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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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 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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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 ...
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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 ...
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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....
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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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2answers
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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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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 ...
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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, ...
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1answer
92 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 ...
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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 ...
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83 views

OpenGL C++: Inverse kinematics using Jacobian Transpose doesnt work

I am using glm library and OpenGl for this. This is might not be directly related to Robotics but I guess Inverse kinematics is used there I have 3 joints Here is my code ...
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2answers
480 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 ...
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1answer
136 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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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 ...
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0answers
47 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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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 ...
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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?
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1answer
41 views

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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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 ...
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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 ...
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1answer
346 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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2answers
286 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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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 ...
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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 ...
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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 ...
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1answer
185 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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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 ...
3
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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' ...
2
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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) ...
3
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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 ...
4
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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 ...
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1answer
313 views

VFH+ (Vector Field Histogram+) : Is it possible to choose a candidate sector without a set goal point?

Good day I am currently implementing the VFH algorithm. Is it possible to configure the algorithm such that a reactionary motion is generated at the presence of an obstacle? I have been able to ...
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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 ...
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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 ...
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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 ...
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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) ...
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1answer
233 views

Save Depth Map Video

I have recently purchased an Orbbec Astra camera, which uses the same technology and produces the same style depth map as a Microsoft Kinect. What would be the correct file format to save the depth ...
0
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1answer
311 views

Combine individually working cartesian coordinates

I am trying to control a Dobot arm. The arm moves with angles whereas I need to work with cartesian coordinates. From inverse kinematics equations and polar coordinates I have implemented x,y and z ...
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1answer
994 views

CompressedImage to an Image in a node

Update Hey I have the following subscriber on Nvidia TX1 board running on an agricultural robot. we have the following issue with subscribing to Sensor_msgs::Compressed: ...
2
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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 ...
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2answers
91 views

TCP Communication with PCDuino

I'm working on a robot that is controlled by an xbox controller connected to a windows computer and commands are sent to a pcduino through a tcp connection. I have it working by sending a string of 1'...
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1answer
538 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 ...
3
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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 ...
2
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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 ...
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1answer
538 views

C++ and Create 2

I am trying to use C++ to talk to the Create 2 robot. Does anyone have basic code to write/read from the Create 2 using C++ or C? I am having trouble with converting Create 2 commands (like ...
4
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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 ...
2
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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 ...
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1answer
405 views

Quadcopter program execution time optimization using Raspberry Pi by increasing i2c baudrate

Is it possible to speed up execution time of a c++ program in raspberry pi solely by increasing the i2c baudrate and increasing the sampling frequency of the sensors? I have the issue of sudden ...
3
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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 ...