Questions tagged [pose]
Pose is a typical task is to identify specific objects in a space and to determine each object's position and orientation relative to some coordinate system.
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Pose Graph SLAM Frontend and Backend confusion
I have confusion about constructing the graph for pose graph SLAM. What I understood, there are two types of edges (i.e. constraints):
Edge/Constraint between two consecutive poses
Edge/Constraint ...
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Issues with Goal Pose Setting using SLAM in Nav2 Stack for GPS-based Navigation
I am currently working on a GPS-based navigation solution to send latitude and longitude (converted to odom local coordinate system by navsat_transform_node) as a goal pose and use the Nav2 stack to ...
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Conversion of roll, pitch and yaw from ENU to NED
I have roll, pitch and yaw values in an ENU frame.
How can I convert it into a NED frame?
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What link move_group get current pose refers to?
I have a Techman robot arm and I write a python script to read the current pose (pos : xyz, quar:xyzw) but I don't know if it's the base or end effector link that the position corresponds to. Anyone ...
TapleFlib
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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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How to calculate pose given a start point and end point?
Lets say I have two points(co-ordinates) defined with respect to a frame. If I can starting and ending point of the pair we can get direction similar to how arrow marker works in rviz. Is there anyway ...
Shiva_uchiha
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Get a rotation to align a vector, n with another vector, a and be able to rotate around a
Let us say I have a rigid body, B. Let us say I have a normal vector n. And let us say I have another direction vector a. I need ...
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OpenCV: What does it mean when the number of inliers returned by recoverPose() function is 0?
I've been working on a pose estimation project and one of the steps is finding the pose using the recoverPose function of OpenCV.
...
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How to prove expression for relative pose in one frame given relative pose in another frame
Given the poseo of point 1 between $t_k$ and $t_{k+1}$ \begin{equation}
\mathbf{P}_{1}\left(t_{k}, t_{k+1}\right)=\left[\begin{array}{cc}
\mathbf{R}_{1}\left(t_{k}, t_{k+1}\right) & \mathbf{T}_{1}\...
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How to go about programming Robot Arm with 3D point
I have a 6 DOF robot arm that I am programming. I want to be able to move the arm's claw to a 3D point in space. In order to do that, it needs to know the best combination of movements that will take ...
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IMU sensor coordinates for EKF
Hi, I am using ekf to fuse multiple IMU. I was reading this portion
...
MrOCW
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75
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6D pose estimation of a known 3D CAD object [closed]
I'm looking for a codebase for 6DOF pose estimation of a known 3D CAD object with RGB or RGBD. It must be:
-Usable commercially (licensed under BSD, MIT, BOOST, etc.), not GPL.
-Easy to setup and use (...
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Analytical solution to inverse kinematics of 5 dof robot arm
the followings are the equations I worked out for the inverse kinematics of a 5 dofs robotic arm.
First of all, the kinematic diagram:
For the joint angles $q_{2}, q_{3}$ and $q_{4}$ I resorted to ...
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Manually generate antipodal grasps for grasping
I am getting into robot manipulation using parallel grippers, and am learning about it, and programming grasping different objects. I have the 3D model of the objects I wish to grasp. The next step is ...
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Incorporating motion model in Graph Slam and Bundle adjustment
When doing global bundle adjustment how does one incorporate a motion model or IMU information?
Does it simply impose a cost function in relation to how far away the expected location is of the robot ...
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Difference between odometry and localization wrt determining robot's pose?
AFAIK, localization is used to determine a robot's pose from a given a map and sensor data. I know of statistical localization approaches which use particle filters to determine a robot's location ...
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Monocular SLAM position estimation
I have been reading about mono SLAM and I have a couple questions which are not so clear:
When doing pose estimation, I have seen people both reference homography transformation and also reference 5\...
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Why" The origin for the sensor at is out of map bounds" warning after configuring roboot_localization
Hi all,
I added an IMU to improve odometery and used robot_localozation to fuze odom and IMU data. I speficied the initial pose in ekf configs but my robot wont get its initial pose on the map ...
chm007
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52
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VR: is it possible to calculate hand position relative to head based off these known orientations and lengths?
If we have 3, 9DoF IMUs for absolute orientation data on the:
wrist
upper arm
forehead
and we know the length of the:
wrist
upper arm
shoulder to base of neck
neck
and we also know the global ...
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Looking for benchmarks on Apriltag pose estimation
we want to know if we can use Apriltags in our project for pose estimation in rather long distances and on moving target. Specifically, correcting errors of an IMU device on an autonomous vehicle.
I ...
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How to convert a Pose to PyKDL Frame in python (and vice versa)
In ROS1 I used tf_conversions.posemath, toMsg and fromMsg. I'm porting my code to ROS2 and ...
anton.deguet
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Covariance of fused poses. Should it be normalised by the number of poses?
I came across this paper from T. Barfoot and P. Furgale:
"Associating Uncertainty With Three-Dimensional Poses for Use in Estimation Problems"
Link: http://ncfrn.mcgill.ca/members/pubs/...
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how to creating fake Pose
Hello, I am trying to pubuilsh a fake pose in code.
I checked the message rules and put the desired value and executed it, but the following error occurs in the subscriber.
May i know what mistake i ...
jjb1220
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TF broken in Hector Pose Estimation when fusing IMU and Pressure Sensor, frames are not correct and pose also not correct
Im doing some underwater UUV Gazebo simulation and would like to use the
hector_pose_estimation
package to fuse IMU and Fluid pressure sensors input for pose estimation. In the gazebo launch file I ...
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322
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3D Rigid Body Pose Optimization in flat euclidean space
I am confused about what is the best way to optimize the 3D pose of an object and the best way to parametrize the translation and rotation for optimization in flat euclidean space.
