Questions tagged [rclcpp]
rclcpp provides the standard C++ API for interacting with ROS 2.
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ROS2 rclcpp understanding get_topic_names_and_types()
I came across this function get_topic_names_and_types in rclcpp recently and I have a basic question about it.
Output type is <...
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1
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How can I run (C++) unit tests without "spinning" the node?
[ros2 humble]
Edit 2 - More general form of the question, but previous question below the line
Generally speaking, when I run a unit test, I don't want to test that the ROS software works, I want to ...
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1
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get_parameter() colcon build error `no matching function for call`
I have create a ros2 node which simply declares and get parameter. I am getting the following error.
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URDF File is not parsed, robot state publisher sees the robot description empty. RCLCPP does not exist in libexec?
After finishing the migration of a project for a simulation of a robot, my first launch file which i will provide later contains the robot state publisher, which I give the the robot description and ...
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104
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High frequency service call cause the freeze of service client on ros2
The service client sometimes freeze in spin_until_future_complete on high frequency service call.
I run 1 service server and 3 service clients which call service on high frequency.
I tested it on ros:...
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how to construct a std::map of topic_name(std::string) as key and ros2 msg class(ptr) as value?
i need a std::map with topic_name as key and some-different-types of msgdata(or msgdata prt) as value in ros2, like
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ROS2 example : colcon build --symlink-install，error~~
Ubuntu 20.04, ROS2-rolling.
When I refer to https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html to execute colcon build --symlink-install, the compilation error:
<...
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jazzy ros2 does not recognize rclcpp::ok(), rclcpp::sleep_for()
We just updated our robot stack from ROS2 Iron to ROS2 Jazzy, and we are facing a problem, when we are building package, we receive a build error, that ok() and sleep_for() is not a member of rclcpp
<...
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How to verify if the camera is calibrated?
I am trying to perform RGB camera calibrations with ROS2 Humble on Ubuntu 22.04.4 .
For this, I'm using cameras from LUCID connected with POE , model : Lucid Triton 54s-cc: https://thinklucid.com/...
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Failed to fetch current robot state when using MGI in wall timer callback function
I'm trying to use move_group_interface to get robot pose at a certain rate. So I put move_group_interface->getCurrentPose() in a function, and use ...
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ROS2 rclcpp subscriber callback uses same shared_ptr for each new message
I have an rclcpp node with some message data coming in (images, scans, etc). I would like to apply temporal filtering to this data, and therefore store a copy of each incoming message.
I assumed ...
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Is there any way to directly pass a closure to the event loop of a node, bypassing the overhead of using a ros message
I'd like to do some work in a std::thread and then occasionally pass this data to the ROS thread for publishing or further processing. The only way I can see how ...
user40668
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RCLCPP: rclcpp namespace used by default?
I have a "Node" class, used for pathfinding. However, when I try to use it anywhere in my rclcpp project, I get errors like "error: cannot convert ‘rclcpp::Node*’ to ‘Node*’". I ...
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How to migrate ROS1 code that passes ros::Nodehandle to functions inside constructor
In ROS 1 C++ code, a somewhat popular idiom involves calling functions that takes ros::NodeHandle to initialize members, e.g.
...
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How to add an additional argument in a ROS2 cpp callback
I want to add an additional argument in a callback function for rclcpp, e.g. callback(msg, additional_argument).
I can do it in ...
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rclcpp ROS2 params yaml file comments
Does anyone know, if there are available comments in the yaml files containing parameters?
I tried to comment some information to keep it for later, but then I got rcl parsing exception.
But maybe I ...
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Can’t see debug messages using RCLCPP_DEBUG
I can’t see messages using RCLCPP_DEBUG by terminal and rqt, but I can using other levels of verbosity( INFO, ERROR, FATAL…).Selecting debug in rqt to see those messages doesn’t work either.
I’m using ...
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When will subscriber status callbacks be available in ROS2?
