Questions tagged [rclcpp]

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error: no type named ‘type’ in ‘struct std::enable_if<false, void>’ when calling rclcpp::create_timer()

I am trying to convert a piece of code written in ROS1 to ROS2. I am having trouble with the following line, which instantiates a ros:::Timer object: in ROS1: ...
Natanel Birarov's user avatar
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rclcpp::spin_until_future_complete(): Timeout for "non-blocking" call

tl;dr Expected behaviour: Having a non-blocking spin. Current behaviour: spin_until_future_complete() always returns timeout without firing any topic callback Hi, I am working on implementing the ...
magladko's user avatar
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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
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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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1 answer
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What is the difference between RCL_STEADY_TIME, RCL_SYSTEM_TIME and RCL_ROS_TIME?

I wrote the following code to check the difference myself, but I could not find any considerable difference. ...
RobotBramhana's user avatar
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ROS2 rclcpp serialization : Cannot deserialize message of type geometry_msgs/msg/transform_stamped

I'm trying to plot the trajectory of a Crazyflie2 drone which is record on the /tf topic of a rosbag. I reused the code copied the code from this ROS2 tutorial (https://docs.ros.org/en/rolling/...
chade's user avatar
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exception thrown in rcl_logging_rosout_remove_sublogger on destruction with a child logger with static lifetime

I believe this is likely a bug. Here is a minimal example and the output with a stack trace (made with backwardcpp): ...
Tyler Weaver's user avatar
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Example for using ROS2 Moveit2's asyncExecute()

I would like to use the asyncExecute() function offered by Moveit2 CPP API (ROS2 Humble), and then monitor the status of execution. I searched for a bit and only ...
Tejas Kumar's user avatar
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rclcpp::Time epochs

I would like to get seconds, and nanoseconds from inside my node, so I have a timer_callback that executes each 100ms, to note seconds and nanoseconds of the rclcpp::Time ...
Can Altineller's user avatar
1 vote
0 answers
90 views

spin_until_future_complete in an already spinning node

I’m making a program, this program has a rclcpp::node and is running with several threads. In the main thread I have executor.add_node(node); executor.spin(); this ...
Donca's user avatar
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How can I call a member method which is inside a ROS2 node class?

I have a node class shown below and I want to call its setCloud method from another class but it gives me the error: error: ‘using element_type = class rclcpp::Node’ {aka ‘class rclcpp::Node’} has no ...
SEC's user avatar
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Getting current log directory in a CPP Node

I have a different process in my CPP node that writes a separate log file. Right now, this log is written to a file in ros2_ws/log/additional_process.log but I ...
moschmdt's user avatar
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1 answer
95 views

ROS2 CPP file only second logger

For a specific ROS2 (humble) node that I'm working on I want to add a second logger that just logs to a file (preferably its own). Setting up a second logger is straightforward, as one can just call <...
snoato's user avatar
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0 answers
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Recall global parameters: std::shared_future<std::vector<rclcpp::Parameter>>

I'm looking to retrive some global parameters (the name of my topics) from an yaml file that is shared by a global_parameter_server node. Now from another node I'm trying to recall these parameters.I'...
Donca's user avatar
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1 answer
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fatal error: rclcpp/rclcpp.hpp: No such file or directory

I already build some others packages without errors, but now i'm trying to build a library now and i have this error: fatal error: rclcpp/rclcpp.hpp: No such file or directory 10 | #include "...
Donca's user avatar
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3 votes
1 answer
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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
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0 answers
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How to handle cascaded service calls in ROS2 node integration tests with gtest (C++)

I want to write some integration tests for my ROS2 node (Humble) that provides an service which in turn calls a service. While during runtime this works perfectly fine, when I try to create a unit ...
Tijs van der Smagt's user avatar
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1 answer
198 views

ROS2 - Initialize rclcpp within a class (for tests)

I'm trying to write some tests for my package. Since there's the option of using fixtures, I planned on using those, but I came across this problem. I've created a test class like so ...
slim71's user avatar
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1 answer
233 views

ament_target_dependencies not linking an upstream ament package?

