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How to go about rewriting Node to Hardware Component for ros2_control

I'm currently in the process of rewriting this driver for the Ublox ZedF9P GPS to integrate it into the ros2_control architecture. However, I'm facing challenges ...
McQueenPC's user avatar
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1 answer
25 views

ros2 parameter dynamic update and node restart

I'm wondering what design pattern, if any, should be followed for a ros2 node that restarts after a dynamic parameter update. The use case is the following: ros2 node starts and reads parameters from ...
atab's user avatar
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1 answer
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rqt_graph sees more nodes and topics than ros2 topic list and ros2 node list

I'm migrating a ROS1 application to ROS2 and am at the stage where I have some nodes converted and running. The main workhorse node, though, runs fine (as in not crashing) but it doesn't show up when ...
Karim Virani's user avatar
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1 answer
66 views

ros2 humble to kill the "zombie" node

I use ros2 humble to integrate gazebo harmonic and have some problem with ros_gz_bridge. My question is I have a node call the /ros_gz_bridge and it can't be kill. I already reinstall ros2,gazebo or ...
Soda's user avatar
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0 answers
76 views

Correct practice to shutdown ROS Python Nodes

What is the correct way to shutdown ROS2 Python nodes? ...
nohacks's user avatar
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1 answer
56 views

Intel RealSense D455 is not working with ROS noetic in Jetson Orin Nano

I tried connecting the Realsense D455 camera, to get point cloud information from the camera. Works fine on a PC. But when connected to Jetson Orin Nano, its shows up with the SDK and Realsense viewer ...
SpaceDoug's user avatar
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1 answer
26 views

Multiple times same node and same topics

In ROS1 Noetic my students like to launch multiple times: the same node; the same topics. What is the exact effect of these multiple declarations ? For Node, is-it a problem ? When you create ...
goupil35000's user avatar
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1 answer
390 views

Using time.sleep() in ROS2 Nodes

I want to delay a ROS2 Node, This answer is given respect to ROS1: Whats the equivalent in ROS2. A quick on the fly time.sleep() but for ROS because I know time.sleep() in ros is a nono.
nohacks's user avatar
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Python Multi-Robot ROS 1 environment: defining multiple robots in class form (each with their own ROS node) and accessing their class objects?

I'm interested in building a multi-robot learning environment using a simulator such as Gym for the environment and ROS 1 for handling communication between robots. I'd like to set up my environment ...
tt32440bzsr's user avatar
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1 answer
65 views

Executing an action before shutting down the node

I want to stop my robot upon killing my process with SIGINT (CTRL+C). I registered a signal to handle SIGINT and typically this approach works. However in case the topic is not available/reachable ...
geko's user avatar
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1 answer
40 views

How to find the .cpp File of a node?

I have a node, where i cant find the .cpp file of it. Is there a way to find the exact path of the nodes .cpp file? I have a structure how the program is built up in rqt_graph. And there is a node ...
Maverick_ROS's user avatar
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Data on real-time threads

I'd like to see a tutorial or baseline document covering optimization in Node. I learned that priority tasks or background tasks are performed depending on importance. Can you tell me where I can find ...
ertretff's user avatar
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2 answers
84 views

Sending node object to a class inside the node

I have a class named UarmControl that inherits the Node class. Inside my UarmControl class, I want to send the node it self to another class named Uarm that I want to create inside my constructor. The ...
eidetech's user avatar
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1 answer
57 views

Using ImageTransport in a constructor throws std::bad_weak_ptr

I am trying to create an ImageTransport instance to set up an image publisher which is a class member). I stick to this example, trying to adapt it to my class: <...
labude's user avatar
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1 vote
3 answers
143 views

Get the name of the node calling a service in the service callback

In rclpy (python), I'm creating a service. How can this service tell the name of the node that is calling it? My goal is to allow the service to check the node-name of the client before performing the ...
Sorawit Inprom's user avatar
1 vote
0 answers
34 views

Pybind11 python bindings for Node

I'm currently creating python bindings for libhri, a ROS C++ library on Humble. The current C++ implementation (not public yet) takes a rclcpp::Node::SharedPtr argument to internally create topic ...
Luka Juricic's user avatar
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1 answer
53 views

How to stop the subscription to "/parameter_events" that is automatically created in each node

I have been able to stop the publisher to the topic (/parameter_events) by setting start_parameter_event_publisher in ...
user37234's user avatar
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0 answers
88 views

Is there a way to get the package or directory/location of a running node?

