Questions tagged [ros]

ROS (Robot Operating System) is a free, open-source robot software framework initially developed by Willow Garage. And now under the maintenance of Open Robotics.

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Can MoveIT framework be used separately from ROS, i.e. "as a standalone library"?

As far as I understand, MoveIT can act as a IK/FK solver one can supply input into (i.e. end-effector xyz) and get an output (joint angle values). I'd like to utilize this aspect of MoveIT (version 1) ...
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Mecanum wheel robot simulation [closed]

What is the best simulation environment for the localization of a Mecanum wheel robot? MATLAB, ROS or any other alternative? I am thinking of running an Extended Kalman filter on ESP32 MCU.
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rosrun doesn't appear to do anything

I'm new to ROS and I'm following the next tutorial (Don't worry there is time stamps bellow to see the full code in the video). https://www.youtube.com/watch?v=yqYvMEYJoTk&list=PLAjUtIp46jDcQb-...
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robot_localization ros package: UKF estimate jump but input did not

The UKF is configured to fuse odometry, a reference pose (using ndt matching), and IMU data. But although the robot is standing and all sensors are telling that it is not moving the UKF is jumping see ...
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How to distribute ros package developed on windows?

I am using ros1 neotic on windows 10 to develop ros package with python. I checked this link Packaging your ROS project as a snap but it's telling only how to share packages developed on linux machine....
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cartesian velocity control loop implementation

I'm using ROS (noetic) to intuitively control a franka manipulator using the panda_robot package for the simulation. I've set up an extended kalman filter which fuses the following measures: IMU data:...
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rosrun Couldn't find executable named node_name.py

I am using ROS Noetic on Windows 10, and I created a python node using this directory structure \catkin_ws\src\package_name\scripts> and my node's Python files ...
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why custom generated pointcloud2 is displayed as line on rviz?

I am new in ROS, We are developing LiDAR camera and I am trying to interface out LiDAR camera with ROS. I am using ROS 1 noetic on windows 10, I wrote a python script to convert the depth image ...
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ROS auto complete not running on Windows 10

I installed ROS1 on my Windows 10 machine according to http://wiki.ros.org/Installation/Windows , I couldn't install windows terminal so I use "x64 Native Tools Command Prompt for VS 2019" ...
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Kuka youBot melodic ros installation

I'm wondering if one can install Kuka youBot (i.e. the simulation part not the real hardware) in melodic ros. It seems there is no melodic-devel when I try to clone ...
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ROS: frame transformation (tf) + TimeSynchronizer?

How to get a frame transformation using TimeSynchronizer? I am developing some 3D recognition application for a mobile robot. The robot has an RGB camera, depth camera, and uses rtabmap for SLAM, so I ...
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ROS - Load different map/world in a sequence to evaluate navigation algorithm

I want to analyze my path planner algorithm, so I must evaluate this algorithm in hundreds of situations. As a result, I need to load hundreds map in Rviz and Gazebo in a sequence and record the ...
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Diff-drive robot - Obstacle avoiding - random walk

I have implemented a logic-based algorithm for obstacle avoidance in a differential drive robot with 5 IR sensors. I want the robot in space, for example, a square room, to move freely and avoid ...
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1 answer
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How to check if arm_controller is up and running or not?

I have a Gazebo simulation running with a spawned robot. I also have initialized two trajectory-based controllers using JointEffortInterface for Gazebo-ROS plugin - ...
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In which specific scenarios does MoveIt initialize a separate node with the name `\move_group_commander_wrappers_...`?

I am trying to use MoveIt Python interface to send commands to my robot simulated in Gazebo Environment. In scenario 1, when I launch the gazebo world (using launch file) and spawn my robot, the ...
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2 votes
1 answer
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Pipeline for dense reconstruction using pose estimation from orb-slam and stereo camera

I am trying to perform dense reconstruction using a sequence of images from a calibrated stereo camera. I have been using orb-slam3 to give me the camera's pose estimation. I am also generating the ...
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Adding a layer of business logic onto ROS bots

For the past few days I've been trying to find whether there is a tool that allows one to build a layer of business logic components on top of a ROS bot with basic functionality. For example, say ...
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remove gravity from acceleration on Myo armband IMU measurements

I'm working with the Myo armband through the myo_ros package. The device is able to provide IMU measurements comprising orientation, linear acceleration and angular velocity. The orientation is ...
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Occupancy grid height

i need some help from guys who know ros. I need to create an occupancy grid (2D) from pointcloud but i need to show also the height at every cell with colors. Right now i know that the occupancy grid ...
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Imu orieantation data increase by oneself

I subscriber imu data and print it from my python script.I move imu sensor fast then stop the move but imu data still increasing by oneself. How can I slove this problem? ...
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Husky robot shows rostopics but not message over them

I have a Clearpath husky robot setup with their ros noetic image (ubuntu 20.04 on amd64 architecture) clearpath-universal-noetic-amd64-0.5.14.iso which to my ...
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Spawn robot model using rospy in Gazebo

I am trying to spawn my robot model using rospy in my python interface to Gazebo. In the launch file, I spawn the robot using: ...
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1 answer
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odom frame behaves mischievously in rviz when Configuring Robot Localization with error message TF_OLD_DATA

I am trying to learn ros2 nav2 localization link but when I add the ekf.yaml to launch description rviz behaves mischievously to be specific: odom frame moves in rviz randomly and this is the error ...
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pointcloud2_to_xyz_array not giving good visualization for ROS1 but working for ROS2

I have 2 setups: Setup #1: Ubuntu 20.04 focal Virtual cloud machine with arm64 architecture with ROS1 noetic, classic gazebo (which runs husky simulation from clearpath robotics) Setup #2: Ubuntu 22....
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1 answer
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Vision programming with OpenCV

