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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How to resolve 'nullptr not declared in this scope' compiling error in Ros_lib blink example and other ros_lib examples Ubuntu 20.04 with ROS Noetic?
I am new to ros and I am using virtual machine with Ubuntu 20.04 and ros neotic in it. I have installed rosserial arduino package step by step from this.
After this I open ros_lib blink example and it ...
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Is there a ROS kinetic topic for changing the image on Pepper's screen? [closed]
I need a way to change the image displayed in Pepper's screen, I have already launched the bringup and naoqi_driver but there ...
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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 ...
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Where do I find detailed information about the building of programs using boost etc. with the intention of configuring my own API 'protocols'?
I'm brand new to programming in c++ and I'm exploring all the deepest interesting parts on my own, I'm very interested in learning about API programming and how to configure different applications ...
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How to Access Robot Fields Inside a Webots-ROS2 Plugin?
I'm running Webots R2023a where I have a robot node marked as Supervisor in Webots world (*.wbt file) to be controlled by an external node in ROS2 network. When writing a webots-ros2 plugin, I'm faced ...
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Drive to point PID doesn’t work properly
This is my first post here. I am trying to get a robot I’m working on to drive to a point via a PID controller. My code works fine if the point is in front of the robot, but completely falls apart if ...
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Hole detection on ROS with a stereo camera
I am trying to make a node in ROS that has as input a dynamic point cloud that is generated with a stereoscopic camera to which I have performed preprocessing. Now that point cloud that is generated ...
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How could you have controllers communicate with each other?
I have been attempting to have two controllers be able to access information from each other in a way that is similar to object-oriented programming in UNITY, however, I have constantly had problems ...
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Checking for collision with octomap
I watched the octomap presentation from RosCon2013 and understood that implementing something like:
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146
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How to create a vector of message_filters::Subscriber?
When I try to create a vector of message_filters::Subscriber like so:
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Spdlog linker error with ROS2 packages
Good afternoon!
We are a company that has a pretty big robotic framework and we are currently working in a transition into ROS2. We are first creating the structure that all of our packages will ...
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Can MoveIT framework be used separately from ROS, i.e. "as a standalone library"?
As far as I understand, MoveIT can act as a IK/FK solver one can supply input into (i.e. end-effector xyz) and get an output (joint angle values).
I'd like to utilize this aspect of MoveIT (version 1) ...
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Improve four wheel steering system
I built a robot with a four wheels steering system where an absolute encoder is mounted on each wheel.
I'm considering 0° when the wheel is steered on the left, 90° when the wheel faces forward and ...
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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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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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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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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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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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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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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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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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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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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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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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/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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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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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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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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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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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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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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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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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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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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