What are the plans for implementing rclcpp subscriber status callbacks (connect/disconnect) in ROS2? I found this ROS1 feature quite handy.
Note that this question has been asked before but since that ...
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63
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Nav2: Migrate from nav_msg::getPlan
I've been migrating to ROS Humble a ROS 1 exploration project in C++.
This project considers a list of goal candidates and to evaluate them we use to call the service ...
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100
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adjusting Timer period as it is in use, RCLCPP
I am using a rclcpp Timer, namely:
rclcpp::TimerBase::SharedPtr timer = this->create_wall_timer(100m, std::bind(&MyTimerProg::timer_callback, this));
I would like to adjust the timer period as ...
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2
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106
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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 ...
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how many callback groups lifecycle nodes use by default and why?
I am checking number of callback groups in my lifecycle node using :
this->get_node_base_interface()->get_callback_groups().size());
Before initialising any ...
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Lifecycle node consuming cpu in deactivated state
My node which is a critical component of a larger system contains the following interfaces for communicating with other nodes
Two action servers
One tf listner
One service server
Four subscribers
Two ...
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1
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62
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How to declare parameter that are only known at runtime
I'm currently facing an issue with the ros2 parameters. I'm not sure how to approach this, from Iron on ros2_controller creates a node without the node options ...
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49
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Error when running RCLCPP examples on microROS workspace with rmw_microxrcedds
I am trying to build rclcpp publisher subscriber example on microROS (host workspace on ubuntu:jammy). I am able to compile it (with -DRMW_IMPLEMENTATION=rmw_microxrcedds) and run it for cyclonedds ...
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1
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71
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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:
<...
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1
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97
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rclcpp - float conversion warning when using `declare_parameter<float>`
Compiling a node with the following snippet and -Wfloat-conversion leads to the following:
...
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24
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ros2 using cpp ament package library in another cpp ament package
i'm trying to transform ego-planner-swarm founded in:
https://github.com/ZJU-FAST-Lab/ego-planner-swarm
to ros2...
in my ros2 workspace, i have 3 packages...
bspline_opt(as library)
plan_manage
...
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2
answers
277
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rclcpp::QoS error when running colcon build
I am trying to run ros2-canopen from VirtualBox in Ubuntu 22.04.03., the host is Windows11. I have installed ros2 following instructions from: https://docs.ros.org/en/humble/Installation/Ubuntu-...
user37739
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697
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ROS2 multi-threaded executor timers block subscriber callbacks
Using RCLCPP, ROS2-Iron, Ubuntu 22.04.
Using rclcpp::executors::MultiThreadedExecutor executor
When defining callback groups, if I leave both timers and subscribers ...
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1
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110
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Is there a way to enumerate over predefined constants in ROS2 message definitions?
I'd like to know if there is a way to enumerate over the available constants defined in a message. As an example, let's take the visualization_msgs/Marker.msg as an ...
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3
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ros2 spinning problem[SOLVED]
i'm trying to transform ego-planner-swarm founded in:
https://github.com/ZJU-FAST-Lab/ego-planner-swarm
to ros2...
the problem was in one of the subscription's callbacks there was a function in which ...
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2
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201
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Multiple servers in a single node [ROS2]
I am trying to make two servers for two different services in a single node.
For example, like so:
...
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82
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undefined reference to many pkgs
I just started out with ROS 2.0. I am unsure if I am doing something stupid or missing out something. However, I can’t build these files. If I should have posted somewhere else kindly let me know.
i'm ...
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449
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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:
...
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299
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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 ...
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38
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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 ...
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73
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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 ...
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1
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417
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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.
...
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418
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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/...
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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):
...
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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 ...
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1
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249
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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
...
2
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1
answer
556
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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 ...
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1
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110
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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 ...
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1
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39
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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 ...
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1
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276
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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 <...
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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'...
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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 "...
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1
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1k
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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?...
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