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Questions tagged [microcontroller]

A small computer on a single integrated circuit containing a processor core, memory, and programmable input/output peripherals.

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While the executor is running, where should the process of reading UART data occur? (callback? loop including spin?)

I'm using micro-ROS. The executor is running through spin, and the callback function is triggered by timer conditions to deliver messages. I wanted to add lidar data via UART here. However, I noticed ...
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Response plan when data is not received from a peripheral device with a probability of 1/2 during spin

I am using micro-ros. The distance value is being received from lidar. To be precise, the data value is received through UART communication before spinning and the data value is output when spinning. ...
ertretff's user avatar
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Esp32 stop receiving data through microros

I am facing some sort of communication issue as follows.... Problem Description: I am facing difficulties when attempting to run three ESP32 devices simultaneously, each connecting to a MicroROS agent ...
JUST CHILL's user avatar
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how to get information about goal of action

I learned to generate trajectories while working with ros2_controller. I want to take a closer look, find the goal in /execute_trajectory/_action/ I can only check ...
ertretff's user avatar
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Three finger robotic arm history

I have a picture with robotic arm which comes from lego video (Lego Mindstorms Robotics Invention System 2.0 tour) and I was wondering when and where it was created. Very interesting stuff. It was ...
Paweł Chmolewski's user avatar
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Can't subscribe and check the content on micro-ROS

I'm trying to set up micro-ROS on Ubuntu 22.04 following the steps on this website, and connect ESP32 to ROS2. However, though the connection is established (Step8 on this website), it can't subscribe ...
Kimura's user avatar
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Cannot locate rosdep definition, error on micro-ROS

I'm trying to set up micro-ROS on Ubuntu 20.04 using this website, and connect ESP32 to ROS 2. However, when executing the command ...
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Robot Control Algorithms for Precise Positioning

I am currently researching the optimal controller algorithm to navigate my robot to a specific x and y position within a specific coordinate frame with a high degree of accuracy, approximately 5mm. ...
Osama Salah's user avatar
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Accuracy of PTZ with Permanent Magnet Synchronous Motor (PMSM)

For my project I need a pan-tilt system able to provide 0.1° resolution or better. I do have my own solution based on stepper motors with planetary gear for low backlash and 0.05°. However, I designed ...
D. K.'s user avatar
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Micro ROS build stuck after step one in raspberry Pi 3

I am running ROS2 Humble on my Raspberry Pi 3 and I also have a Raspberry Pi Pico running micro ROS. I am trying to install the micro ROS agent on my RPi3. The snap version of the micro ROS agent did ...
Sriram Kannan's user avatar
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231 views

Convert ROS2 package from Humble to Foxy

I'm currently attempting to utilize the Nav2 Rotation Shim Controller package for Foxy, but unfortunately, it's not working. The package is only available for Humble but I'm depending on Foxy for my ...
ChangeNAL's user avatar
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Using micro_ros_arduino with ESP32 with wireless ROS system

I am retired and programming has always been a hobby but also my College Degree in Game/Simulations (90%). So I am familiar with a lot of programming as I used it in work for some development/problem ...
Randy Hearn's user avatar
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Do you know someone who has written a microROS agent for the OpenCr board?

We are using the turtlebot3 hardware components in our group. Now we want to implement our own tech stack. For this we want to build a micro ros agent on top of the opencr firmware - foxy devel branch....
Guela kais's user avatar
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How to calculate the required amount of flash memory when buying a microcontroller?

I'm going to buy the first STMF32103 series microcontroller, but I don't know how to calculate the required flash memory size. Tell me how to calculate the memory required size of flash memory for ...
loki's user avatar
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[Nav2] Suggestions around single plan - controller only reactive navigation

Hi! Reading through some notes and material around nav2 I found a couple of mentions to a navigation setup often referred to as “reactive navigation”, which takes out continuous re-planning from the ...
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Start state does not change according to current state

Hi, I'm having trouble controlling a real robot with this package. The robot can connect and move normally, but the problem is that the robot's start state does not change according to the current ...
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Waiting for joint_group_position_controller/follow_joint_trajectory to come up

Hi, I am using dobot cr5 with this package and want to control in realtime arm servoing tutorial, but found the following problem ...
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Pico W does not connect to my phone's hotspot

I am trying to connect my Pico W to the hotspot that I have. The password and the name of the hotspot are in a file called "secret." I found the code online and when I try to run the code ...
kak_taki's user avatar
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Pi Pico - HC05 AT commands don't work

I am trying to set up a Bluetooth communication between two pi pico devices using HC05s. I am trying to make the two HC05s connect and I read that you need to set up Master/Slave configurations using ...
kak_taki's user avatar
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Do ros2 have available four_wheel_steering controller?