Background Upstream pkg (called rclcpp_sample) provides a library-a. Downstream pkg (called rclcpp_child_sample) provides an executable that depends on library-a. Both are ...
IsaacS's user avatar
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1 answer
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Deprecating a ROS 2 parameter name

ros-perception/image_transport_plugins was ported across from ROS 1 to ROS 2 a while back. During the port, some parameters were given the wrong parameter name. We are trying to revert the parameter ...
ijnek's user avatar
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1 answer
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Dynamic TF Publishing Discrepancy Between Foxy and Humble

I have posted an issue on GitHub; however, no one responds to it. So I start to wonder if it is my own mistake. It begins from one day when I transform a piece of ROS foxy code into the Humble ...
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1 vote
1 answer
40 views

Is it possible to set up intra process communications b/w 1 publisher and multiple subscribers?

I was reading this tutorial: https://docs.ros.org/en/humble/Tutorials/Demos/Intra-Process-Communication.html Is it possible to have multiple subscribers to the published message? How does the unique ...
sisaha9's user avatar
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2 answers
7 views

the same msg type of multiple topic names can use only one callback on ros2?

Hello, I have /camera_1, /camera_2, /camera_3 and ...
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2 votes
3 answers
1k views

VS Code C/C++ extension Issue with ros program header file

Recently, when I was trying to compile a ROS programm written in C++ (with C/C++ extension installed in VSCode) I ran in to a problem with the header files included in the program (...
Jishnu's user avatar
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3 votes
1 answer
641 views

How do you automate fixing formatting errors found by ament_cpplint?

I'm working on a PR for rclcpp, and when I run the tests, I get formatting errors about white space from cpplint. Is there any automated way to fix these? Here is an example: ...
Tyler Weaver's user avatar
0 votes
1 answer
48 views

error: no matching function for call to create_subscription

Hello, I'm trying to run orbslam2 on a tello drone using ros 2 (foxy distro, ubuntu 20.04). For the purpose, I am trying to use this repository: https://github.com/tentone/tello-ros2 What I managed to ...
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1 answer
7 views

How to access executable for ComposableNodeContainer for gdb debugging?

I have a .py launch file that defines two composable node descriptions: desc1 and desc2, each of which describe two nodes that ...
user avatar
0 votes
1 answer
12 views

Communication between rclpy client and rlcpp server

I am working on converting a ros 1 (noetic) project to ros 2 (foxy). I am on Ubuntu 20.04 I am running into an issue where the python node call the service and the cpp node receives the request and ...
user avatar
0 votes
1 answer
13 views

ROS2 gmock for external libraries

Hi all, I am trying to implement unit testing in my ROS2 project. I used to work with python and ROS1, where I had experience with pytest and nose. Now I am using ROS2-foxy, C++ and I've chosen gtest, ...
user avatar
0 votes
1 answer
28 views

Getting the rclcpp::Duration in microseconds

Hello everyone! I am trying to calculate the time it takes for a single message from one Node to get to the other Node. The way I calculate the difference is by substituting the timestamp of the ...
user avatar
1 vote
1 answer
7 views

Is there a concise way to initialize a message with specific values?

Whenever I need to instantiate a message with specific values (in test code, for example), I end up writing something like this: ...
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0 votes
1 answer
18 views

Node publishes only half of expected frequency

I'm writing a ROS2 C++ node for a camera. In the code we create a callback from the camera driver which then publishes the image. When we measure the topic frequency we only get half the actual ...
user avatar
0 votes
1 answer
12 views

Intra-Process Communication between Components in Container

Is it possible to take advantage of Intra Process Comms (IPC) when starting nodes in a container? I've made an example, trying to made a basic subscriber and publisher and looking at the pointer ...
user avatar
0 votes
2 answers
67 views

`rclcpp::Clock(RCL_ROS_TIME).now()` vs. `node_->get_clock()->now()`

Is rclcpp::Clock(RCL_ROS_TIME).now() always the same as node_->get_clock()->now()? Originally posted by galou on ROS ...
user avatar
0 votes
1 answer
29 views

Wait for subscriber to exist?

