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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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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7 views

robot_localization does not publish /odometry/filtered topic or /accel/filtered topic

No data on /odometry/filtered topic or /accel/filtered Operating System: Ubuntu 20.04 with ros2-galactic Version or commit hash: Galactic I run the sam_bot_description with robot_localization ...
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49 views

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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9 views

Image Based Visual Servoing in Gazebo

I am trying to do image based visual serving with an arm manipulator, my problem statement is very much similar to this - https://www.youtube.com/watch?v=02Bx0... but the VISP page does this in ...
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23 views

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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28 views

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 ...
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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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38 views

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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1answer
45 views

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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14 views

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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18 views

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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Micro XRCE-DDS vs CAN bus

Im working in a company that builds some mobile robots, these robots need high security in the protocol, for now, we are using CAN bus and works fine, but now we have implemented some functions in ROS ...
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31 views

gazebo world with roof

Does anybody know of any readily accessible gazebo worlds with a roof? I have several environments without a roof, and one with a roof (that is too high up for the required purpose), i could do with ...
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25 views

Facing issues with rosserial and arduino

I was trying the tutorials on http://wiki.ros.org/rosserial_arduino/Tutorials and everything seems to be working fine the rosrun rosserial_python serial_node.py /dev/ttyACM0 runs without any problem. ...
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1answer
48 views

How secure is ROS2?

How secure is the data transmission between nodes? is safer to use in industrial applications? I need to replace the RS485/modbus communication in an automobile industry
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60 views

ROS: How to slow down in order to wait for my results

I am doing a very complex calculation inside a node using some other libraries. The node is... doing the calculation in an endless loop it is calculating from the last calculation to ROS::Timer::Now()...
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2answers
56 views

roslaunch exit code 2 error

I am implementing a simple roslaunch file but I am getting an exit code 2 status I have pasted the exact log below any idea what would cause this and how I can rectify it. ...
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123 views

Invoking "make cmake_check_build_system" failed in ROS melodic

I try to install the tum_ardrone_sim package in my machine, so I get clone in my workspace this link ...
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2answers
42 views

Unintentional point cloud duplication during depth image conversion

I have a quite challenging question. I use ROS Melodic on Ubuntu18.04. My goal is to transform a ROS depth image to pointcloud2 format and show it in rviz. The theory seems ok, but I do not now where ...
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40 views

How to republish odometry in different frame?

I have navigation Odometry, but its some how not in the robot body frame. The odometry is being published in world frame, so its not correct. So i need to transform in the robot body frame as that how ...
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1answer
54 views

Does a stable library exist for docking robots using images?

I built a mobile base from scratch, and now I am focused on getting the robot to charge. The robot is using an on-board webcam (and PC) to detect a QR barcode on the charger unit. Using OpenCV I find ...
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35 views

How to get odometry from propeller rotation signals knowing that they can rotate to maximum value?

m trying to get Velocity in order to control underwater swarm ROV. I can use the acceleration and to Euler integration but the error will be accumulated over time. As we are having a swarm (many small ...
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1answer
45 views

How to use Quaternion from IMU to get the transformation to inertial reference frame?

Im trying to get the Linear Velocity integrating the acceleration from IMu. I know there will be accumulated error due to integration bit before the integration I have to do couple of other steps. ...
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39 views

PID control for robotic manipulator servoing

I'm trying to enable robotic manipulator servoing using MoveIt servo implementation. However, I'm having some questions regarding reference following and error compensation. The thing is, I roughly ...
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112 views

C++ (ROS node) for Euler Integration to estimate Velocity knowing the acceleration

Hi I have IMU reading and would like to estimate the linear Velocity knowing the linear acceleration from the IMU using the Euler method. Im aware of the accumulated error. So need a C++(python) code ...
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209 views

Self balancing bike using a flywheel: ROS implementation

I have a bike with two stands and a flywheel like this: The stands can be adjusted so that they don't touch the ground. Now, the task is to implement a self balancing mechanism: when I run the script,...
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28 views

Linear Velocity from robot_localization Package after IMU integration and and only one sensor (IMU) as sensor input

Im using the robot_localization robot_localizationto get the linear Velocity of underwater simulated ROV with Gazebo. In order to get the correct orientation of the linear (twist) component of the ...
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26 views

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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2answers
66 views

Publisher and subscriber in one ROS node error

I`m 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 ...
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1answer
65 views

How to use .rosinstall files?

