All Questions
6,627
questions
0
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answers
10
views
What is the most suitable sensor fusion filter for my application?
I am currently working on a hobby project involving a device that will be attached to a golf driver club. Its primary function is to continuously measure the angles (pitch, roll, yaw) throughout the ...
- 1
0
votes
0
answers
5
views
Pose estimation with hand eye camera detectuion
I have the following configuration:
Where:
e = Robot flange
c = camera
s = Drilling tool
t = target (screw)
b =robot base
The idea is to drill a screw detected by camera. Once I have detected the ...
0
votes
0
answers
4
views
Apriltag online generation
Is there any website available for generating custom-sized Apriltag2 or Apriltag3 fiducials? I've come across websites for generating ArUco fiducials(https://chev.me/arucogen/), but I haven't been ...
- 1
0
votes
0
answers
26
views
How are exoskeletons controlled?
It is my understanding that there are 3 fundamental control methods : velocity, position and torque.
In exoskeletons meant to augment an healthy user's strength, a typical control method used is ...
- 1
1
vote
0
answers
12
views
Connecting MTi-G-710 sensor to PC using RS422 to USB adapter
I tried to connect an MTi-G-710 sensor to PC using this RS422 to USB adapter. I connected the wires from the sensor directly to the terminal block, using this wire color guide.
When I connected it to ...
- 11
1
vote
0
answers
7
views
How can I model a monorail robot in Webots by importing a Solidwork CAD model of robot?
I am new to Webots. I have not good idea about the considerations what should I consider when import a SolidWork CAD model to the Webots. I have a SolidWork model of robot. But I have not good idea to ...
2
votes
1
answer
62
views
What’s this gearbox called?
I took an apart a child’s toy because it looked like it had a neat gearbox in it, it did. The problem is I have no idea what type of gearbox is and I wanna see more things used with it.
It rotates ...
- 21
2
votes
1
answer
26
views
The 'stomp' configuration parameter was not found
I am trying to use STOMP Planner by following the documentation. As per the documentation, I installed the STOMP from the source in ROS Melodic (Ubuntu 18.04.6 LTS). Unfortunately, the command ...
- 121
0
votes
0
answers
26
views
My Roomba is making annoying noises while charging [closed]
I already replaced the battery but the same sound continues. It’s like a start sound followed by a stop sound, every 10 seconds.
0
votes
1
answer
28
views
Missing Fixed Frame in My Model
Why isn't Gazebo 9 displaying the tip's frame? Using RViz, you can view the frame as shown in the below image. In addition, I can't see the link listed under the model in Gazebo. There seems to be no ...
- 2,453
0
votes
1
answer
35
views
From Euler angles to Rotation matrix Staubli
I want to know the transformation matrix between End effector and Robot base (FK). Staubli gives me x,y,z and Rx,Ry,Rz. Those three Rotations are Euler angles? How could I transform those Euler angles ...
0
votes
1
answer
25
views
Position Recording [closed]
I have a robot that drives around a circuit. I need to know accurate positioning of this robot at all times in rapid updates (max 100ms) and then report that into our simulation software, and am ...
2
votes
1
answer
196
views
How do I record video from webots simulated cameras?
I'm currently trying to find a way to record the output from Webots cameras to video files. Currently I'm saving frames every cycle and converting them to videos afterwards using Shotcut. Is there a ...
- 81
2
votes
0
answers
42
views
How do you calculate this integral term in this PI Controller Formula?
This formula is the PI Control given in Eqn. 11.6, Pg. 419 of Chapter 11 in book Modern Robotics by Kevin M Lynch and Frank C Park.
Here,
Vb is the twist ==> Vb = (angular velocity, linear ...
- 21
0
votes
0
answers
9
views
How to perform iterative task using YASKAWA YRC1000 robot? [closed]
I am new to robot programming. I am trying to move the welding torch in a zig-zag fashion. Is there a way to do it efficiently instead of teaching it at every point using a programming pendant?
-1
votes
0
answers
15
views
Deaign outpipe inspection robot that can do rust removal and paint spraying arround a pipe, pipe size is 50mm to 400mm [closed]
Please help, thanks, the robot need to climb over flange as well.
