Questions tagged [mobile-robot]

A robot which is capable of moving from one place to another, usually of its own volition.

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AGV can't reach move_base goal/can't navigate properly

I have Ubuntu 20.04 with ROS 1 Noetic installed. I'm using an A1 RP Lidar and a Roboteq controller. I want it to be able to run autonomously, so I have implemented SLAM. I launch the following nodes: ...
armando's user avatar
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Spawn entity error while trying to launch my robot in gazebo. I am using ros2 humble

I am using the package from github repository: https://github.com/kosigab/salford_robot While launching the given launch file with the given robot as in the repo, there is no problem it works fine. ...
Mr.Meeee's user avatar
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Why robot not moving to a goal pose in Nav2 after map is created and pose is estimated?

I have differential drive robot with Roboteq controller. After successfully created the map with slam_toolbox and localise the robot I tried to use the Nav2 to navigate the robot. Im using ROS2 ...
Macedon971's user avatar
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Are 8 cells of 1.2 V enough for my Quadruped(spider)?

i have a sprawling type quadruped spider robot. I have 4 Sg90 and 8 mg996r servos used for the legs. I am using a Arduino Mega and I wanted to know if I would be able to power this with the batteries ...
Abhinav Rao's user avatar
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Mobile Manipulator: Is it possible to use the output state of an MPC position controller instead of the optimized control inputs (acceleration)?

Good day, I hope you are all well :) It's been 7 years since I've last been here haha. I am currently trying to implement this paper: https://www.mdpi.com/2077-0472/12/3/381 Their mobile manipulator ...
user123456098's user avatar
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How can I differentiate between a dynamic obstacle and a static obstacle on local_costmap?

I'am a starter on ROS. I'am making my own point follower, a robot that follows a "clicked_point" in a map. So, currently, I'am stopping my robot if anything is too close to it, but I wanted ...
defend's user avatar
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How do i decide what batteries i need for my robot?

I am trying to design a quadrupod(hexapod without the middle legs) and I need to decide an appropriate battery source. Currently I have 8 Mg996r's and 4 SG90's. What i did to measure the battery ...
Abhinav Rao's user avatar
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Where to find a circular robot, diameter < 45cm, load bearing >= 30Kg with ROS (1 or 2) installed?

I am looking for a robot with the following specifications: Circular, holonomic robot Diameter <= 45 cm (17.7 in) Load bearing >= 30 Kg (66 lbs) ROS enabled + camera & lidar sensor (...
Yskandar Gas's user avatar
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Wheel submerges into the ground in gazebo

I am currently working on simulating a mobile manipulator in Gazebo using ROS 2, where I am facing this issue. The wheels of the mobile base are being submerged into the ground when I am using kp and ...
Vishaal's user avatar
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How to Visualize the Safety_Lidar/Depth camera data on RViz from Docker Container

I am currently collaborating with a mobile robot, as depicted in Image 1. The robot is equipped with two sick_safety scanners, positioned at the front and rear. The data nodes/topics are publishing ...
Md. Sajib Pramanic's user avatar
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Recommended Frequency Range for Commercial Robot Odometry Systems

I'm looking for insights on the recommended frequency range for odometry in commercial robots. Specifically, I'm interested in what frequency range is generally considered effective for maintaining ...
Osama Salah's user avatar
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How to turn the wheels on a robot that uses ros_control?

I have made a robot with 4 wheels and it uses ros_control. At the moment I can use a python script to make it move forward and backward but I don't know how to make the wheels turn as it only has the <...
Balen's user avatar
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Very slow / No rotation of front wheels for an ackermann steering type model

I am trying to simulate a mobile robot with ackermann steering in Gazebo. I have velocity control for rear wheels and steering angle control for front wheels. I am using ROS2 Humble with Gazebo. There ...
Spiff's user avatar
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Mobile robot moves sideways in Rviz, but properly in gazebo

I am currently simulating a mobile robot, and I control its movements using the teleop keyboard node. Upon loading the robot model in both Gazebo and Rviz, the initial orientation appears consistent ...
Vishaal's user avatar
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What is the kinematic model of a quadrotor/quadcoptor with an X configuration?

I would like to know what is the kinematic model of a quadcopter in X-configuration. Basically I want the relation mapping rotor speed to the body twist (or body frame velocity). ...
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Why is the angle of the wheels in this ackermann steering system so low?