Hi! Sorry for all mistakes, English is not my native language. So, I have four wheeled robot on ROS Noetic and I trying to port it on ROS2 Galactic. One of my main problems right now is I can't find ...
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202 views

Nav2 not rotating to goal

Hi! I am struggling with making my robot reach the goal. I get to it easily in pose, but not in orientation. After I get to the goal in pose, the robot struggles to rotate towards the correct ...
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Nav2 DWB Controller Trajectory Critics explanation

Hi! I don't really understand how the DWB Controller Trajectory Critics work. I understand that they are like settings that define how the robot should follow the path created by the Planner server ...
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[bt_navigator]: Action server failed while executing action callback: "One of the children of a DecoratorNode or ControlNode is nullptr"

For a bit of context : I'm not fully understanding how the nav2 package work so I might be inacurate, feel free to correct me ! I'm using ros Foxy on ubuntu 20.04, rviz2 and gazebo 11. My goal is to ...
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26 views

How can I read bluetooth data with ROS Noetic?

I am working with a KUKA KR5 arc HW-2 manipulator in Gazebo, I created the URDF model and all the necessary drivers to be able to move it, what I would like to know is if it is possible to use an Xbox ...
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As long as features are same does MCU Case Style make a difference?

I recently got into the field of Microcontrollers and it is my first time buying a custom one (other than arduinos and rasp pis) and I noticed these 2 on the shopping pages… My question is that since ...
user14389287's user avatar
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2 answers
93 views

Which part handles the acceleration of stepper motors?

I am learning about stepper motors. I am especially interested in them in CNC machines and 3D printers but also in general. I learned already that stepper motors need signals to accelerate and ...
Edgar's user avatar
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Jetson tx2 to Teensy 3.6 Serial communication issue

I am trying to establish serial communication between Nvidia Jetson Tx2 and Teensy 3.6. Using pyserial, while reading the data sent from Teensy 3.6 on Rx pin on the Jetson, I come to an error that ...
Jugal Mistry's user avatar
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1 answer
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Multidimensional obstacle avoidance

Artificial potential barriers are known that allow robots to avoid obstacles. They are constructed as follows. https://authors.library.caltech.edu/106548/1/2010.09819.pdf Can you please tell me how ...
dtn's user avatar
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Error with real UR5e connected via 5G

I have script that controls UR5e using haptic device, it works perfectly connected directly using ethernet, but it doesn't work when i use 2 5G routers (arround 70ms ping). When i launch ur5e_bringup ...
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Find viscous friction for DC motor transfer function

How do I find the viscous friction for my DC motor without measuring the input current and output torque. I have to do a theoretical model on simulink and can't find any answers on how to find it
Nick O's user avatar
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What devices can I use as a flight controller in a Quadcopter project? [closed]

I know that the flight controller is the heart of the quadcopter and a device which has to be considered greatly when building a quadcopter project. In regards to this quadcopter project that I'm ...
Mubashir Hussain's user avatar
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1 answer
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MultiRobot MoveIt controller management

I'm currently working on a multirobot system based in two UR3e, each one with a gripper attached. So far I've managed to build a single URDF file with the whole system. Now I'm working on the MoveIt ...
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Why doesn't the nav2 controller plugin API have a method for failing?

I have another question about the design choices of nav2. Specifically, I'm wondering why the controller plugins (nav2_core::Controller) don't have a mechanism for ...
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1 answer
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Why not allow for dynamic goal checker plugins?

Looking through the code, I'm wondering why nav2_controller::ControllerServer doesn't allow for dynamic goal checker plugins like it does for the controller plugins....
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1 answer
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Why is SimpleGoalChecker so simple?

