Questions tagged [c++]

C++ is a compiled general-purpose programming language that adds object-oriented features and other enhancements to the C language. It is popular for both embedded (including robotics) and PC software development.

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orocos ros integration, createStream causes execution to stuck in a loop

I'm integrating orocos with ros, basically i created a component that read data from some input ports and write on output ports that create streams, because i want to public this values on ros topics ...
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Inverse kinematics with curve constraints

I must calculate the inverse kinematics of a machine in which one of the joints is constrained to a curvilinear path. I looked for existing libraries to model the problem, but none of them seems to ...
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Calling external ROS service from C++ code

How can I call a ROS-service that was neither written nor published by me from within C++ code? I see the service listed when using rosservice list, which shows me ...
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1 answer
178 views

PointCloud2 parse to xyz array in ROS2

I'm trying to find a solution of converting PointCloud2 message data into xyz array for further analysis. Though, in my case I'm interested only in 2d application. The information is either scarce or ...
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Nvidia Jetson Nanon GPIO c++ direct memory interfacing

Is there's any library to interface the Jetson Nano GPIO? There's the official Python interface, and there is an unofficial c++ interface which is working through the filesystem, and I'm interested in ...
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I'm controlling a stepper motor with GPIO pins with a for loop in C++. If I add a sensor reading to the for loop the motor gets slow, loud, and jerky

I have a C++ script actuating a motor and getting an accelerometer sensor reading every 20th or so pulse to the stepper motor. My problem is that the sensor readings are interrupting the pulses. ...
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Creating a custom msg in ros2

I have a package with two nodes, that are communicating internally. For that reason I would like to create a custom msg to transfer data between them. I've followed this tutorial, which basically sets ...
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How to republish odometry in different frame?

I have navigation Odometry, but its some how not in the robot body frame. The odometry is being published in world frame, so its not correct. So i need to transform in the robot body frame as that how ...
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Does a stable library exist for docking robots using images?

I built a mobile base from scratch, and now I am focused on getting the robot to charge. The robot is using an on-board webcam (and PC) to detect a QR barcode on the charger unit. Using OpenCV I find ...
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166 views

How to use Quaternion from IMU to get the transformation to inertial reference frame?

Im trying to get the Linear Velocity integrating the acceleration from IMu. I know there will be accumulated error due to integration bit before the integration I have to do couple of other steps. ...
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2 votes
1 answer
215 views

C++ (ROS node) for Euler Integration to estimate Velocity knowing the acceleration

Hi I have IMU reading and would like to estimate the linear Velocity knowing the linear acceleration from the IMU using the Euler method. Im aware of the accumulated error. So need a C++(python) code ...
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Publisher and subscriber in one ROS node error

I`m doing some underwater UUV Gazebo simulation and would like to use the hector_pose_estimation package to fuse IMU and Fluid pressure sensors input for pose ...
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How to do transformation to get correct linear velocity from linear acceleration IMU data?

I have IMU sensor that gives me the raw data such as orientation, Angular and Linear acceleration. Im using ROS and doing some Gazebo UUV simulation. Furthermore, I want to get linear velocity from ...
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IK Jacobian is always a singular matrix

I am trying to solve an inverse kinematics equation for 6DOF system, 3 rotation and 3 prismatic joints. I am trying to solve using perturbation method, by adjusting each joint and calculating the ...
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Modifying Turtlebot3 to include different camera

I'm new to robotics in ROS. I've been learning about ROS and Gazebo using turtlebot (not turtlebot3 actually) on the platform The Construct. I would now like to incorporate turtlebot3 into my project. ...
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3 answers
141 views

What is the best way to simulate Staubli robots inside a C++/C# app

A little bit of context : I want to create an app using C++ (or C#) to handle 3D objects (obj), I will perform some operations on those 3D models to create some robotic trajectories. Then I want to ...
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difference between the two constructors

What is the difference between the 2 pieces of code - ...
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Simple inverse Kinematic algorithm

I was looking for a simple inverse Kinematic algorithm that doesn't depend on eigen(doesn't work on my machine + dependency conflict never fixed it) Most of the code out in the internet is way to ...
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3 votes
2 answers
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PID Control: Is adding a delay before the next loop a good idea?