I am trying to implement Ackermann Steering in Fusion 360. However, I am unsure why the maximum angle of my wheels is capped at such a low turning angle. Are there any issues with my design or with ...
Aditya S's user avatar
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Open Source GUI in ROS for AMRs

are there any available web based GUI/HMI for operating AMRs with ROS. Im looking for any packages that have basic functionalitie for AMRs. Thanks in advance :)
san's user avatar
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I have a ros-humble pc and a ros-melodic bot, how should I use the pc to control the bot remotely with rviz

It cound't be control and it shows me Could not contact ROS master at [http://192.168.1.245:11311], retrying...how should I do to resolve it.Should I try to use ...
young very's user avatar
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SOLVED: How to visualize in rviz2 fixed frame a Pointcloud2 collected w.r.t. a mobile frame

I'm using ROS2 Humble on Ubuntu 22.04. In my project I'm trying to visualize in rviz2 a pointcloud generated by a depth camera, mounted on a drone simulated in gazebo garden. Thanks to this topic I've ...
AleCavalliPolito's user avatar
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iRobot matlab simulator: robot getting stuck in wall boundaries and not moving anywhere

I am using the iRobot Create simulator in matlab and I used sonar sensors on the robot for wall following but during the autonomous run but it got stuck in a corner. Please help me with this problem I ...
Shekhar's user avatar
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Unable to rotate continuous joint using Joint state publisher gui, Two wheeled self balancing robot

I am working on two wheeled self balancing robot on ROS1. It has three parts, left_wheel, right_wheel, body. It is a mobile robot. It has two continuous joints at two wheels. . I am trying to rotate ...
Mahmud8248's user avatar
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How to use Robotics Middleware Framework (Open-RMF) with a commercial robots?

I have a commercial robots (the Reeman robot) and it doesnt have a Fleet Management System (FMS). So would like to use the Robotics Middleware Framework (Open-RMF) for developing own FMS. So , I'm new ...
Macedon971's user avatar
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Creating a Custom Hardware Interface for a Two-Wheeled Mobile Robot for ros2_control?

I am in the process of developing a custom two-wheeled mobile robot with differential control, and I want to integrate it with the ROS 2 ecosystem, specifically leveraging ros2_control. I understand ...
Robotawi's user avatar
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ROS1 or ROS2? in Autonomous Navigation

I am starting my thesis in Autonomous Navigation as a Mobile Robotics project, i am new to ROS and i need some advice on which one to choose between ROS1 or ROS2 to successful finish my thesis, and ...
i_smel_snow's user avatar
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Fully decentralized network for mobile robots using ROS2

We want to demonstrate a decentralized algorithm for a team of mobile robots (~ 10 robots). We have WiFi adapters on each robot. It is not clear how we can do peer-to-peer communication between robots....
Marvin's user avatar
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robot_localization global ekf node(GPS) and local ekf node(odom) cause shifting of base link tf frame?

I have a problem with my robot with GPS. I have a Scout robot with F9P gps device getting gps and having dual ekf node which have the following config file. But once I launch these nodes and visualize ...
Chee-siang Leow's user avatar
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Could not find a package configuration file provided by "nav2_map_server"

I am learning ROS 2 and trying to develop an agriculture autonomous robot package on ROS 2 Humble with Ubuntu 22.04. While building with colcon build, I am getting the following error: ...
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I have problems regarding the readings of my qtr-8a sensor in a line follower

I have several theories, the problem is quite simple, I have a program to auto-calibrate it on the line, when reading the line where it calibrates it works perfectly, the problem is when it starts to ...
IANYES's user avatar
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offline mapping with slam_toolbox does not publish /map

I am trying to obtain an offline map by using slam_toolbox with the F1TENTH car. Setup on the car is ros foxy and ubuntu 20.04 First, I collected rosbag of all topics by ros2 bag record -a Then runned ...
taparang's user avatar
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115 views

Robot_state_publisher don't publish on /tf topic

I try to make a differential drives robot with 2 coder at my wheels and a lidar in front of the mobile base. Currently i can teleop it, i have a good odometry and the laser scan data come correctly to ...
Josselin's user avatar
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ROS1 to ROS2 in Burger

I want to work in ROS2 on my turtlebot3-burger (pi4), while I already work on ROS1-melodic. Can I do that with keeping my progress and without problems?
Mahdi Alkhafaji's user avatar
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how to adjust mobile robot orientation If an obstacle is detected within the minimum safety distance?