Hey guys, I'm trying to understand the intent behind some of the design choices of nav2_controller::ControllerServer and ...
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2 answers
94 views

Reliably enabling/disabling a PID loop via FSM in a microcontroller

I have a PID loop for a small vehicle implemented in a microcontroller. Currently the PID loop is implemented in a timer interrupt. I want to implement an FSM that will have states that enable or ...
Halleff's user avatar
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1 answer
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nav2: changing controller plugins manually during runtime

I have created a controller plugin by following the tutorial and it is working as expected. I now have two controller plugins (The DWB controller present by default and the controller plugin I ...
user avatar
3 votes
1 answer
58 views

Synthesis gradient observer

I ask the advice of specialists on control systems. We have the following system. Where $u(t)$ and $y(t)$ time-varying input and output. The characteristic $y(t)=f(u(t))$ is assumed to be non-...
dtn's user avatar
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diff drive controller giving wrong odometry data (radius and separation multipliers)

I'm working on a 4WD skid steer robot which uses ros control and the diff drive controller. If I set my wheel radius multiplier to 1.0, the robot seems to go extremely slow (doesn't seem to be moving ...
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1 vote
1 answer
159 views

Sam C21 Xplained Pro - Linux toolchain

I recently got a ATSAMC21N Xplained Pro dev board. I was planning to use avr-g++ and avrdude to do development (I’m running ...
EngineeringStudent's user avatar
1 vote
1 answer
89 views

Where to buy cheap motors and mechanical parts for hobby robotics applications? [closed]

My kids want to get into robotics, where Online can I buy the motors (dc,ac,stepper...) and mechanical assembly (nuts, bolts, sheet metal, springs, rods...) for a very affordable price, you know I ...
kiwani's user avatar
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Integrating custom controller to ros_control package

Hi everyone, I am new to ROS and ros_control and I don't know how to integrate my custom controller into to the ros_control package. I have implemented this tutorial and everything works OK. I can run ...
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1 answer
19 views

Backwards movement in Autoware 1.13

I am using Autoware 1.13 in ROS Melodic. I am using Gazebo for my car simulation and until now I have successfully managed to follow waypoints in a map using MPC and astar. Specifically, I load the ...
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1 answer
5 views

Move_group couldn't find controllers loaded on Raspberry Pi in a ROS network

I'm using ubuntu 16.04 on a Huawei Matebook-x, with kernel 4.15.0-91-generic. ROS distro: kinetic and version 1.12.14. Gazebo 7. I have a Niry One robot arm (with Raspberry Pi 3 inside), and wanted to ...
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1 answer
13 views

How to run ROS on a System on Chip (SoC)?

Hi all, I'm hoping you can help me understand something. I have a robotics application where size and cost is potentially a big constraint. For lots of robots, single board computers can be very ...
user avatar
2 votes
1 answer
118 views

Control loop in or outside of main loop

I've been working on some small projects for fun to learn more control theory things and embedded programming. Thank the esp32 and Arduino! Either way I've been programming everything entirely in a ...
DrMrstheMonarch's user avatar
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1 answer
23 views

Initialization Error for 'effort_controllers/JointGroupPositionController'

I see that effort_controllers/JointPositionController looks for the particular joint and assigns the corresponding PID value to the control_toolbox::Pid variable. effort_controllers/...
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1 answer
125 views

Compensator design

I got a plant $G(s)=\left(0.13s+1\right)/s^2$ to design a compensator which provides below demands: Settling time : max 2s Overshoot : max %35 Gain margin : min 10 dB Phase margin : min 30 deg ...
lsn's user avatar
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1 answer
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Is there a straightforward 16bit microcontroller?

Background Some of my sketches or ideas require a common data buss to all perph chips. The issue This way issue still lays before me, how then, if I am going for a common data buss. how do I ...
Ben Madison's user avatar
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1 answer
9 views

where is the controller from /cmd_vel to the force applied to robot?

It seems to me that what ros provides us to control a robot is the expected velocity /cmd_vel, but from this signal to real force/torque applied to the robot, there must be a controller there. Can ...
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