Is there a way to get the package name or directory/location of a running node? Preferably from within a separate python node. Things I've tried: rosnode info ...
BenB's user avatar
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0 answers
90 views

ros2 node does not launch from a python launch file

The detector_cmd node does not run when the first two actions added. But the detector_cmd node runs correctly if I remove the ...
marton's user avatar
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1 answer
61 views

node crashes when subscribe to /image_raw topic

I am trying to consolidate a few nodes into a single process using nodelets. I have a ObjectDetectionNodelet that has a subscriber that subscribes to the raw image ...
nebula's user avatar
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3 votes
1 answer
982 views

Start and stop a node from another node with no system call (ROS2 CPP)

The issue I'm reporting is quite common looking at similar questions: Shutdown a node from another node in ROS CPP Start or stop the ROS node in another node Could a node can be stoped by another node?...
Antonio Bono's user avatar
2 votes
0 answers
238 views

Destroying a publisher using node.destroy_publisher raises Invalid Handle exception

I'm trying to trigger a camera which is configured to use trigger mode in ROS2 Humble, Gazebo. I create a publisher inside a state in our state machine, to publish the trigger topic. Once the state ...
silkjc's user avatar
  • 21
0 votes
2 answers
633 views

Multiple ROS 2 Composable Nodes in a single launch file

I have multiple composable nodes that I need to run in parallel using a single launch file, as it is a pipeline consisting of various components. Is it possible to do that in ROS 2? or should I use ...
Mostafa_Hegazy's user avatar
0 votes
1 answer
126 views

[ROS2 Foxy] Topics sometimes subscribed to and sometimes published to

I have two Nodes who communicate with a Float32 message topic. The typical sequence of events are: Node A starts Node B starts Node A waits to subscribe to topic T Node B creates topic T publisher ...
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1 answer
161 views

How can I call a ros2 executable with arguments from a non-ROS file

Hello, I have two questions: I would like to create a ROS API to start ROS nodes from a non-ROS python script. For example the non-ROS python script: pick.py, would call the pick_ros.py to start a ...
user avatar
0 votes
1 answer
10 views

Suggestion for Custom Behaviour and Clarification of FollowPath Action Node in Behaviour Tree

This is a question regarding the behaviour of the FollowPath action node in the nav2 behaviour tree. In the default implementation of the navigate to pose behaviour, the FollowPath action node has a ...
user avatar
0 votes
1 answer
194 views

How to read ros2 bag file in a node

Hi, I was wondering is there a better method to read ros2 bag files inside the ros2 node, I just want to send a command to run the bag files. The only source I found is this but this requires me to ...
user avatar
0 votes
1 answer
10 views

problems running image_publisher node

Hi! It's my first time I have to deal with images in ROS. As I am a beginner, I tried to run this node ...
user avatar
0 votes
2 answers
589 views

How to run a single node as root [ROS2]

Hello, I am trying to set up a ROS2 (foxy) node to run as root (with sudo). The node is running high frequency, low level operations on the RT-Linux kernel - thus the need for root access. I've been ...
user avatar
0 votes
1 answer
2 views

Starting a node twice, with differend parameters

Hallo , I want to start my node twice, but it shoud have differend parameter for my COM-Path. Here is my code: ...
user avatar
0 votes
1 answer
620 views

ROS2 nodes stay alive and keep publishing after shutting down

Hi, I am currently working with ROS2 Galactic on Ubuntu 20.04.3 LTS (Focal Fossa) on a project of mine. The problem: After stopping my launch file and shutting down my computer, the next time I open ...
user avatar
0 votes
1 answer
2 views

ROS node which broadcasts periodically frames getting from python?

Hi! Is there a ROS node which I can send with python a frame similar to the addTf() command and the node broadcasts this frame all the time? I want to create, modify and delete frames in one program ...
user avatar
0 votes
1 answer
24 views

Cannot retrieve parameters from YAML file (even if the file is found)

Hi, I wrote a very simple program in python to read parameters from a YAML file. The YAML file is the following: mqtt_node: ros__parameters: variable: 9494.98 ...
user avatar
0 votes
1 answer
379 views

How do you kill the "zombie" node in ROS2 on local?