Assume I have a ...
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483
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Number of diagonal elements in the pose covariance matrix
The control.yaml file inside the husky_gazebo package defines the value of the ...
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How to calculate extrinsic calibration of a non-overlapping multicamera rig?
thanks for taking the time to check my question. Firstly, let me describe the current configuration, I am using 4 cameras that produce non-overlapping images and the goal is to calculate their ...
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Calculate transform from different poses
My robot is at a starting pose $s_0 = (x_0, y_0, \theta_0)$ and, while moving, I receive a sequence of motion measurements $[\mu_1, \mu_2, \: ... \: \mu_n]$, where $\mu_i = (\Delta x_i, \Delta y_i, \...
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Empty frame_id in `geometry_msgs/PoseStamped`
I am working on a problem where rosbag files are the benchmarking datasets provided by an external research group. I would like to visualize the 6-DoF pose of the robot which is in the bag.
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jacka122
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299
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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 ...
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984
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Is easier to detect a large or a small marker? (Aruco / Apriltags)
I need to detect Aruco/Apriltags markers and perform pose estimation, but I've no particular constraint on their physical size. I'm not talking about the number of square (e.g. 4x4, 6x6, etc.), but of ...
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given current position and Quaternion and target local rotations (α, β, γ, in radians), how to calculate the new Quaternion
Say we have an object (e.g., end-effector of a robot) that is defined in a general coordinate system by a Cartesian position and Quaternion.
since the Quaternion is with respect to a general and fixed ...
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352
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Error in Pose(): All values are zero for turtlesim/Pose
Here is the program I have written. The function is to make the turtlesim complete one revolution, with a fixed angular velocity and speed.
...
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Getting the new heading after a Transformation
Lets say I have 2d poses as such (angles in degrees):
world_to_robot = {0, 4, 45} robot_to_object = {4, -4, -45}
From a graph it would be easy to see that:
world_to_object = {4, 8, theta}, what goes ...
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Self localization inside machine of interest
I have a type of flight sensor interfaced with Arduino Uno via I2C. The sensor is VL53L0X i am getting the 1D measurement value of distance in mm which i can monitor using serial monitor in Arduino ...
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2
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increase/change mavros local_position pose publish frequency
How do I increase or change the mavros/local_position/pose publishing frequency? (Default only 30Hz)
Originally posted by noob_ros on ROS Answers with karma: 21 on 2020-09-11
Post score: 0
noob_ros
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How can I calibrate 3 cameras without knowing global pose of the object & camera locations? How can I find the pose of each camera wrt the first one?
I have camera feed (in the form of RGB images) from 3 cameras with partially overlapping Field-of-view i.e. for the time stamp 0 to 100, I have total 300 frames or say synchronized 100 RGB frames for ...
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Covnert geometry_msg/StampedPoint to Stamped pose
Hi guys.
I'm trying to convert point to pose.
But i don't know how to do.
I saw topic_tool package, but the only example is about stg_msgs. I can't find parameteres that i need. :(
And i also saw '...
Ray_Shim
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156
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IMU Vision Fusion using EKF
I am trying to track an object indoors using an IMU (only accel and gyroscope) and a visual marker. This is similar to IMU+GPS fusion, where GPS is effectively replaced by the position that my vision ...
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How do you handle angle discontinuities in estimation problems?
When one is implementing a state estimator in a system that involves kinematics, will inevitably face the problem of angle discontinuities, i.e., the fact that the angles have to be wrapped between ...
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Reset coordinate system of robot while maintaining relationship to the previous
I am currently estimating a robot's pose (3d position and rotation matrix) with an IMU and I want to reset the localizer in the middle of the run while keeping the relationship to the pose it had when ...
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Dual constraint non-linear optimization for SLAM
I am trying to achieve a nonlinear optimization for SLAM on a function that contains two different constraints, like this :
$$
T_{opt} = \underset{T}{\arg\min} \sum_i(\left\lVert T.X_i - x_i \right\...
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392
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two wheel mobile robot odometry
I am using an encoder to calculate the position and orientation of a mobile robot. The robot has two-wheel and each wheel is attached with an encoder, the result I am getting for my position x,y and ...
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RViz gets Moveit setup assistant's poses wrong
Hi,
I have created a Moveit config package using the moveit_setup_assistant, containing several poses for my 6dof arm. However, when executing these poses using:
...
argargreg
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1
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2
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Pose direction not correct on rViz
Hi, I'm trying to work on a complete coverage problem of a static map.
So, just to begin, I assumed my map to have no obstacles.
...
ros-noob
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1
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AprilTag vs Aruco markers [closed]
AprilTag and Aruco are both popular methods for vision-based fiducial marker pose estimation.
What are the pros and cons of each fiducial marker pose estimation systems?
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What's the difference between Pose Measurement and Position Measurement?
I have read a robotic related paper called Estimating SE(3) elements using a dual quaternion based linear Kalman filter, and the author proposed that the equation of position measurement is denoted as:...
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4
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Moveit control gripper instead of panda_link8 EFF
I'm currently trying to execute a grasp pose, which I computed using a CNN, on the Panda Emika Franka Robot using Moveit. Unfortunately, the panda_moveit_config and franka_ros packages didn't specify ...
rickstaa
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54
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Two Link Manipulator End Effector Position
My professor described the end effector position as $q_{e} = \begin{bmatrix} x_e \\y_e\end{bmatrix} = \begin{bmatrix} l_1 cos(\alpha_1) + l_2cos(\alpha_1 + \alpha_2) \\ l_1 sin(\alpha_1) + l_2sin(\...
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State of a Robot
I saw the expression "robot state" in many articles and resources, but I could not understand what that exactly mean.
What does state of a robot exactly refers to ?
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