I am implementing PID control in c++ to make a differential drive robot turn an accurate number of degrees, but I am having many issues. Exiting control loop early due to fast loop runtime If the ...
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Getting the new heading after a Transformation

Lets say I have 2d poses as such (angles in degrees): world_to_robot = {0, 4, 45} robot_to_object = {4, -4, -45} From a graph it would be easy to see that: world_to_object = {4, 8, theta}, what goes ...
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How to correctly use [VertexSE3Expmap] as two connecting Vertex in Edge_V_V_GICP?

I am working on a pose estimation problem solved by Levenberg-Marquardt with g2o. I want to build 3D rigid constraint between two pose, so I choose Edge_V_V_GICP and test the g2o/examples/icp/...
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2 answers
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How do I get competent in using c++ for my projects? [closed]

I am a PhD student, working on Sensor Fusion and estimation problems. I would like as I finish my PhD to have acquired sound knowledge in what seems to be the industry norm for working with real ...
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1 answer
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Controller algorithm implementation in ROS/Gazebo

I am doing some robotic simulations in ROS/Gazebo and wondering what is the best way (programming-wise since I don't have a CS background) to implement a robot's motion controller. Here are the ...
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Some Kalman filter implementation queries

Just to clear some doubts: Qn 1. Does kalman filter require constant time step? From my own study, it does not seem necessary to have a constant time step. You just need to take into account time ...
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2 votes
3 answers
824 views

How to implement path planning algorithm considering orientation?

I am developing GUI c++ program to test path planning algorithms: A*, Dijkstra, ....etc in occupancy grid map. I found many open source codes , but I need to modify them to design a GUI for testing ...
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4 votes
1 answer
84 views

Make robot drive as far from obstacles as possible

I am trying to make robot drive around the room, avoiding obstacles with pathfinding. The problem is I get few waypoints from pathfinding algorithm for robot to drive to (green dots), but it drive a ...
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3 votes
2 answers
2k views

How to get unix/posix time stamp in header of ROS msg?

I am using two sensors each connected to different machine (each machine separately runs Ubuntu 16.04 and ROS Kinetic). When I echo topic on these two machines, I ...
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2 answers
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/odom topics not matching ERROR

I have an existing ROS workspace which was built in C++. I am trying to implement a node built by The Construct in python which reads distance travelled from the ...
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3 votes
1 answer
562 views

Command line boolean parameters to ros node

I'm working with ROS melodic and Gazebo 9.9.0 on an Ubuntu 18.04.2 LTS. I want to get two boolean parameters from command line. To do it, I have this code: ...
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4 votes
2 answers
197 views

How Can A Total Beginner Become A Skilled Roboticist?

Say the only computer skill you have is programming in C/C++...what all things would you have to learn in order to be an adept full stack roboticist, one who can single-handedly build an autonomous/AI ...
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1 vote
0 answers
52 views

Any way to program a robot remotely?

So Udacity, Kuka and KIT are/were offering a Kuka challenge. Basically, the participants got to write code and run it remotely on a Kuka robot based in the KIT labs in Germany and submit their code ...
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4 votes
1 answer
511 views

Adjusting the PWM frequency and duty cycle to achieve the desired angular velocity in differential drive robots

I am practicing C++ and intro to robotics using a simple differential drive robot and a raspberry pi. Also following along the GA Tech course on control of mobile robotics. The implementation I am ...
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1 answer
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Real world dynamic problem suggestion for PID [closed]

I need you guys to suggest me a problem that requires to change PID coefficients in different times. Lets say every 1 minutes the environment should change and readjust the PID’s parameters. Note that ...
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1 vote
1 answer
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Subscriber to array type overwriting data from different publishers!