- 1
0
votes
0
answers
13
views
Can anyone help me designing a tweel(airless tires) for mobile robots? [closed]
I was planning to introduce these flexible wheels called tweels in my two-wheeled mobile robot, I had seen it in action in today's mobile robots. Recently, starship robots upgraded there robots with ...
- 1
0
votes
1
answer
33
views
Standards for robotics design [closed]
I've received an assignment from college to write specifications for a robot that will work as a guidance dog for the visually impaired.
I wanted to know which standards I need to include in the specs ...
- 1
0
votes
1
answer
25
views
Bare metal programming [closed]
What does the exclamation mark, afterif, denote here?
Where can I learn bare metal programming and bit manipulation?
0
votes
1
answer
61
views
Odom only works with fixed joints
I'm simulating a robot with 4 omnidirectional wheels and I'm using the planar move plugin in the gazebo to simulate the behavior of the omnidirectional wheels.
To simulate the wheels I was using ...
0
votes
1
answer
30
views
Inverted pendulum LQR controller using motor
In my lab, I am trying to balance an inverted pendulum using simple LQR. To balance the arm I am using a DC motor. Now I have the A, B, C, D matrices. Using those I am able to find the feedback gain '...
- 1
0
votes
1
answer
56
views
Why does the laser cut through walls? ray_plugin
I have build a robot with a urdf to visualize in gazebo. After some struggle being new to gazebo I got it working. I then decided to make a video series for myself and others on how I did it.
Sadly ...
- 1
0
votes
1
answer
35
views
Why does joint links pile up to origin after running the control launch file?
This is the spherical bot which I am working on from the last question. everything seems to run properly while launching the gazebo and rviz launch files. but the moment I launch the control launch ...
- 11
0
votes
0
answers
17
views
How can I make the iRobot Create turn by the specified angle in Webots?
I am trying to use the iRobot Create in Webots for a project on vacuum cleaning. I am impressed by the fact that Webots contains the create.wbt world as well as ...
- 1
0
votes
1
answer
37
views
Arduino-based Drone Project: Struggling with Altitude Control
I've been working on a DIY project which involves creating a drone from scratch. My aim is simple yet challenging; I want the drone to ascend to a specified altitude, hover for a few minutes, then ...
1
vote
1
answer
57
views
ROS force vector transformation
In my work, I am using force sensors that provide measurements based on their frame pose in Gazebo. Due to the fact that frames are not constructed based on DH parameters, I need to track the tip's ...
- 2,453
0
votes
1
answer
19
views
How to deal with .zst compresion during installation of ROS 2 Foxy on Debian Bullseye from source?
I want to install ROS2 from source on Debian Bullseye, since installation of a .deb package does not seem to be possible for that Debian version. For that reason, I ...
- 1
0
votes
0
answers
39
views
Transformation between two coordinate frames (tf)
Problem:
I have a tracepen, a 3D tracked device.
I want to have its pose w.r.t. the world frame. So tf(world,tracepen) is my goal.
I can get its data in ROS as <...
0
votes
0
answers
23
views
Cartographer on multi robots simulation not running
I am currently trying to set up a ROS2 foxy multi robots simulation.
However I'm facing an issue, the first instance of cartographer that I launch works. But if I try to launch any more instance, they ...
- 1
1
vote
1
answer
43
views
How to detect the position in a linear actuator?
I was planning on 3D printing my own 30 cm stroke length 3D printed linear actuator and I don't know how I could read its position, or tell it to go say to 16.5 cm. I used this video, 3D Printed ...
- 11
0
votes
0
answers
26
views
ROS Transformation between two Coordinate Systems
I have a robot manipulator arm and a tracepen (3D tracked device).
I can get data from the tracepen using tracepenPose, which gives me a ...
0
votes
1
answer
34
views
How to exchange commands and states between hardware interfaces (to generate a CAN message)
I have a robot with ackermann steering and front 2 wheel drive. The vehicle already has all the mobility controls executed by the ground mobility module. The autonomy layer (the computing unit) will ...
- 131
1
vote
0
answers
20
views
Constraint Jacobian vs Space Jacobian
In the context of the book "Modern Robotics" of Kevin Lynch, and in the context of closed-chain mechanisms, what's the difference between the constraint Jacobian and the space Jacobian?
- 111
2
votes
1
answer
62
views
How to control the position of a load shared between two (servo)motors?
