Week-10

Goals of the week(decided in last week’s meeting)

• Solve Asynspinner issue in ROS2 to complete camviz

• Refactor carviz

Progress 1

Carviz separated from base repository and rosified completely

• Because of issue discussed in absolute-path-jderobot-libraries I am leaving absolute path in all jderobot libraries that I am using.

N.B.***To use the current carviz-rosfied I have changed file “/opt/jderobot/include/jderobot/types/rgbd.h” , I have put absolute path of image.h here.

Progress 2

Errors in installing Turtlebot3 packages for ROS2 Dashing

Since I got some updates of Turtlebot3 I tried to install the packages as given in ROBOTIS_e-manual . But I got errors and after checking more into it I found updates have been made for OpenCR, maybe have to wait a little more.

Update: Turtlebot3 packages for ROS2 Dashing will be released on 20th August

Progress 3

CarViz tested with turtlebot3-waffle

Steps to run the tool:

Terminal 1:

source /opt/ros/melodic/setup.bash

roscore

Terminal 2:

source /opt/ros/melodic/setup.bash

export TURTLEBOT3_MODEL=waffle

roslaunch turtlebot3_gazebo turtlebot3_world.launch

Terminal 3:

cd /folder/carViz/build/carviz$

./carViz carVizReal.yml

(Click on the image to view the video)

Progress 4

ROS2-Camviz

Segmentation fault: Issues open :

• Segmentation fault

Conclusion after debugging: This is not a JdeRobot Image library issue with ROS2. Cameraclient class is not returning the client and giving the segmentation fault

• Alternative for asyncspinner in ROS2

Solved the blocking callback issue in multithreaded::executors by using run (protected member function) instead of spin(which does blocks callbacks)

Currently I am stuck in this part, I don’t have any clue how to go ahead.

Progress 5

ColorTuner tool

1. Trying to run it using ICE drivers only as I am getting errors. #1381

2. Studying the codebase

3. Studied about structuring a python packages and qt tool with python

Update 1: Colortuner errors solved. Now, working on refactoring it for ROS1

Update 2:

*ColorTuner separated from base repository

*Colotuner rosified, some part of code cleaning left.

ColorTuner tested with carviz tool in gazebo with Turtlebot3