I will tell you a mistake I was doing: I was compiling and installing from source several packages on my personal linux ubuntu 16.04 Ros kinetic, in my workspace. I realized that I just do the homework in the workspace from Robot_Ignite_Academy.
However I am facing the same issue with the exercise 2.10
The transformation of frames does not happen just using the command line of static_transform_publisher.
In this way I copied the source_code of static_transform_publisher.cpp inside the src directory from my package “kobuki_Transfomr_Static” which I generated to launch this node. I obtained the code from https://github.com/davheld/tf/blob/master/src/static_transform_publisher.cpp and I think they use quaternion angles instead Euller nomenclatur, so there is one additional argument for the angles. I configured my package and CMakeLists.txt to depend from roscpp rospy std_msgs and tf. And the package.xml was generated with the build and exe_depends regularly.
However the static_transform_publish was not found. I configured the launch file correctly, as you can see below:
I also sourced the workspace in setup.bash and setup.sh such as the root ros-distro setup.bash and sh
I compiled all the packages with success through the catkin_make, however when I try to launch the node
command: roslaunch kobuki_transform_static pub_static_tf.launch
I have the following error:
ERROR: cannot launch node of type [kobuki_transform_static/home/user/catkin_ws/src/kobuki_transform_static/src/static_transform_publisher.cpp]: can’t locate node [home/user/catkin_ws/src/kobuki_transform_static/src/static_transform_publisher.cpp] in package[kobuki_transform_static]
My CMakelist is:
cmake_minimum_required(VERSION 2.8.3)
project(kobuki_transform_static)
Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
Find catkin macros and libraries
if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
##static_transform
std_msgs
tf
)
System dependencies are found with CMake’s conventions
find_package(Boost REQUIRED COMPONENTS system)
Uncomment this if the package has a setup.py. This macro ensures
modules and global scripts declared therein get installed
catkin_python_setup()
################################################
Declare ROS messages, services and actions
################################################
To declare and build messages, services or actions from within this
package, follow these steps:
* Let MSG_DEP_SET be the set of packages whose message types you use in
your messages/services/actions (e.g. std_msgs, actionlib_msgs, …).
* In the file package.xml:
* add a build_depend tag for “message_generation”
* add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
* If MSG_DEP_SET isn’t empty the following dependency has been pulled in
but can be declared for certainty nonetheless:
* add a exec_depend tag for “message_runtime”
* In this file (CMakeLists.txt):
* add “message_gI have the following error:eneration” and every package in MSG_DEP_SET to
find_package(catkin REQUIRED COMPONENTS …)
* add “message_runtime” and every package in MSG_DEP_SET to
catkin_package(CATKIN_DEPENDS …)
* uncomment the add_*_files sections below as needed
and list every .msg/.srv/.action file to be processed
* uncomment the generate_messages entry below
* add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES …)
Generate messages in the ‘msg’ folder
add_message_files(
FILES
Message1.msg
Message2.msg
)
Generate services in the ‘srv’ folder
add_service_files(
FILES
Service1.srv
Service2.srv
)
Generate actions in the ‘action’ folder
add_action_files(
FILES
Action1.action
Action2.action
)
Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
################################################
Declare ROS dynamic reconfigure parameters
################################################
To declare and build dynamic reconfigure parameters within this
package, follow these steps:
* In the file package.xml:
* add a build_depend and a exec_depend tag for “dynamic_reconfigure”
* In this file (CMakeLists.txt):
* add “dynamic_reconfigure” to
find_package(catkin REQUIRED COMPONENTS …)
* uncomment the “generate_dynamic_reconfigure_options” section below
and list every .cfg file to be processed
Generate dynamic reconfigure parameters in the ‘cfg’ folder
generate_dynamic_reconfigure_options(
cfg/DynReconf1.cfg
cfg/DynReconf2.cfg
)
###################################
catkin specific configuration
###################################
The catkin_package macro generates cmake config files for your package
Declare things to be passed to dependent projects
INCLUDE_DIRS: uncomment this if your package contains header files
LIBRARIES: libraries you create in this project that dependent projects also need
CATKIN_DEPENDS: catkin_packages dependent projects also need
DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES kobuki_transform_static
CATKIN_DEPENDS roscpp rospy static_transform std_msgs tf
DEPENDS system_lib
)
###########
Build
###########
Specify additional locations of header files
Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
)
Declare a C++ library
add_library(${PROJECT_NAME}
src/${PROJECT_NAME}/kobuki_transform_static.cpp
)
Add cmake target dependencies of the library
as an example, code may need to be generated before libraries
either from message generation or dynamic reconfigure
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
Declare a C++ executable
With catkin_make all packages are built within a single CMake context
The recommended prefix ensures that target names across packages don’t collide
add_executable(${PROJECT_NAME}_node src/kobuki_transform_static_node.cpp)
Rename C++ executable without prefix
The above recommended prefix causes long target names, the following renames the
target back to the shorter version for ease of user use
e.g. “rosrun someones_pkg node” instead of “rosrun someones_pkg someones_pkg_node”
set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX “”)
Add cmake target dependencies of the executable
same as for the library above
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node
${catkin_LIBRARIES}
)
#############
Install
#############
all install targets should use catkin DESTINATION variables
Mark executable scripts (Python etc.) for installation
in contrast to setup.py, you can choose the destination
install(PROGRAMS
scripts/my_python_script
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
Mark executables for installation
install(TARGETS ${PROJECT_NAME}_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
Mark libraries for installation
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN “*.h”
PATTERN “.svn” EXCLUDE
)
Mark other files for installation (e.g. launch and bag files, etc.)
install(FILES
# myfile1
# myfile2
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#############
Testing
#############
Add gtest based cpp test target and link libraries
catkin_add_gtest(${PROJECT_NAME}-test test/test_kobuki_transform_static.cpp)
if(TARGET ${PROJECT_NAME}-test)
target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
endif()
Add folders to be run by python nosetests
catkin_add_nosetests(test)
And my package.xml is:
<?xml version="1.0"?> kobuki_transform_static 0.0.0 The kobuki_transform_static package
user
TODO
I have the following error:
I have the following error:
I have the following error:
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>tf</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>tf</build_export_depend>
<exec_depend>rI have the following error:oscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>tf</exec_depend>
Thanks in advance.
Please help me to solve this issue, I am really trying to advance in the course.
Best Regards
Marcus
