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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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 ...
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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 ...
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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. ...
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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 ...
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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 ...
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101
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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 ...
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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 ...
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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....
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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 ...
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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 ...
PRA008
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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
...
PRA008
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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 ...
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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 ...
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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 ...
Edvard
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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 ...
marpeja
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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 ...
marpeja
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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 ...
Bastian2909
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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 ...
LuisEFA1998
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
Trelis98
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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
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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 ...
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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 ...
IgnacioUD
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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 ...
programmer-man
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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....
programmer-man
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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 ...
programmer-man
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2
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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 ...
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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 ...
Divyanshu
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1
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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-...
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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 ...
jorgemia
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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 ...
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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 ...
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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 ...
abata
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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 ...
kosmastsk
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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 ...
yiying
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3
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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 ...
Py
2
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1
answer
108
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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 ...
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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/...
sthakar
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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
...
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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 ...
- 103
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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 ...
lochlomond
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2
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Picking up a cheap timer
I am currently working on ATmega328 timers. But it has maximum timer of only 16 bit. Even with a prescalar of 1024 and 16MHz clock, I can only produce a time interval of about 4 seconds. Although I ...
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waitForServer issue
Hi,
System: Virtualbox VM Linux: Ubuntu 16.04 ROS: Kinetic
I am working on manipulator jogging using the jog_control package. I've posted this on the github issues page already but I thought I'd try ...
mt
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How to determine the required CPU speed for a micro-controller with a 2-phase encoder attached to interrupts?
I am building a high-torque steering servo. I am trying to use the Adafruit Feather M0, which has a CPU speed of 48MHz, to monitor a 2-phase encoder that has 2400 pulses per rotation. I have attached ...
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Is it possible to implement VSLAM on Arduino?
If not, then which microcontroller will be suitable?
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