I am currently working on a project on NiryoOne which requires facial detection of a person through NiryoOne camera (ELP SONY IMX). The code that I am using works on my laptop running ubuntu. However, ...
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Mounting the ur5e robotic arm on a table

I am working on testing motion planning algorithms on a robotic arm. My arm collides with the ground while moving it from one point to another point. My solution to this problem is to mount the arm on ...
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1 answer
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Drawing in gazebo ROS

I am trying to simulate motion for a ur5e robotic arm. I am using the concept of Rodrigues rotation to get the orientation for the end effector. Is there any way to draw a line in gazebo or RViz from ...
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Control a differential drive robot

I have some questions about implementing a mobile robot. I have an old construction mobile robot wherein this robot the main controller has been removed, and I put in its place a Raspberry Pi 4. I ...
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orocos ros integration, createStream causes execution to stuck in a loop

I'm integrating orocos with ros, basically i created a component that read data from some input ports and write on output ports that create streams, because i want to public this values on ros topics ...
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robot_localization not fusing imu data

According to the documentation in : http://docs.ros.org/en/noetic/api/robot_localization/html/state_estimation_nodes.html I was able to transform the imu data header fram from "imu_link" ...
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2 answers
217 views

/rtabmap/rtabmap: Did not receive data since 5 seconds

trying to run RtabMap on my realsense-435 device. I've set up all the topics and made sure they are published and subscribed, nevertheless, RtabMap gives me this error: ...
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Calling external ROS service from C++ code

How can I call a ROS-service that was neither written nor published by me from within C++ code? I see the service listed when using rosservice list, which shows me ...
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Sensor bridge runtime framework

I'm currently using LGSVL and trying to implement ROS and YOLO there. What does the sensor bridge runtime framework mean?
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ABORTED: Solution found but controller failed during execution

I've been facing the issue while testing the python code for the trajectory planning task. I've been using the official package of the open_manipulator (https://github.com/ROBOTIS-GIT/open_manipulator)...
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How to loop over each timestep in rosbags using Python?

I am using rosbag api to record rgb, depth and imu data coming off a robot. For an offline Visual Odometry experiment, I am in need of synchronizing RGB data with the imu data at the correct timesteps....
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Custom sensors and materials simulation in Gazebo: how to simulate specific sensors behaviors for heterogenous materials / buildings

We are currently working on a simulation for a drone that would evolve in an urban environment. It would flight in front of facades and thus must avoid collision into walls, balconies, windows, etc. ...
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sensor breaks tf tree in ROS

I am currently trying to add sensor(lidar) into my robot. I made base for a sensor, link to which sensor is attached through gazebo reference. The problem is that adding a tag for some reason creates ...
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Is using a robotic operating system still considered bare-metal C?

I want to get experience with low-level, bare-metal programming and am not sure if a project that uses an ROS counts as that.
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Mobile Bot Maze Solving

I am using ROS melodic on ubuntu 18.04 I have a simple 2 wheeled mobile bot, with a lidar attached to it. It is kept at the entrance of a maze (any maze). The bot has to "solve" the maze, i....
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Fusing uncontineuous global pose data

I am fusing the map pose data which is calculated from the fiducial_slam node. Here the topic being fused with ekf_node is /fiducial_pose (geometry_msgs/PoseWithCovarianceStamped). The problem i'm ...
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OPC-UA in ROS 2 to communicate with PLC

I would like to establish a communication between my PLC (RevPi) which runs Codesys and a Jetson Nano (or Rasperry Pi) which will be running ROS2. The latter will be connected to a Router (for ...
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robot_localization EKF node does not publish on /odometry/filtered (ROS2 Foxy)

I am using ROS2 Foxy and Gazebo 11 in Ubuntu 20.04. I have a URDF description of a mobile robot that uses 4 wheels for mecanum drive. Using the robot_localization package, I am creating an EKF node ...
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Reload Gazebo without quitting app

I'm using Gazebo with ROS 1. Every time I re-run my ROS code, I seem to have to quit the Gazebo client and start it up again. Starting up the Gazebo client application takes a long time and I am ...
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World and Map Frame for a real robot

I am trying to develop a robot for mapping purposes. Currently, I have a Velodyne VLP16 lidar and an IMU. I am having a bit of a confusion in stating the transforms of the system. For the lidar and ...
1 vote
1 answer
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Error when compiling cv_bridge in Raspberry Pi 4B with Raspbian buster and ROS Noetic

Im using Raspberry Pi 4B, with Raspbian Buster and ROS Noetic. When I tried to compile my catkin ws with a cv_bridge package I got the following error: CMake Error at vision_opencv/cv_bridge/...
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Simulate Wind in Gazebo - physics_msgs

I am trying to simulate a drone inside an environment with constant wind. I have found a good plugin (link below) and I have done the following to integrate this plugin in my system: include the ...
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How to connect cmd_vel to motor_command in ROS

I have a motor driver for a BLDC wheel. I have successfully made the motor driver and ROS connections and when I send motor_command as in the "user manual" of the motor drivers, my wheels ...
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1 answer
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Invalid <param> tag: Cannot load command parameter [robot_description]:

I am using the waypoint_nav package. When I launched the file named outdoor_waypoint_nav_sim.launch, I got the following error: ...
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How to fix 'no module named actionlib_tutorials.msg error when going through the actionlib ros tutorials

I'm going through the actionlib tutorials and I'm getting this error with the example python script: ...
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How to control a servo using ROS2 and MICRO-ROS

I am currently using a raspberry pi pico and a raspberry pi 4, So far I have established a connection between the two using micro-ros-agent I have also successfully built and ran the example provided ...

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