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Questions tagged [robot]

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Can't integrate localization and navigation in my launch file

I am studying Ros2 for a college project, I've build this robot using some tutorials to help me. I am now researching how to make a dynamic navigation node. My problem is, everytime I run my robot, I ...
Victor Marques de Souza's user avatar
1 vote
2 answers
259 views

Gazebo robot falls over on spawn; "The published robot description file (urdf) seems not to be genuine"

In my gazebo simulation my robot fails to maintain itself. It falls over in the spawn and starts to vibrate by itself. There were multiple terminal errors. While fixing these errors, I sometimes cause ...
Doğukan YILMAZ's user avatar
0 votes
1 answer
15 views

Is it possible to connect Gazebo simulation to physical model?

I am trying to create a SCARA robot. The physical setup is ready. What I want to do is create a setup such that the movements in the gazebo simulation are reflected in the actual physical robot. I ...
Saiprasad Patil's user avatar
0 votes
1 answer
7 views

get inertia matrix in urdf

I have the inertial parameters of the links for a urdf file but my teacher asked me if the inertia matrix is weightless in a urdf file. Right know I inserted the parameters with the mass (kg*m^2). I ...
Tim De Witte's user avatar
1 vote
0 answers
25 views

Control axes with encoder or sensor

I want to move the axis using the encoder sensor readings, but when using the encoder my axis rotates suddenly and not gradually. i used arduino to send encoder data. i use this encoder and this ...
M.Syarief Rahman's user avatar
0 votes
1 answer
16 views

does the quadruped robot suffer from Gimbal lock issue?

I am a student working on forward kinematics of a quadruped robot. I am confused whether we can use euler angle roll, pitch, yaw in ZYZ Sequence for quadruped robot or not. Does the angle vary till ...
Manu sign_in's user avatar
0 votes
0 answers
12 views

Looking for solutions to build robots

I'm planning to build a couple of autonomous robots that can be controlled using embedded systems. My goal is to achieve real-time operation with high speed and accuracy, leveraging deep learning (DL) ...
HoangggNam's user avatar
1 vote
0 answers
47 views

Fabrication of Planar HASEL soft actuators

Recently, I was researching planar HASEL actuators to create artificial muscles. I was greatly inspired by the YouTube video "HASEL actuators with muscle-like performance." I found the paper ...
Daniel García's user avatar
0 votes
0 answers
16 views

Designing the kinematics and Dynamics of a spherical joint as 3 revolute Joint

I am working on a project where I am trying to mimic human like motion and for that I am designing a 7 DOF arm with the spherical joint in shoulder as 3R joints and 2R joints for elbow and 2R joint ...
Anshul Nayak's user avatar
-1 votes
1 answer
27 views

What's the difference between the different types of "control"

I've embarked myself into an "action in robotics" journey, and I'm currently having troubles to understand the main differences between the different types of "controls" listed ...
Esteban's user avatar
0 votes
1 answer
50 views

when use robot_localization package my robot is glitch

why this error is come when use robot_localization. i have problem with my odometry when use robot_localization. before use this package, my pose odometry is so bad but no glitching. but when use ...
M.Syarief Rahman's user avatar
0 votes
0 answers
26 views

Code reacts too slow for motors to react

I am building an inverted pendulum robot. After analyzing what others have created I came to the conclusion that my code is way too slow. I am looking for suggestions to improve the code I wrote. I ...
Paul Alexa's user avatar
0 votes
1 answer
96 views

Robot lidar filter, ros2

I saw that for ROS1 there is this local filter for the lidar scan that is masking the robot shape, there is something similar for ROS2? From what I saw there isn't. Do you have any suggestions on how ...
Mattia Dutto's user avatar
0 votes
1 answer
17 views

Link num type variable with aio Staubli

I want to link a num variable with a aio input variable I receive from ECAT. I am trying to do it in that way, but it does not work. Anyone who know how to do it in SRS? I have defined Vel_cmd and ...
Unai Granados Ormaetxea's user avatar
0 votes
1 answer
46 views

What determines a robots euler rotation order?

I know Fanuc robots use the XYZ rotation order, ABB uses ZYX and some robots use the ZYZ rotation order. What actually determines this order? is it the way the frames are setup on the DH table? Or ...
user3117153's user avatar
0 votes
0 answers
62 views

How to have a child link with two parent links for URDF

As the title states, there is a link on my robot that is connected to two different parent links in seperate places. I don't know how to do this as it says that every single link must be unique. Is ...
John Miller's user avatar
0 votes
0 answers
22 views

Is a central CAN-Bus a reliable solution for controlling robot wheels?