I want to position-control an axis combining the action of two DC servomotors - one of them alone is not powerful enough; I had those available and preferred not to buy a new one.
I have not the ...
0
votes
1
answer
44
views
Python's all tf frames function in ROS2 only returns some frames
Spining off of 347857#comment that seems ROS1 code, I tried to get all tf frames in Python but the following quick dirty code goes into "No frames" else block, while I verified that tf ...
- 280
0
votes
1
answer
39
views
Conversion of roll, pitch and yaw from ENU to NED
I have roll, pitch and yaw values in an ENU frame.
How can I convert it into a NED frame?
1
vote
1
answer
44
views
Why are bird-like bipedal robots more efficient than humanoid robots?
Well, some websites wrote that "Robotic legs with an unconventional design inspired by flightless birds can run 300 per cent more efficiently than the same device would if designed traditionally.&...
- 41
0
votes
1
answer
18
views
Start gazebo headless mode based on launch config argument
I was trying to start a simulation in ingition gazebo based on a condition.
condition
launch argument : headless_mode (bool) -> default : False
...
- 49
0
votes
1
answer
11
views
nav2-smac-planner package not available on foxy
I'm trying to install the nav2-smac-planner package on Foxy but apt install can't find it. Is it not available?
Here seem to indicate it's available on Foxy both source and debian.
Thank you in ...
- 131
1
vote
1
answer
58
views
Difficulty with tuning motor PID controller [closed]
I am struggling for a while now with tuning PID control on my motors. I have bought different motor driver boards better motors etc but still I am unable to get a good control on the motors.
What I am ...
1
vote
2
answers
36
views
Multisession odometry
I have two bag files with significant overlap and multiple loop closure opportunities. However, these bag files were recorded at different times. I want to use these bag files to reconstruct a scene ...
0
votes
0
answers
21
views
Why are moving objects and actors, that have been added to the Gazebo environment, not being detected by Sick LMS Scanner on ClearPath Husky?
I am using ROS Noetic and Gazebo.
https://github.com/JiangweiNEU/actor_collisions is used as the world, but the human walking actor is not being detected by the Husky laser scanner despite ...
- 1
1
vote
1
answer
48
views
Follow wall and avoid obstacles using lidar
I want to follow a wall and avoid any obstacles on the way.
My robot has a 360 degree sensor (lidar). I want to calculate a line (vector) to follow.
I tried a lot of different solutions but I didn't ...
- 11
0
votes
1
answer
138
views
How do I implement accurate distance measuring to ground on a rover?
I need the end effector to always be at a fixed distance from the ground, I need that the end effector is as close as possible to the ground, the closer the better.
Given this proximity I need to know ...
0
votes
1
answer
45
views
Steering wheel angle control
I am working on an autonomous vehicle's control, specifically the steering angle control.
Knowing that I used kinematic bicycle model, my questions are:
How do I choose the actuator for my steering ...
- 1
1
vote
1
answer
45
views
Decision behind ROS2's Python tutorial switched from src layout to flat layout
As far as I can see, the entire tutorial suite of ROS2 (citing Creating a package (docs.ros.org) to begin with) has switched from what is called "src layout" to "flat layout" (i.e. ...
- 280
2
votes
0
answers
27
views
Robot exploration algorithm
This might be a more theoretical question than a practical one, but I couldn't find a more fitting Stack Exchange (if you know of one, please point me in the right direction?).
I have control of a ...
0
votes
0
answers
16
views
Robust Communication Network in Swarm Robotics
I'm looking into best practices to build robust wireless communication networks for a swarm of ground based mobile robots. In particular the mobile robots have cellular connectivity, but some areas ...
- 224
1
vote
1
answer
13
views
Does Ros2 Nav2 have a module for "teach and repeat?"
Wouldn't this be a good module to add to Nav2? The rover robot would be driven over a route and "learn" it, then repeat the performance through the navigation stack. Is anyone working on ...
- 21
1
vote
3
answers
66
views
How do I calculate reference trajectory for a robot following a parabolic path at a constant speed?
I have a 3 DOF robot arm and have been tasked with making it follow a path of $y=6-x^2$. Normally to compute the reference trajectory, I would simply create a linearly spaced vector of $x$ values and ...
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