gt-ros-pkg / hrl-assistive Goto Github PK

I have cloned your package, and tried to run it on my own machine, but am getting errors due to dependencies on packages not supported in indigo. Am I missing something, or did the package recently break?

Catch error when head registration cannot find the relevant pcd file, and inform the user of the failure.

The current list of available camera (and other services, such as actions on click) always present, and do not necessarily reflect the status of the backend, allowing users to call services which are not available, typically with little to no feedback about the failure.

The AR Tag visualization image highlights a detected tag before the tag is recognized by the servoing node (likely because of the filtering and thresholding being done in the servoing node). This gives the user the mistaken impression that the tag has been identified, and should be updated to more correctly indicate the system state.

Both for cancelling the head registration click and the head registration processing. Should also (separate button?) clear confirmation point-cloud.

The current system only shows the user the most recent log output, but often multiple outputs are received essentially simultaneously, and the first are immediately overwritten by the later messages. The log window should be extended to display messages for a certain length of time, and only clear messages after a specified period. Perhaps a history should also be kept? This may also allow old message to be cleared, which otherwise persist until a new message is received, long after the message is meaningful.

Currently the real image size parameter is hard-coded for each image in the mjpeg_client. By using camera_info topic to receive this information, we can maintain correct behavior with changing image sizes (possible with Kinect), and avoid hard-coding specific values for particular cameras.

Occasionally the Pixel23d callback or head registration callback will die due to the presence of "Invalid (NaN, Inf) point coordinates given to radiusSearch!"

Need to update registration pointclouds and transforms to work properly with multiple users, from both sides of head (based on interface side selection).

Add the ability for the robot to automatically look at an AR Tag (or some given point) with the arm cameras. This will significnatly reduce the servoing failures resulting from the camera losing its view of the tag, and should allow the system to start from arbitrary arm positions. Needs to be integrated with servoing.

When I try to move the grippers, I am getting the following error. I have been unsuccessful at finding the node in the code base so far.

/r_gripper_sensor_controller/grab_action_node ServerGoalHandle::setCanceled:116: To transition to a cancelled state, the goal must be in a pending, recalling, active, or preempting state, it is currently in state: 2