I've programmed the publisher to create "/scan" however. that is the grave mistake. After close all ros2 applications, I noticed the /scan still running even if there is nothing runs it. It'...
Garrett Fogerlie's user avatar
0 votes
1 answer
161 views

ROS2 run bash script

I would like to run a bash script as a node liek the following: ros2 run package script.sh I know this is possible in ROS1, however I cannot find the right way to do it in ROS2. Do you have any idea ...
user avatar
0 votes
1 answer
251 views

Launching and killing nodes within a Python node in ROS 2 Foxy

I'm in the process of migrating a ROS Melodic python node into a ROS 2 Foxy python node. This particular node acts as the state machine for our software stack. It receives a message from another part ...
Siliconlad's user avatar
0 votes
1 answer
13 views

service on different namespace

Hey guys Quick question: I was wondering if it's possible to call services that are created on nodes with different namespaces? For instance, if I have node_1 on namespace node_1, can I call service_2 ...
user avatar
0 votes
1 answer
90 views

Programmatically create a node with a custom namespace in ROS 1

Hello, I wanted to know if there is a way to create programmatically in Python a ROS Node with a certain namespace decided by me. I know that in ROS 2 this is possible but I can't seem to find ...
user avatar
0 votes
1 answer
4 views

What is the difference between nodes that publishes/subscribes to a ConstPtr and a nodelet that publishes/subscribes to a Const::Ptr?

My understanding is that nodelet's don't make an extra copy of data and therefore are more efficient, However if I am sending a ConstPtr between nodes I shouldn't generate an extra copy of the data ...
user avatar
0 votes
1 answer
84 views

ROS2 Flask Threading issue

Hi all, I am trying to set up a ROS2 rclpy node that functions as a Flask socket server. This node needs to have a thread or timer-based process running (which handles a socket broadcast). The issue I ...
user avatar
0 votes
1 answer
3 views

How to assign the result returned by the bash command to the arg parameter or the param parameter?

When I use rtabmap_ros, I need to specify the database save path.The feasible method is to use the following method to assign values in rtabmap node: param name = &...
user avatar
0 votes
1 answer
23 views

Can anyone please help me, struggling to convert between quaternions and euler angles

Straight copy of the script: ...
user avatar
0 votes
1 answer
8 views

Call service from specific node

Scenario: System of multiple nodes able to be configured during runtime via one master. Idea: every node provides a service (ex: configure_node(config)) which can be called by the master. Each node is ...
user avatar
0 votes
2 answers
3k views

How to kill nodes in ROS2?

In ROS we have rosnode kill -a. Do we have something like this in ROS2? I tried ros2 node kill, but it didn't work. I am using ...
user avatar
0 votes
1 answer
229 views

[ROS2] composition and node names with launch files

Hi, I have a container with two nodes using intraprocess communication. One node is "normal", while the other is a lifecycle managed node. When I use a launch file to start the container ...
Myzhar's user avatar
  • 198
0 votes
1 answer
125 views

[Ros2] Creating Multiple nodes using class inheritance

Hi, I was wondering if you had an example on how to create multiple Nodes using the class inheritance. In ros, I created multiple nodes using ros::NodeHandle;. I ...
user avatar
0 votes
3 answers
8 views

How to subcribe 2 image topics with 1 node in same time?

Hi buddy, My name is Toan. I am a newbie in ROS. Now, i'm using Kinect Camera and trying to subcribe 2 image topics with 1 node. But seem like my code is wrong something. If i try to subcribe 1 node ...
user avatar
0 votes
1 answer
35 views

In ROS2, is a wall timer connected to a node in a way meaningfull for a user

Hi, I need an object (a node) to create a timer in ROS2. I can create any node just in order to call the respective method create_wall_timer, but I would like to ...
user avatar
0 votes
2 answers
17 views

How many nodes can publish to a single topic?

hello every body. I'm new in Ros and I have a simple question. How many nodes can publish to a single topic? thank you. Originally posted by hamed ghasemi on ROS Answers with karma: 3 on 2018-10-07 ...
user avatar
0 votes
1 answer
9 views

ROS 2 Bouncy : Node, Log and Classes best practice

Hello I am working with ROS 2 Bouncy and was wondering what is the best practice to log stuff in classes that are instantiated in a Node ? I know it's now recommended to inherit the ...
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