I am working as a student on a 6 wheel robot project and have problems deciding what communication protocol to use for controlling the locomotion system. I was thinking about connecting all the robot ...
curious_engineer's user avatar
0 votes
1 answer
43 views

Mapping servo motor angles to 3d link angles

I have been programming for a 6DOF robot arm with forward and inverse kinematics functionality. The problem I am facing in my head is to how to correctly set different servo motor values to specific ...
persona's user avatar
0 votes
1 answer
48 views

Aspiring to build a space rover from scratch. From where to begin?

What fundamental concepts, beginner-friendly resources, or online courses would you recommend for someone starting with little to no background in robotics? At first, I want to build a an autonomous ...
Md Ghufran Fazal's user avatar
0 votes
2 answers
444 views

Why is admittance control better than impedance control for huma robot collaboration?

I have seen many papers that use admittance control for human robot collaboration but no one tells why admittance is the choice and not impedance. Is it something very trivial that I should know or ...
Shubham Kumbhar's user avatar
0 votes
1 answer
73 views

simulator for a cartesian(gantry) robot

I wanna simulate a cartesian(gantry) robot in a simulator and solve the forward and reverse kinematics. Is it possible with Gazebo or MOVEIT? which one and how? Or if you suggest any free software ...
mkowsar's user avatar
0 votes
0 answers
34 views

What joint combination gives you an 6 DoF workspace?

If you want to have a 6 DoF workspace of your end-effector you need 6 joints. But how exactly do the joints have to be ordered? For instance: A robot with 6 revolute joints where all the rotation ...
Sven Fritsch's user avatar
0 votes
1 answer
53 views

My obstacle avoiding car doesn't work with dry cells

Ok, I am not a genius in such projects but, it is the first project I am doing in robotics. The problem is that the wheels of the car doesn't continuously tend to rotate when I power the motor driver ...
Sagar Shrestha's user avatar
1 vote
0 answers
23 views

Painting the spots robot visited: in Gazebo

I have a robot (let's say it is a simple 2-wheeled+caster wheel diff drive robot). It works as a vacuum cleaner of a sort: moves over the "world", leaving behind a band of "clean carpet&...
Steve Brown's user avatar
1 vote
0 answers
23 views

Why do I need to go through edit model in Gazebo in order for my model to spawn correctly?

When I initially launch my robot in Gazebo, it breaks apart and every part is moving around. As soon as I enter edit mode for my model it freezes in place, and then I can delete and launch the model ...
Haran Tzori's user avatar
0 votes
1 answer
43 views

Calculate target orientation

I have the following setup: I want to move the "Drill" frame to "Target1" with the opposite Z axis direction. I have calculated translation between "Target1" and "...
Unai Granados Ormaetxea's user avatar
0 votes
0 answers
25 views

Understanding Virtual Velocities in Delta Robot Dynamics Modeling

I want to model the dynamics of a delta robot, and I came across this article. It utilizes the Newton-Euler method with virtual work to derive the equations. There's a section called Simulation ...
Ali Ent's user avatar
  • 101
0 votes
1 answer
953 views

Controller manager not available in ROS2

I can visualize my robot on gazebo but I get an error when launch file is starting like below. How can I fix that? Error: ...
user avatar
0 votes
1 answer
2 views

Have robot(wheeled) the move to creates a 2d maps

Hi have robot(wheeled) the move to creates a 2d maps the robot has imu encoder and ultrasonic sensors and Arduino till now i only know how to to move the robot by pub | sub but I don't know what to ...
user avatar
0 votes
1 answer
17 views

correct model design for grasping (Moveit)

Hi! I am relative new to ROS and Moveit. I am using ROS noetic. For a research project, I want to realize automated trajectory planning for an FANUC industrial robot for handling pipes with high ...
user avatar
0 votes
1 answer
17 views

MAXON Escon Motor Controller ROS

I have a mobile robot platform running with 4 Escon 50/5 drivers an 4 DCX motors. I have created my motor controllers .edc file via escon software; but I couldn't find a way to communicate with ROS to ...
user avatar
0 votes
1 answer
5 views

Error with real UR5e connected via 5G

I have script that controls UR5e using haptic device, it works perfectly connected directly using ethernet, but it doesn't work when i use 2 5G routers (arround 70ms ping). When i launch ur5e_bringup ...
user avatar
0 votes
1 answer
26 views

