15 16:53:34 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1593

make test fails to re-run, after it failed (ros ticket #1187)

I am debugging something in robot_actions.
I do make test
The test fails, for reasons that are legit
I make some changes to fix it and make test again. I get output as shown below, which is problematic because it:
a) indicates SUCCESS at the end

b) does not allow test to run again because of an nfs lock file preventing the test output directory from being written.

make[3]: Leaving directory /wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build' [ 90%] Built target _rospack_genmsg make[3]: Entering directory/wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build'
Scanning dependencies of target robot_actions
make[3]: Leaving directory /wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build' make[3]: Entering directory/wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build'
[ 95%] Building CXX object CMakeFiles/robot_actions.dir/src/action_runner.o
Linking CXX shared library ../lib/librobot_actions.so
make[3]: Leaving directory /wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build' [ 95%] Built target robot_actions make[3]: Entering directory/wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build'
Scanning dependencies of target test/utest
make[3]: Leaving directory /wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build' make[3]: Entering directory/wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build'
[100%] Building CXX object CMakeFiles/test/utest.dir/test/utest.o
Linking CXX executable ../test/utest
make[3]: Leaving directory /wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build' [100%] Built target test/utest make[2]: Leaving directory/wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build'
make[1]: Leaving directory /wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build' if cd build && make -k test; then make test-results; else make test-results && exit 1; fi make[1]: Entering directory/wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build'
make[2]: Entering directory /wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build' make[3]: Entering directory/wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build'
[ 90%] Built target _rospack_genmsg
[ 95%] Built target robot_actions
[100%] Built target test/utest
make[4]: Entering directory /wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build' rm: cannot remove/u/mcgann/ros/ros/test/test_results/robot_actions/.nfs00000000006184f2000000d1': Device or resource busy
make[4]: *** [tests] Error 1
make[4]: Target CMakeFiles/tests.dir/build' not remade because of errors. make[4]: Leaving directory/wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build'
make[3]: *** [CMakeFiles/tests.dir/all] Error 2
make[3]: Target CMakeFiles/test.dir/all' not remade because of errors. make[3]: Leaving directory/wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build'
make[2]: *** [CMakeFiles/test.dir/rule] Error 2
make[2]: Target test' not remade because of errors. make[2]: Leaving directory/wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build'
make[1]: *** [test] Error 2
make[1]: Leaving directory /wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build' make[1]: Entering directory/wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build'
make[2]: Entering directory /wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build' make[3]: Entering directory/wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build'

make[4]: Entering directory `/wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build'

[AGGREGATED TEST RESULTS SUMMARY]

PACKAGES:

• robot_actions

SUMMARY

• RESULT: SUCCESS
• TESTS: 0
• ERRORS: 0
• FAILURES: 0

make[4]: Leaving directory /wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build' Built target test-results make[3]: Leaving directory/wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build'
make[2]: Leaving directory /wg/stor5a/mcgann/ros/ros-pkg/highlevel/robot_actions/build' make[1]: Leaving directory/wg/stor5a

trac data:

• Owner: kwc
• Reporter: mcgann
• Reported at: Mon Apr 20 16:24:09 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1187

move image_msgs contents into sensor_msgs (ros ticket #1661)

and delete image_msgs

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Tue Jun 23 14:21:01 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1661

Remove TestData from robot_msgs... put it in the trash (ros ticket #1317)

http://pr.willowgarage.com/wiki/robot_msgs/2009-05-05_API_Review

trac data:

• Owner: watts
• Reporter: tfoote
• Reported at: Wed May 6 16:56:38 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1317

populate sensor_msgs (ros ticket #1254)

This will include
image_msg
laser_scan
imu??

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Wed Apr 29 15:32:17 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1254

strip mapping_msgs from release (ros ticket #1738)

these are not needed/ready for release

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Thu Jul 2 13:49:38 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1738

Move PositionMeasurement from robot_msgs to people (ros ticket #1311)

http://pr.willowgarage.com/wiki/robot_msgs/2009-05-05_API_Review

trac data:

• Owner: pantofaru
• Reporter: tfoote
• Reported at: Wed May 6 16:37:41 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1311

OutletPose, and PlugStow from robot_msgs to the plugs (ros ticket #1324)

http://pr.willowgarage.com/wiki/robot_msgs/2009-05-05_API_Review

trac data:

• Owner: mwise
• Reporter: tfoote
• Reported at: Wed May 6 17:17:50 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1324

rename ROS_REGISTER_FILTERS (ros ticket #1149)

to FILTERS_REGISTER_FILTER
as per API review

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Wed Apr 8 17:44:08 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1149

make filters type string more readable (ros ticket #1536)

TransferFunctionFilterd is not obviously a TransferFunctionFilter with Type d

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Mon Jun 1 03:21:52 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1536

Make audio_msgs experimental package and move AudioRawStream from robot_msgs to it (ros ticket #1321)

http://pr.willowgarage.com/wiki/robot_msgs/2009-05-05_API_Review

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Wed May 6 16:58:47 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1321

Replace Acceleration, Velocity, AngularAcceleration, and AngularVelocity with Vector3 (ros ticket #1318)

Move PolygonalMap, CollisionMap, and OrientedBoundedBox from robot_msgs to manipulation_msgs (Think about moving them elsewhere later) (ros ticket #1323)

Radu, we had a meeting about this yesterday and for now these are too specific for robot_msgs. If you get a change to do this it would be great. Otherwise I'll take care of it when I close the other tickets from this review.