I'm trying to build the rotors package {https://github.com/ethz-asl/rotors_simulator} I followed the steps below. -i need to install the dependencies using the .rosinstall files in the source of the ...
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28 views

Gazebo sensor plugins for barometric pressure Sensor with geometry_msgs/PointStamped?

Im doing some underwater UUV Gazebo simulation and would like to use the hector_pose_estimationhector_pose_estimation package to fuse IMU and Fluid pressure sensors input for pose estimation. But when ...
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7 views

How to set up parameter in hector_localization stack to fuse IMU and Barometer (Pressure sensor)?

Im checking the hector_localization hector_localization stack, that provide the full 6DOF pose of a robot or platform. It uses various sensor sources, which are fused using an Extended Kalman filter. ...
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1answer
77 views

TF is broken when using robot_localization package with only IMU sensor, how to assure that the measured velocity is the one from the robot?

Im using thisrobot_lokalization robot_localization package for the linear velocity. As only sensor input in my case is IMU. I configure the parameters and set the frames as follow ...
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22 views

How to minimize the error integrating 3D angular velocity data obtained by the IMU to get linear velocity?

I have IMU sensor that gives me the raw data such as orientation, Angular and Linear acceleration. Im using ROS and doing some Gazebo UUV simulation. Furthermore, I want to get linear velocity from ...
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1answer
74 views

How to do transformation to get correct linear velocity from linear acceleration IMU data?

I have IMU sensor that gives me the raw data such as orientation, Angular and Linear acceleration. Im using ROS and doing some Gazebo UUV simulation. Furthermore, I want to get linear velocity from ...
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1answer
47 views

cpp:585:1: warning: no return statement in function returning non-void [-Wreturn-type]

I am using this Repo when building the projects I am getting this error Ros - noetic ...
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1answer
19 views

Doubt regarding the likelihood field in measurement model

I don't quite understand what xztk and yztk mean? Are they meant to represent the position of the kth laserscan reading? If yes, could someone please help me figure ...
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1answer
45 views

simple ROS script terminating without displaying errors

I am using ROS melodic on ubuntu 18.04, turtlebot 2. I tried to create a simple ROS program, that tries to make the bot follow a specified path. My gazebo world looks like this: The task is to try to ...
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1answer
84 views

process has died , exit code -11

I installed this framework and followed the instructions, but when I run it, I get the following error: ros melodic ubuntu 18.04 ...
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1answer
68 views

Implementing PID on a line following bot using turtlebot

I am using ROS melodic,turtlebot 2 on Ubuntu 18.04. The idea is to create an environment consisting of lines as a path (slightly curved), and to program the turtlebot to follow the lines. Basically, a ...
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1answer
70 views

Searching for object in an unknown environment using ROS

Using ROS, I'm trying to build a robot able to search for specific objects in an unknown environment. Right now, I'm experimenting with a mobile robot in a simple gazebo maze, using a LIDAR for ...
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1answer
138 views

How do you integrate an external library to your ROS catkin_Workspace?

So following example: I have Package A with the function doA(); and I have Package B inside ...
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1answer
191 views

Static transform difference between command line and launch file

I'm having a problem setting up the static transform between my base_link and my camera. If I use rosrun tf static_transform_publisher in a different command line the camera is alligned with my axes ...
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82 views

Takeoff service not working as expected

I'm simulating Iris quad sing px4+mavros+gazebo. I'm trying to get my drone to takeoff using python code. When I publish height using mavros/setpoint_position/pose, ...
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1answer
39 views

Using Google Cartographer library standalone

I am working on a project that requires the analysis of the results of different SLAM libraries with respect their accuracy on building a map. Right now, I am more interested in the development with ...
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2answers
52 views

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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1answer
19 views

Why does the quadcopter become unstable after turning?

I'm trying to write a simple test MAVROS node where my quadrotor is expected to go in a straight line and then have 180-degree turn and come back and land on where ...
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1answer
106 views

How to disable GPS in ROS/MAVROS and sent the points myself?

I'm trying to create a simple MAVROS node that takes off, goes to a specific location and then comes back to its home location. As this is currently being tested ...
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1answer
25 views

Count number of collisions while navigating to goal

I have the navigation stack working in ROS Kinetic on my computer. In Stage ROS simulations, I can specify the goal and the robot navigates to it. I need to count the number of collisions (if any) ...

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