I do have calculated a trajectory for holonomic and omnidirectional mobile robot and make the robot follow the pre-defined trajectory making use of the resolved-velocity control. However, in some ...
Yaaqob Saad's user avatar
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ros2_control: No parameter file provided. Configuration might be wrong. failed to parse input yaml file(s)

I am trying to build a 4 wheel differential drive robot. But i am getting error when using ros2_control. Version: Ros2 Foxy Terminal Output ...
KalaDaku's user avatar
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Alternative Landmark Observation Model for Fast SLAM using 3D Point Clouds

I am in the process of implementing a Fast-SLAM Algorithm as it is described in Chapter 13 of Probabilistic Robotics by Thrun, Burgard and Fox or this publication by Thrun, Koller and Wegbreit however,...
Roman Stadlhuber's user avatar
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Modeling EKF for localization of an Autonomous Mobile Robot

I've got an EKF for a simple two-wheeled mobile robot, whose states are the pose and the wheel's angular speeds. I was wondering what were the advantages of having those last two states included ...
frank-resq's user avatar
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How can I derive a metric comparing two 2D laser scans quantitatively, WITHOUT using any scan matching techniques?

TLDR version: I have two laser scans taken at the same pose that align nearly completely (see image). I want to come up with a metric that can quantify how well one did as opposed to the other. Longer ...
Shrinivas Iyengar's user avatar
2 votes
1 answer
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How can I model a monorail robot in Webots by importing a Solidwork CAD model of robot?

I am new to Webots. I have not good idea about the considerations what should I consider when import a SolidWork CAD model to the Webots. I have a SolidWork model of robot. But I have not good idea to ...
Chathuranga Weerasinghe's user avatar
2 votes
1 answer
197 views

How to control the position of a load shared between two (servo)motors?

I want to position-control an axis combining the action of two DC servomotors - one of them alone is not powerful enough; I had those available and preferred not to buy a new one. I have not the ...
temporary_pigeon's user avatar
1 vote
1 answer
60 views

Why are bird-like bipedal robots more efficient than humanoid robots?

Well, some websites wrote that "Robotic legs with an unconventional design inspired by flightless birds can run 300 per cent more efficiently than the same device would if designed traditionally.&...
Fulano's user avatar
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Robust Communication Network in Swarm Robotics

I'm looking into best practices to build robust wireless communication networks for a swarm of ground based mobile robots. In particular the mobile robots have cellular connectivity, but some areas ...
Rexcirus's user avatar
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How to avoid Cusps and Corners when generating spline?

Here I wrote Qubic spline trajectory generation. The following are the result. Spline that generated Curvature of the spline Yaw angle changes According to Figure 02, there is a sharp change in yaw ...
GPrathap's user avatar
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What type of methodology can I use to prove my concept in a journal other than real or simulative implementation?

As I am willing to write a paper based on human-robot interaction where I am willing to suggest some ways to improve robot teleoperation in robotic competition scenarios. I have plans to go through ...
Sadikul Alim Toki's user avatar
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1 answer
86 views

What Robot Type is depicted?

What type of robot is depicted in the below picture. I can rule out Cartesian as there is revolute joints.
B Hart's user avatar
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work envelope volume calculation using reach and stroke values

What is the volume of the work envelope of a Cartesian robot whose x,y,z axes each have maximum reach 1.2m and maximum stroke 80cm? current thinking is V= lxbxh as Cartesian.
B Hart's user avatar
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Instantaneous Center of Rotation of Skid-Steering Mobile Robot

Is there a instantaneous center of rotation (ICR) for 4-wheeled skid steering mobile robot (such as Husky , Pioneer 3-AT) if the center of mass is located at the geometric center of the robot? What if ...
ajnyh's user avatar
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ROS Package Dependencies Installation for Begginer

I am new with ROS, just started few days ago basically. I have one question regarding my workspace and packages. Let's say I created my workspace catkin_ws and I ...
Cluv's user avatar
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Kinematic model of skid-steering mobile robot (4 wheeled mobile robot)

The kinematic model for skid-steering mobile robot (4 wheeled mobile robot) is where state vector is $q = (x,y,\theta)$, and $\eta = (v,w)$ is the linear and angular velocity of the robot, and $x_{...
ajnyh's user avatar
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146 views

Dead reckoning or SLAM for localization with unusual locomotion?

I am working on a senior design project with a robot that moves in an unusual way: it rolls around in a single spherical body, similar to BB-8 from the Star Wars sequels. My personal task for the ...
Blucario's user avatar
1 vote
1 answer
138 views

Webots - Copy Paste a Robot

In Webots: I want to do a Predator/Prey simulation and need to spawn the exact same robot when an event occurs. How do I copy/paste a robot I have in my world scene tree. I build it my self therefore ...
HackMack's user avatar
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86 views

How to calculate the required torque of motor for bipedal robot

I just create a bipedal robot in SolidWorks and after I got all components, I realise that I need select the correct motor for the robot. There will be four motors equipped in the robot, two for hip ...
huiduan's user avatar
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