# Questions tagged [navigation]

Navigation is a field of study that focuses on the process of monitoring and controlling the movement of a craft or vehicle from one place to another. Robot navigation includes exploration, mapping, localization, path planning and path execution

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### What is the difference between a Bayes Net and a Factor Graph

I am just getting started on understanding Factor Graphs, by going through the excellent guide Factor Graph For Robot Perception by Dallaert and Kaess While I am familiar with the SLAM problem, and ...
37 views

### Robotic vessel navigation using GIS datasets

I am trying to build an autonomous vessel able to plan the best route to a certain waypoint or to follow a pre-defined route. Currently, I have imported Esri GIS files containing elevation data (...
23 views

### VFH/VFH+ Axis Orientation & Sensor Angles

I have been struggling with trying to get the VFH+ implementation working correctly using Orca-Robotics implementation which seems to be the same implementation used in the ROS package and MATLAB and ...
184 views

### How to publish odometry from 3 wheeled omnidirectional robot?

I'm new to ROS and robotics and I'm trying to implement the ROS navigation stack in a 3 wheeled omnidirectional robot. I already made the map using RTABMap but now I'm stuck in the 'Publishing ...
53 views

### Particle filter with error states

I am new to particle filters and I have a particle filter based on this: $$x_{k+1} = f_{k}(x_{k},\omega_{k})$$ $$y_{k+1} = h_{k}(x_{k},v_{k})$$ x = [\delta \phi, \delta \theta, \delta \psi, \delta ...
107 views

### Position-Attitude Kalman filter with Quaternions

I want to design an EKF to estimate the position of a UAV. If I were doing this with Euler angles then I would have a state vector that would look like \begin{bmatrix}north&east&down&...
396 views

### Are there any open source path planning libraries that implement Voronoi diagram techniques?

I've been looking into path planning for a non-holonomic robot with 3 DOF in a 2D plane and recently learned about Voronoi diagrams but I cannot find any open source planning libraries that use this ...
117 views

### What happened to Butler's car?

Having read the article "This Car Has Electric Brains" in Popular Mechanics, August 1958 I have some questions. How practical were his methods? Was his work acquired by a car manufacturer or some ...
45 views

### Convert ECEF Velocity to NED Velocity

My GNSS modules gives me one NMEA packet with ECEF velocity. My doubt is about how i convert these 3 vectors to NED frame. Can i use the conventional matrix rotation MathWorksRef. If yes, i use the ...
24 views

### Displaying a GPS Route (By Waypoints) on Mission Planner with Dronekit

Hope you are all doing well. I am working on a navigation project right now. According to a starting and goal location, I use Open Route Service to create a GPS Route. I have the coordinates (lateral ...
37 views

### Rviz Status Error in Costmap: Update area outside original area

“update area outside of original map area” is the error I get when visualising the topic /move_base/global_costmap/costmap. The cost map displays correctly, there is nothing on google or the docs to ...
146 views

### What is the definition of the phrase "ego robot"?

What does the phrase "ego robot" mean? I see it used in the context of multi robot systems like in the paper Game Theoretic Motion Planning for Multi-robot Racing by Zijian Wang, Riccardo Spica & ...
23 views

### Hint regarding Localization & Map Scaling

I just started with mobile robotics. I'm trying to do a collaborative system between a mobile robot and a ceiling camera (Raspberry). They should do all tasks as a "team". Means Calibration, ...
583 views

### ROS packages for *pre-planned* path navigation rather than path generation? (Turtlebot3/ROS)

I am working on a project in which users will create paths fully constrained in terms of position (using a separate piece of software), and a robot will periodically follow those paths. We are using a ...
898 views

### Controlling Pepper using ROS

I am trying to implement FastSLAM 1.0 and I am using sensory and control data acquired from Pepper via ROS to evaluate my implementation. However I am having major issues when I try and control Pepper'...
2k views

### Advise on ROS move_base costmap footprint not connected error

I'm using ROS indigo in my project and all the nodes and visualisation (Rviz) seems to be functional when I launch the program using roslaunch. Here are the sensors used in the scooter: Hokuyo Lidar ...
814 views

### Gazebo laser plug-in fails to publish scan results

I have added hokuyo laser plug-in to mu urdf file. I successfully launched the robot in gazebo and done required changes to visualize it in rviz. I didn't get any error but the laser scan results are ...
20 views

### How do you convert the covariance matrix of a 3D rotation error-state to the covariance matrix of the corresponding quaternion?

I'd like to convert the covariance matrix of an error-state Kalman Filter that uses Euler angles to the corresponding covariance matrix of a quaternion state. I basically use this for standard INS-...
20 views

### Count number of collisions while navigating to goal

I have the navigation stack working in ROS Kinetic on my computer. In Stage ROS simulations, I can specify the goal and the robot navigates to it. I need to count the number of collisions (if any) ...
11 views

### What is a general definition for pseudo-measurement (e.g., zero-velocity update as often used in robotics)?

I understand what a pseudo-measurement, but I am curious if there is a formal definition of the pseudo-measurement. A pseudo-measurement is sort of a constraint on the states of a system, which can be ...
29 views

### Can a state lattice planner be used purely as a local planner?

I've been reading a bit about state lattice motion planning recently. The question I would like to ask is if a lattice-based motion planning system can be used purely as a local planner without a ...
12 views

### Why reciprocal velocity obstacle generates oscillation free navigation compared to VO

I am tryin to understand this paper about "reciprocal velocity obstacles for real-time multi-agent navigation" and to compare it with the original Velocity Obstacle approach. I can not ...
17 views

### How can we estimate reliable angular motion from a monocular camera?

While I am working on a project, a question comes to my mind; how can we estimate reliable angular motion from a monocular camera, just for a typical indoor environment within a few seconds? So to ...
28 views

### Ros Kinetic teb_local_planner computation issue

I have very limited experience in operating systems and compiler, and most of my experience is with integration and control systems. Currently I am using ros kinetic with teb_local_planner for ...
161 views

### ROS Navigation stack with Omni-wheel robot

I have worked through navigation stack on diff-drive, I'm wondering how to get the stack running on 4 wheeled Omni-wheel robot equipped with Arduino and how to get odometry from 4 wheel encoders It ...
14 views

### How to use data collect from lidar to generate a 2d map with

I'm new to robotics and I'm using ros noetic with the package rp_lidar. I want to use the data collected from my a1m8 slamteck lidar and generate a 2d map for my rover to navigate and avoid collision. ...
29 views

### Survey path planning for UAV with high turning radius

I want to perform rectangular area survey. The sensor can either work with very narrow FOV or with wide FOV but requiring very high overlap. My plane's turn diameter is much greater than required ...
139 views

### A Delivery Drone

I'm building a delivery drone as my final year project. A drone that can deliver a package to offices around my small town autonomously, for my final year project. I would like to know how this drone ...
155 views

### Planning minimum snap trajectories

I am working on motion planning algorithm for quadrotor. As I have learned in Coursera Aerial robotics course, trajectories for quadrotors should minimize snap which is equivalent to interpolating ...
152 views

### RpLIDAR unable to see black objects

I am working on a ROSBOT for a natural navigation project. While working with RpLIDAR A2 version, I found that it does not sense thin black surfaces like black pants/trousers while at close range (...
97 views

### Interfacing HMC5883l Compass with Arduino

I'm using an HMC5883l compass module to find the angle at which my module is pointed from magnetic North. I found this code as an example with "HMC5883L_Simple.h" library. And the results I'm getting ...