Only released in EOL distros:   fuerte

RoboEarth ROS Database Interface and Object Model Recording Detection Packages

This stack provides packages for

• recording object models using a Kinect sensor (re_object_recorder, ar_bounding_box)

• interfacing with the RoboEarth database with ROS messages, to share these models on a web-accessible database (re_comm, re_comm_core, re_msgs, re_srvs, re_ontology)

• to download and detect the object models with either a Kinect or a monocular camera. (re_kinect_object_detector, re_vision, re_object_detector_gui)

All you need is a printed marker pattern (available here and a working ROS installation. The following video shows the concept:

Tutorials

To get you started, we created two tutorials:

Packages

RoboEarth specific Packages

• re_comm - RoboEarth's communication interface

• re_msgs - RoboEarth specific message declarations

• re_ontology - Base RoboEarth ontology

Object Scanning Packages

• ar_bounding_box - Object recording using multiple AR markers

• re_object_recorder - Object recording user interface

Object Detection Packages

• re_vision - SURF-based object detection service

• re_kinect_object_detector - Object detection service for Kinect camera

• re_object_detector_gui - Object detection user interface

Installation

The easiest way to install this stack along with its required packages is using this rosinstall file: roboearth.rosinstall. See the rosinstall documentation for more details.

E.g. for Ubuntu 12.04 systems with the ROS Fuerte binaries installed use

$ rosinstall ~/ros /opt/ros/fuerte 'http://wiki/roboearth_stack?action=AttachFile&do=get&target=roboearth.rosinstall'
$ source ~/ros/setup.bash

where ~/ros is the path to install the packages into and /opt/ros/fuerte is the path to your ROS installation.

Before attempting to build, make sure that the necessary dependencies are installed, i.e. if you have a ROS Fuerte desktop-full installation:

sudo apt-get install ros-fuerte-ias-common ros-fuerte-perception-pcl ros-fuerte-opencv2 ros-fuerte-octomap-mapping ros-fuerte-client-rosjava-jni libsuitesparse-dev

Then, to build the packages, run

rosmake roboearth

callback_ssl_server_trust_prompt required error message

Our subversion servers use a self-assigned certificate, so if rosinstall seems to hang forever or fails with a error message similar to

Failed to checkout from url https://ipvs.informatik.uni-stuttgart.de/roboearth/repos/public/tags/latest : callback_ssl_server_trust_prompt required

you can circumvent this error by accepting our self-assigned certificate permanently.

svn info https://ipvs.informatik.uni-stuttgart.de/roboearth/repos/public/tags/latest

A warning prompt should appear, asking you to accept or reject the certificate:

Error validating server certificate for 'https://ipvs.informatik.uni-stuttgart.de:443':
 - The certificate is not issued by a trusted authority. Use the
   fingerprint to validate the certificate manually!
Certificate information:
 - Hostname: ipvs.informatik.uni-stuttgart.de
 - Valid: from Mon, 05 Dec 2011 09:23:02 GMT until Wed, 04 Dec 2013 09:23:02 GMT
 - Issuer: IPVS, Universitaet Stuttgart, Stuttgart, Germany, DE
 - Fingerprint: bc:2c:34:ce:c3:04:4d:8e:d7:a6:6f:66:c6:16:a9:37:7b:28:b8:e7
(R)eject, accept (t)emporarily or accept (p)ermanently?

Press 'p' to accept the certificate permanently. You should then be able to run the installation process as specified above.

Compilation issues

There are some issues with compiling the ROS artoolkit packages on newer machines. Here some common fixes are listed.

videoLinuxV4L.h errors

If you encounter a compilation error like

../../../include/AR/sys/videoLinuxV4L.h:24:28: fatal error: linux/videodev.h: No such file or directory

try the fix described at artoolkit#Troubleshooting_Installation.

Linker errors in ar_pose

If ar_pose fails to link, giving error messages as e.g.:

gsub.c:(.text+0x2e4b): undefined reference to `glVertex2f'
gsub.c:(.text+0x2e50): undefined reference to `glEnd'
/home/joris/ros/stacks/ccny_vision/artoolkit/lib/libARgsub.a(gsub.o): In function `argInit':
gsub.c:(.text+0x3018): undefined reference to `glutInitDisplayMode'
gsub.c:(.text+0x3027): undefined reference to `glutInitWindowPosition'
gsub.c:(.text+0x3038): undefined reference to `glutInitWindowSize'
gsub.c:(.text+0x3042): undefined reference to `glutCreateWindow'
gsub.c:(.text+0x3051): undefined reference to `glutFullScreen'
gsub.c:(.text+0x305b): undefined reference to `glutGet'
gsub.c:(.text+0x306b): undefined reference to `glutGet'
...

The following commands should fix that:

roscd ar_pose
sed '/^#rosbuild_gensrv\(\)/a set\(CMAKE_EXE_LINKER_FLAGS -Wl,--no-as-needed\)' -i CMakeLists.txt

RoboEarth Platform

We recommend to use the RoboEarth platform at http://api.roboearth.org to access all the existing data and to collaborate with other users. If you want to set up your own platform follow these instructions.

Report a Bug

If you encounter problems and/or require help, feel free to ask on our mailing list.