I have been witnessing some bizarre behaviour with my very simple node. I have a custom message that contains uint8[] type (it's 8 elements long). I have a ...
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1 vote
0 answers
245 views

Detecting and counting the number of junctions

So I am making a robot which is to follow a line. The field has both +(junctions) as well(by the intersection of two lights). I am yet to figure out what exactly is the best way to track the number of ...
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2 votes
1 answer
589 views

Multiple View Triangulation method used by COLMAP

I'm looking at how COLMAP does multi-view triangulation. I can't work out what this function is doing. I can't find any formulas which look similar. The input "proj_matricies" come from pose data, the ...
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2 votes
2 answers
481 views

ROS: Sensor data via USB

Im working on a project and i want to use a sensor. I can plug in the sensor via usb. I do not need any driver for the sensor. My task is to have an access to the sensor data. I have followed the ...
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3 votes
1 answer
641 views

Are both of C++ and Python necessary in ROS

I'm a newbie on ROS and I'm trying to figure out how ROS works so I'm installing ROS from source. I've found that most of ROS packages contains two kinds of codes: C++ and Python. For example, here ...
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2 answers
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using motor controllers with Raspberry instead of Arduno. Is it just me or is everyone ok with bad sofftware support?

I bought a Roboclaw controller. Since then, have looked around for other. The software support seems to be the same (to me:sad) state. They all seem to provide Arduino code examples, however, then I ...
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4 votes
1 answer
378 views

How to properly initialize every new pose in a Visual SLAM algorithm (namely DSO)?

My question is a bit specific, because it is linked to a certain algorithm. Therefore I didn't find any other solutions on how to go about this problem. If you could refer me to research papers, ...
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1 vote
1 answer
100 views

How to become proficient in software development for an aspiring roboticist? [closed]

I am a masters student specializing in Robotics. I have a bachelors degree in Mechanical engineering and hence a bit sloppy with programming languages. MATLAB is one thing I am proficient in. But ...
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5 votes
1 answer
265 views

Robot positioning problem

The problem i am facing is to try and calculate the x and y position of a robot with dead reckoning. Reading from the encoders and getting proper rotations of the wheels of my robot works. The robot ...
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1 vote
0 answers
682 views

How to make a line following algortihm for an A.R Drone 2.0? [closed]

I am trying to develop a line following algorithm where a drone will detect a bounding box and follow what is inside the bounding box. I am filtering all the colors to only see the color white. Once ...
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3 votes
2 answers
196 views

Computationally efficient way to represent joint C space for a multi-robot RRT

I am working on writing code for a coordinated multi-robot rapidly exploring random tree (RRT) based planner, which would naturally involve a lot of sampling, nearest neighbor searching and 'radius' ...
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13 votes
5 answers
10k views

How to setup CLion for ROS?

How can I setup the C++ IDE CLion to display documentation and auto completion correctly when working with ROS?
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3 votes
2 answers
260 views

Kalman filter prediction questions [closed]

I have a dataset where measurements were taken at 1 Hz, and I am trying to use a Kalman filter to add predicted samples in between the measurements, so that my output is at 10 Hz. I have it ...
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2 votes
1 answer
2k views

how to move my robot to the assigned coordinates

I am working on an ground surveillance robot using an Arduino mega for programming, am using components like the HMC5883L compass, Adafruit GPS for assigning of coordinates (latitude and longitude) ...
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1 vote
1 answer
89 views

Robot Graphical Representation in Real Time

I'm working with a robot intended to be placed in a tele-echography environment. To control the robot I'm using a 6D space mouse that control each degree of freedom of the robot. However, since the ...
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1 vote
2 answers
377 views

Can i use a predictive kalman filter to 'increase' my sample rate?

I have a slam algorithm that outputs at around 30Hz, an implementation of ORBSLAM2. https://github.com/raulmur/ORB_SLAM2 I am reading this into a renderer that expects 60+ Hz. Because my sample ...
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1 vote
0 answers
210 views

Scaling monocular SLAM with another source?

I have implemented a stable monocular slam tracking system, based on ORBSLAM2. I am trying to find a way to add real-world distance/scale to this. At the same time, I am running a (less stable) ...
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