# Questions tagged [integration]

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### Need Help with Integration Testing a ROS2 Project (Galactic, Ubuntu 20.04)

I am a beginner with ROS2, and I would like to develop a comprehensive test suite for my project. I have already created unit tests for my ROS2 packages, and the next step that I wish to take is to ...
25 views

### Integrate hardware (actuator and sensors) into ROS2 framework for automated control

I am new in ROS2 and robotics development with an automotive engineer - electrical background. As I am a doing a project that requires ROS2 for integration of automated features. I want to confirm ...
24 views

### Automatic homing on cobots after a collision

I am in the midst of automating a mechanical process using a Dobot MG-400 cobot (in a lab setting, using a vision system to present a patient sample to a piece of sampling equipment). These arms are ...
77 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 ...
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### integrating perfect rate gyro data (noiseless)

Having a perfect gyro (with no noise/drift or bias), the gyro produces angular velocities in the form (wx, wy, wz) in rad/sec. I would like to convert the rate gyro readings (which are expressed in ...
• 31
1 vote
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### Integrating Instantaneous Accelerations taken at discrete time intervals

I am trying to integrate instantaneous linear and angular acceleration taken at discrete time intervals (1/100 seconds, 100hz). data is collected beforehand, and integration is done offline, I only ...
• 31
6 views

### How to add a tool model onto the robot model which can be generated in the moveit

Hey guys, I have downloaded the UR10 robot description(including the urdf and other components) in the ROS without a tool on the end effector. Now i have a mechanical mechanism which has been exported ...
1k views

### Drift in Integrating Angular Acceleration to Angular Velocity using two accelerometer data

I am trying to integrate Angular acceleration obtained from a set of accelerometers positioned specifically at opposite corners of a cube, based on "EcoIMU: A Dual Triaxial-Accelerometer Inertial ...
• 159
1k views

### Dead Reckoning: Obtaining Position Estimation from Accelerometer Acceleration Integration

Good day, I have been reading papers about position integration from accelerometer readings. I have consulted this paper from freescale on how that is achievable and this article regarding leaky ...
34 views

### IMU linear acceleration to position

Hey guys, I have IMU 3dm_GX2 and I want to get position from it. I know that there will be accumulated error and will not be accurate but I need to get the best out of it. I excluded the gravity ...
15 views

### Getting external callbacks (SDK) called in a ROS node

Hello all; I am trying to integrate a new sensor in a robot. This sensor provides an SDK and the way of acquiring its data is by using a callback, everytime that there are data available, the callback ...
2 views

### Cleanest way to add a ROS interface to an existing codebase (CentOS)

I have an existing project based on CentOS 6.5 that controls a vehicle. It has no external interfaces currently and I would like to expose some of the functionality in a ROS node. I am expecting that ...
1 vote
28 views

### rostest & Python - Multiple Test Fixtures In Single File

With integration testing and rostest with Python, is it possible to define multiple test fixtures (classes inheriting from unittest.TestCase) and run them from a ...
9 views

### simple robot integration with Gazebo to test all my robot code

I have built a simple chassis with left and right wheels with two separate motor controllers. The motor controllers are on a simple CAN communications bus. I've written an ROS service that sends the ...
8 views

### Has anyone integrated ROS with Unity 3d?

You know: www.unity3d.com, runs Mono. Prefer Windows, but understand that Mac might be closer to supportable. Originally posted by daveayyyy on ROS Answers with karma: 51 on 2014-01-28 Post score: 5 ...
1 view

### Communicating between ROS and VB

Howdy, We have a piece of hardware that, for reasons beyond comprehension, only has Visual Basic .net or C# drivers. Assuming we can wrap the hardware drivers into Linux, we are still unsure of how ...
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### ROS to LCM or ROS to APRIL Integration?

Hello answers, Is anybody working on a general way of interfacing ROS with LCM or APRIL? There are some tools there I'd like to use. Doing it myself won't be too painful, but I figured I'd ask before ...