The meeting notes are here:
http://pr.willowgarage.com/wiki/robot_msgs/2009-05-05_API_Review

trac data:

• Owner: isucan
• Reporter: tfoote
• Reported at: Wed May 6 17:16:13 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1323

Power boards scripts enable/disable all power boards on network (ros ticket #1240)

The power board scripts in the qualification system enable and disable all boards on a network, instead of the one on the test cart only.

They also do not return a service response when the power node is going down.

trac data:

• Owner: blaise
• Reporter: watts
• Reported at: Mon Apr 27 22:16:33 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1240

create hokuyo incident angle correction method (ros ticket #1445)

It's currently hacked into shadow_scan_node with major assumptions

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Tue May 19 18:01:36 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1445

robot_actions: split into separate interface and message packages (ros ticket #1197)

robot_actions appears ready for inclusion in the prcore stack. As we don't want any domain-specific, pr2-specific code in the prcore stack, it will need to be split into separate interface and message packages.

The separate message package could be called pr2_robot_actions, or there could be separate domain-specific packages as appropriate.

As we are prepping prcore for release, please address this sooner rather than later.

trac data:

• Owner: pratkanis
• Reporter: kwc
• Reported at: Wed Apr 22 14:36:45 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1197

API review xacro (ros ticket #1252)

it's on the common stack which we're trying to release, so it should be at least API reviewed

trac data:

• Owner: sglaser
• Reporter: tfoote
• Reported at: Wed Apr 29 09:58:35 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1252

move doors msgs into door package (ros ticket #1325)

http://pr.willowgarage.com/wiki/robot_msgs/2009-05-05_API_Review

trac data:

• Owner: wim
• Reporter: tfoote
• Reported at: Wed May 6 17:18:16 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1325

split up basic filter and multi channel filter (ros ticket #1148)

From filters API review

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Wed Apr 8 17:43:27 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1148

Fix for negative nsec in ros time should be backported to stable (ros ticket #1143)

document image_msgs/Image (ros ticket #1363)

I made morgan's uvc_cam publish image_msgs/Image this weekend. And it ended up being mostly trial and error for what worked with some cutting and pasting from various sources such as wiki and ros-users posts. We need proper documentation and tutorials for how to load and unload. the cvBridge is only useful for going to and from opencv and is still not well documented.

trac data:

• Owner: leibs
• Reporter: tfoote
• Reported at: Mon May 11 16:16:04 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1363

Replace image_msgs/ImagePoint with Point and ignore z (ros ticket #1309)

http://pr.willowgarage.com/wiki/robot_msgs/2009-05-05_API_Review

trac data:

• Owner: vpradeep
• Reporter: tfoote
• Reported at: Wed May 6 16:36:32 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1309

Change robot_msgs PoseWithRatesStamped to use PoseWithRates + a header (ros ticket #1315)

Open door action and unlatch handle action change behavior based on door message (ros ticket #1339)

Polygon3D will become Polygon... lose its color... and stay in robot_msgs (ros ticket #1310)

http://pr.willowgarage.com/wiki/robot_msgs/2009-05-05_API_Review

trac data:

• Owner: sglaser
• Reporter: tfoote
• Reported at: Wed May 6 16:37:02 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1310

Fix URLs in stack manifests (ros ticket #1743)

Some of the stack manifests appear to be pointing to the ROS wiki page

trac data:

• Owner: tfoote
• Reporter: kwc
• Reported at: Thu Jul 2 17:56:35 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1743

change filters to dynamic loading (ros ticket #1722)

This will prevent impossible dependencies.

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Wed Jul 1 15:53:03 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1722

create a dictionary loading framework (ros ticket #1147)

This came out of the filters API review. This would be a generic framework for loading a dictionary of parameters. Either straight from the parameter server or from file such as yaml.

Something like:
DictionaryBrowser

With
DictionaryFromFile : public DictionaryBrowser

DictionaryFromParam : public DictionaryBrowser

Where dictionary broswer would expose a simple standardized way to browse through dictionaries. Something like a nested map of map with supported data types string, int, float, and vectors of those types.

trac data:

• Owner: berger
• Reporter: tfoote
• Reported at: Wed Apr 8 16:04:18 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1147

conduct full review of robot_srvs (ros ticket #1737)

This is unreviewed and has a bunch of non-descript stuff in it

trac data:

• Owner: tfoote
• Reporter: tfoote
• Reported at: Thu Jul 2 13:45:06 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1737

Twist uses Point when it should really use Vector3 (ros ticket #1723)

The vel and rot components of the Twist message should use a Vector3 and not a Point. This blocks all other Twist related tickets against this milestone. Also, if there are any bag files with the Twist message, the next version of the bag migration tools are needed before this fix can happen. Otherwise, bags will break.

trac data:

• Owner: tfoote
• Reporter: eitan
• Reported at: Wed Jul 1 16:15:44 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/1723