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Kenson Leung W.K edited this page May 22, 2021 · 20 revisions

[TODO] for final submission

Summary

Quickstart

Overview

Structure

Video

FAQ

1. My catkin_make complaints missing header files. What happened?

Few possible reasons.

  • There is missing apt dependent package. Try to "google" what is missing and install it.
  • Racing conditions due to multithreading cmake. Try to rebuild the workspace by deleting the devel and build folder. Use catkin_make -j1.
  • Make sure you install all recommended apt packages. A list of ros package names was extracted from my working computer.

2. All cameras does not work in simulation. How to solve?

Remove the gazebo_ros_pkgs in learning_ros_external_pkgs_noetic. Recently the ros-noetic-gazebo-ros-pkgs apt deb package is up-to-date and that one from learning_ros_external_pkgs_noetic is outdated. You should rebuild your workspace for safe. Take a break and it should take more than a while.

rm -rf $HOME/5755_ws/src/learning_ros_external_pkgs_noetic/gazebo_ros_pkgs
rm -rf $HOME/5755_ws/devel
rm -rf $HOME/5755_ws/build
catkin_make -j1

3. Always get timeout error when connecting to the real baxter in the lab. How to solve?

ubuntu hostname resolving issue. See my wiki section

4. My workspace is full of packages and I don't want a full scan and compile. Can I speed up?

Two options.

  1. Keep your code written in python
  2. catkin_make --only-pkg-with-deps ar_track_alvar only compile specified package. Here the example is "ar_track_alvar". Later you need this command catkin_make -DCATKIN_WHITELIST_PACKAGES="" to go back full scan and compile.

5. Baxter Joints Limit

baxter_joints baxter_joints_limit

6. Joint names under moveit

['head_pan']
['left_s0', 'left_s1', 'left_e0', 'left_e1', 'left_w0', 'left_w1', 'left_w2', 'l_gripper_l_finger_joint', 'l_gripper_r_finger_joint']
['right_s0', 'right_s1', 'right_e0', 'right_e1', 'right_w0', 'right_w1', 'right_w2', 'r_gripper_l_finger_joint', 'r_gripper_r_finger_joint']

7. Failed to rosrun tf view_frames..what happened?

The view_frames node was implemented in Python and was targeted on Python2. A patch for python3 is here

Error message

rosrun tf view_frames

Listening to /tf for 5.0 seconds
Done Listening
b'dot - graphviz version 2.43.0 (0)\n'
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/tf/view_frames", line 119, in <module>
    generate(dot_graph)
  File "/opt/ros/noetic/lib/tf/view_frames", line 89, in generate
    m = r.search(vstr)
TypeError: cannot use a string pattern on a bytes-like object

8. moveit_calibration (HandEyeCalibration plugin) from rviz failed to solve after taking 5 samples. Why?

"handeye" and "baldor" ROS packages are needed as run-time dependencies but there are no clear error messages nor compilation warning. Those packages are now included in our repo. Checking out them and perform catkin_make could solve this.

9. Warning: TF_OLD_DATA ignoring data from the past. What happened?

The clock of the computer inside real baxter robot is not synced. Generally the robot would perform time sync through the internet using NTP. However if the robot is not connected to the internet you may want to setup your own NTP service in your workstation and let baxter connects to it.

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