Spawn_model for gazebo.urdf files

Hi, I want to edit the file turtlebot3_world.launch that's code is the following in Melodic: ...
user avatar
0 votes
1 answer
2 views

Subscribing to the wrong Topic

My problem is that I want to subscribe to the Topic "joy" but from a class. Let's say that i have a class named My_Class. As protected method i wrote the subscriber. ...
user avatar
1 vote
2 answers
690 views

roslaunch: is neither a launch file in package

Hi, I'm using Kinetic and I'm trying to launch other's and examples codes but all roslaunch shows this message: ...
user avatar
0 votes
1 answer
6 views

Simulation deteriorates over time, robot arms do not go to the same position

Hi! I'm currently running a ROS network (ROS Melodic, Ubuntu 18.04) using the ARIAC 2019 simulation interface. I have the competition going on a loop, and two UR10 arms that run on independent threads....
user avatar
0 votes
1 answer
5 views

Universal Robot Arms, size changes in the robot description

I am trying to update warthog description, by attaching three universal robot arms(2 UR5, 1 UR3). I am following the second approach pointed here. I was succesfull in adding all the robot ...
user avatar
0 votes
1 answer
23 views

Invisible robot model in Rviz

Hello, I'm new to rviz and I encountered a problem while i was trying to run project from this repo . When im working on Gazebo i can see a whole model of the robot but when i try to do the same on ...
user avatar
0 votes
1 answer
2 views

robot_localization package with custom sensor message

I want to know if i can use robot_localisation package with odometry messages and custom messages which i generate from my sensor. I am not using IMU, instead another sensor which gives me x and y. ...
user avatar
0 votes
1 answer
33 views

Using Moveit with a robot arm on a gantry

I am trying out using moveit with a robot arm mounted on an xyz gantry. But I'm new to moveit and am unsure how best to build the model. The robot is an off the shelf UR-10 which I have a model for, ...
user avatar
0 votes
1 answer
43 views

Oscillation using TEB local planner with car-like setup

I've come across other topics mentioning similar problems, oscillation when using the TEB local planner for a car-like robot. But nothing has helped me so far, this topic yet remains unanswered, which ...
user avatar
0 votes
1 answer
9 views

Trajectory Length Problem

MISSION: Plan from A to B, not colliding with obstacles, using all planners in OMPL and CHOMP. Compare the trajectories of those planners. SETUP: I am using Moveit to plan for a 6 DOF articulated ...
user avatar
0 votes
1 answer
10 views

2d navigation robot setup dependency

So I am doing a 2d navigation and am using create_autonomy for irobot I am following this tutorial In it I need to create a package with dependency: ...
user avatar
0 votes
1 answer
49 views

Robot + Docker + ROS

Hello, Currently I am working on a project which has following specifications: A controllable robot base and sensors Velodyne LIDARS connected via Ethernet. Few ros packages with a custom catkin ...
user avatar
0 votes
1 answer
50 views

Ghost obstacles on costmap

Hi everyone, Please give me some advices for this problem with ghost obstacles. My mobile robot is working with ROS (Kinetic, Ubuntu 16.0.4) using Sick sensor. My robot uses 2 Sick sensor, one is in ...
user avatar
0 votes
1 answer
2 views

URDF File - robot jumps and makes small leaps

Hello, I want to create a robot with two driving wheels and two caster wheels. As shown in this image : I d’not know if it is well showen in the picture, the robot has two caster wheels (front and ...
user avatar
0 votes
1 answer
3 views

Move It! polar robot configuration not moving second joint

Hi all! I'm fighting to create a polar robot configuration with Move It. The polar robot has 3 joints: rotational, rotational and prismatic. Polar robot http://www.robotpark.com/academy/PG/Spherical-...
user avatar
0 votes
1 answer
152 views

Load two urdf models in one launch file

Hello, i'm trying to load two models in one lunch file. I have one file for a robot arm and one for the base, that is intended to carry the robot arm around. Each separated works but as i try to load ...
user avatar
0 votes
1 answer
15 views

Robot oscillating before stopping if an obstacle found in ros navigation setup

My robot is oscillating before stopping if an obstacle is found in the path. This is because, when the robot sees an obstacle, the planner still plan a path through the narrow gap around the obstacle ...
user avatar
1 vote
1 answer
123 views

ROS Tracked Robot Gazebo Simulation

Hello, I am quite new to ROS and currently making a track robot model for gazebo & rviz simulation. I have finished making the meshes of my robot with wheels and managed to make a basic URDF file. ...
user avatar