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.

Filter by
Sorted by
Tagged with
14
votes
5answers
8k 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?
5
votes
1answer
184 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 ...
4
votes
5answers
6k views

Programming Inverse Kinematics in C++

I want to write my own kinematics library for my project in C++. I do understand that there are a handful of libraries like RL (Robotics Library) and ROS with inverse kinematics solvers. But for my ...
4
votes
2answers
137 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 ...
4
votes
1answer
5k views

C++ Robust Model Fitting Library

Often when I need to perform model fitting I find myself looking for a decent C++ library to do this. There is the RANSAC implementation in MRPT, but I was wondering if there are alternatives ...
4
votes
1answer
224 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 ...
4
votes
1answer
1k views

Implementation of inverse kinematics solution in c++

I am having some issue with implementing a least square solution of the inverse kinematics problem. The q configuration I get are rather large, or makes no sense, so I was hoping someone here could ...
4
votes
1answer
7k views

Create a simple C++ client Application to control KUKA's Robot-arm LBR iiwa via FRI

Until now I have been programming the robot using Java on KUKA's IDE "KUKA Sunrise.Workbench", what I want to do is control the robot arm via my C++.Net application (I would use a camera or Kinect to ...
3
votes
1answer
537 views

How to transfer signed integers with libusb?

Folks at programmers stack exchange asked me ask here: I want to communicate with an arduino and sent integers it. I code this program in C++. I initialy used bulk_transfer(), but it sends only char ...
3
votes
1answer
134 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: ...
3
votes
2answers
247 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 ...
3
votes
1answer
270 views

How to split tasks between interrupts and the main loop on a bare metal controller?

I'm working on a robotics project where I have 3 services running. I have my sensor DAQ, my logic ISR (motor controller at 20kHz) and my EtherCAT slave controller. DAQ and EtherCAT run in the idle ...
3
votes
2answers
128 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' ...
3
votes
1answer
132 views

inverse kinematics osciliations..

I am the moment having some issues with an Jacobian going towards a singularity (i think)as some of its values becomes close to zero, and my robot oscillates, and therefore thought that some form of ...
3
votes
2answers
146 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 ...
3
votes
1answer
465 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 ...
2
votes
2answers
346 views

Implementing an analytic version of an inverse kinematic

People have recommended me implement an analytic version of inverse Jacobian solver, such that I won't be forced only the least square solution, but would have an local area of solution near to the ...
2
votes
3answers
1k views

Controlling Robots Through Serial

I recently have been working on a little project. Unfortunately, I've ran into a bit of a road block with controlling servos using serial commands. The servos do appear to move when i put in any ...
2
votes
2answers
740 views

Is there a simpler way than ROS for 5 DOF Dynamixel arm control

I will have a 5 or 6 DOF arm build with Dynamixel or HerculeX smart servos. I need to move the gripper along Cartesian trajectory, which I will calculate in my C++ application. I looked at ROS, but ...
2
votes
2answers
2k views

ros send message on startup doesn't seem to work

I have the following code: ...
2
votes
3answers
2k views

redundant arm path planning and trajectory following

I have a 7dof robotic arm and a set of end effector trajectories in cartesian space I need it to follow. How do I deal with the redundancy in the arm when planning to follow these trajectories both ...
2
votes
1answer
345 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 ...
2
votes
1answer
7k views

Connecting an Arduino uno with a beaglebone black over USB

I have an arduino uno and a BeagleBone black and would like them to talk with eachother. Both the beagleBone and the arduino have their own 5V power supplies so no need for power to be transferred ...
2
votes
1answer
1k 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) ...
2
votes
1answer
1k views

Stereo Vision Using Compute Module: Pi camera synchronization

Good day, I am currently working on an obstacle avoiding UAV using stereo vision to obtain depth maps. I noticed that the quadcopter would sometimes not steer to the correct direction. I am using ...
2
votes
2answers
284 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 ...
2
votes
1answer
235 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, ...
2
votes
1answer
140 views

How do I compute the inverse kinematics given a desired transformation matrix?

I am at the moment trying to implement an inverse kinematics function which function is to take a desired transformation matrix, and the current transformation matrix, and compute the Q states that is ...
2
votes
1answer
55 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 ...
2
votes
3answers
246 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 ...
1
vote
1answer
81 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 ...
1
vote
2answers
353 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 ...
1
vote
1answer
77 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 ...
1
vote
1answer
91 views

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 ...
1
vote
1answer
1k views

How do I control a servo using a beaglebone black running ubuntu

I have a BeagleBoneBlack and would like to use it to control a servo for my robot. I'm mostly programming in ros and as such am looking preferably for a c++ solution. Is there an easy way of ...
1
vote
1answer
98 views

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 ...
1
vote
1answer
534 views

Change Message Interval ArduPilot

I am using Mavlink protocol (in c++) to communicate with the ArduPilotMega, I am able to read messages such as ATTITUDE for example. I am currently getting only 2Hz (message rate) and I would like to ...
1
vote
1answer
150 views

Easiest way to submit a longer non standard character string via MAVLink

I want to submit my gains for the PID regulator via MAVLink. Unfortunately, I am not very used to MAVLink and there are several functions which may be used for that purpose (I think). My string is ...
1
vote
0answers
18 views

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/...
1
vote
0answers
46 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 ...
1
vote
0answers
117 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 ...
1
vote
0answers
616 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 ...
1
vote
0answers
193 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) ...
1
vote
0answers
4k views

accelerate a stepper using arduino AccelStepper starting with a pre-defined speed

I've read the AccelStepper documentation on airspayce.com and it seems to be not possible to accelerate a stepper starting with a speed greater 0. Acceleration always starts from speed=0, I tried it ...
1
vote
0answers
745 views

Firmata over nRF24

I'm having some technical problems... I'm trying to use Firmata for arduino but over nrf24, not over Serial interface. I have tested nRF24 communication and it's fine. I have also tested Firmata over ...
0
votes
3answers
3k views

Is there any C++ library I could use to program a robotic manipulator involving forward and inverse kinematics?

I came across robotics library (RL), but quite unclear about its real purpose. Is it a FK/IK solver library or simply an graphical simulator?. RL has poor documentation, so its not clear how to use it....
0
votes
1answer
60 views

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 ...
0
votes
2answers
47 views

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 ...
0
votes
2answers
147 views

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 ...
0
votes
2answers
476 views

/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 ...