I would like for one node to wait for a subscriber to a topic to exist before publishing to it. Is there a straightforward way to do that in rclcpp? I'm developing on rolling if that matters. ...
user avatar
0 votes
1 answer
14 views

Wrap rclcpp::Node with basic Lifecycle behavior?

I have a system built leveraging multiple rclcpp::Lifecycle nodes for managing system lifecycle. I would like to include an external non-lifecycle node in this system, but ideally allow it to be ...
user avatar
0 votes
1 answer
12 views

[ROS2] ros2 command stucks without exit

Hi, I'm planning to convert my code to ROS2 Galactic. So i installed on all my machines ROS2 Galactic beside Foxy. Now I have a problem only on one PC: After sourcing ROS2 Galactic ...
user avatar
0 votes
1 answer
66 views

ROS2 lookupTransform() - cannot get transform at time now()

I am having issues acquiring transformation at the required time using lookupTransform() It works as expected when I use ...
user avatar
0 votes
1 answer
1 view

node_interface for now?

The node_interfaces (https://github.com/ros2/rclcpp/tree/master/rclcpp/include/rclcpp/node_interfaces) are really useful for dependency injection allowing much nicer tests. There however does not ...
user avatar
0 votes
1 answer
6 views

ROS2 one action client calling multiple servers

I would like to call multiple action servers with a single client, however, with the current rclcpp implementation server name is only passed in the constructor, so ...
user avatar
0 votes
1 answer
8 views

Getting node name namespace from rclcpp

Hi is there a way to get to a node namespace in some clean way before that node is constructed using make shared? Processing argv doesn't seem like a good idea :/ Let's say ...
Serafadam's user avatar
0 votes
1 answer
18 views

ros2_control - Created node by ControllerInterface gets nodename of controller_manager no matter what (diff_drive_controller)

Hi! I started to work with ros2_control and want to set it up with a diff_drive_controller. Therefore I wrote an Actuator that implements the handling of my motors. The issue I now have is that when ...
user avatar
0 votes
1 answer
11 views

Linker error for geometry_msgs

Hi, I explore ros2 recently. Differences with ros, creating custom messages, pub sub examples for c++ etc. I just wanted to demonstrate that another package can be used in a custom message. I ...
user avatar
0 votes
1 answer
9 views

How to set NodeOptions for a ComposableNode in a .launch.py file?

I'm modifying a ROS2 node to be a component, and I'm trying to set additional node options when launching this node. Here is a snippet from a genericized but representative launch file: ...
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0 votes
1 answer
17 views

ROS2 Resolve topic names rclcpp

In ros1 cpp I was able to resolve a string containing the topic name to the actual topic name that accounts for remappings using the following block: ...
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0 votes
1 answer
19 views

[ROS2][rclcpp][services] Service not being created

I am attempting to write a ROS2 SetBool Service. I am getting no compile-time errors, and I am getting to a logger message that is placed after I call the ...
user avatar
0 votes
1 answer
41 views

How to print a message to stdout in ROS2?

I am porting C++ code from ROS1 to ROS2. Apparently there was an operator<< automatically generated for messages in ROS1 but that's no longer (or not yet) ...
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0 votes
1 answer
3 views

exampe of using AsyncParametersClient for multiple params

I am trying to use a parameter node to store all the params that define a robot using the guide HERE. The examples show are for only one param, how would you do set it up for multiple params? Do I ...
user avatar
0 votes
1 answer
50 views

tf::createQuaternionFromYaw equivalent in ros2

How should I create a quaternion of a simple yaw (zaxis) rotation in ros2? The alternative in ros1 were essentially tf::createQuaternionMsgFromYaw or ...
Pablo Iñigo Blasco's user avatar
0 votes
1 answer
12 views

Where are ros2 message ostream operators for c++ logging?

Hello. I am trying to use RCLCPP_XX_STREAM function passing directly a message to the stream. The problem is that I am getting compilation errors because the message ostream operators are not found. ...
Pablo Iñigo Blasco's user avatar