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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iRobot matlab simulator HELP!! The robot getting stuck in wall boundaries and not moving any where
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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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....
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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 ...
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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 ...
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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 ...
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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 ...
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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?
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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 ...
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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
...
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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,...
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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 ...
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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 ...
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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 ...
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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 ...
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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.&...
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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 ...
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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 ...
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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 ...
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Understanding Mobility, steerability and manoeuvrability
Determine the degrees of mobility, steerability and
manoeuvrability for each of the following:
i. tricycle;
ii. dynamically balanced robot with a single spherical
wheel;
iii. a differential drive ...
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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.
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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.
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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 ...
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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 ...
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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_{...
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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 ...
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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 ...
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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 ...
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Arduino robotic arm kit
I want to buy a cheap robot arm for control it with an Arduino. Do you know of a kit that has a good value for money? I don't care about the degrees of freedom it has (4, 5 or 6), and above all I'm ...
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Marker pose flickering one axis from -4 to +18 when camera is not moving
I'm taking a sequence of frames from intel real sense and detecting april tags, I noticed the axis is flickering even camera is not moving. euler angle y axis is changing(visually and numerically) ...
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Extended Kalman Filter Robot Localization Drift
I have implemented an EKF for robot localization in the style of robot_localization using the famous C++ template kalman library....
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Omnidirectional kinematic model in robot_localization's EKF
I am looking for a more detailed mathematical background of robot_localization's kinematic model used for nonlinear kalman filtering.
From the documentation, the ...
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Define system forward dynamics with sympy
I would like to model the dynamics of a robot via the usual discretized system of equations
$$
x_{k+1} = f(x_k, u_k) \qquad x\in\mathbb{R}^{n_x}, \quad f:\mathbb{R}^{n_x}\times\mathbb{R}^{n_u} \to \...
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Displaying a png-file on a display - stays black
In Webots with a Python controller: I have a PNG-File (640x480) which displays a Matrix-Numpy-Array-figure which is getting produced by my code. I would like to display it on an Display overlay. But ...
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Create A Half Cylinder in PyBullet
I would like to ask if it is possible to use the PyBullet function createCollisionShape to create a half cylinder in PyBullet? If so, how should I do that?
Or, is there any other function in PyBullet ...
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How to access the values of a batterie of a charger within the controller.py?
I have a mobile robot and I want him to learn: Green-light = Energie = I should drive towards it.
In the beginning the robot drives arround randomly and when it enters a Charger it connects getting ...
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The mobile robot doesn't reach to the max speed
The youBot mobile robot is being used to test some kinematic controllers. There is a problem with the base not reaching the maximum speed. A maximum linear velocity of 1.5 is defined in the ...
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Batteries lose functionality
In Webots: I want my little robot drive to a fully charged charger (green pointlight and cylinder) and drain its energy. While the battery loses energy it should change its color.
It works as long as ...
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Webots: Increase Calculation Speed On Supercomputer
I am using a supercomputer (MSI, Minnesota Supercomputing Institute) to run my Webots simulations. However, on my own laptop (MacOS) the amount of time necessary to calculations is much shorter. I was ...
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Infinite world that wraps around
In webots: Is it possible for an infinite arena where your mobile robot can drive out left of the arena an come back on the right? Like a wrapping world.
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How does the lightsensor values work? Lightsensorvalue into Percentage
In Webots: I try to build a Braitenberg vehicle so that when it receives light information through the ligh sensors it drives either away or towards the light. I used an ePuck and tried to just ...
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Ideas on how to create kinematic model of skid-steered rocker bogie mobile robot
I'm trying to derive the inverse kinematics of a skid-steered mobile robot with rocker-bogie mechanism.
I learned how to derive the kinematics via transformation matrices as per "Kinematic ...
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what exactly is 'observation model' for a robot
In my journey to understand the Kalman filter, I understood how a state model representation is derived for a robot and why(to get the robot state for a given input u) it is required.
$$
\boldsymbol{...
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Turning a mecanum wheeled robot at a specific angle i.e 45 degree
I am implementing inverse kinematics for motion control of a robot with four mecanum wheels. However I am not getting how to turn it at specific heading angle(45 degree)? I am using encoders to check ...
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Difference between stripboard and breadboard
I'm new around here. I've observed individuals using stripboard.
Could you please explain the difference between a breadboard and a stripboard?
Are stripboards internally connected ? I've stripboard ...
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Question about 4-mecanum wheeled mobile robots
I'm trying to make a mobile robot with 4 mecanum wheels. The method that I've chosen is to fuse the sensors(encoder, imu) with EKF and use the SLAM algorithms(Gmapping, Cartographer, etc..). Right now ...
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