Questions tagged [ros]

ROS (Robot Operating System) is a free, open-source robot software framework developed by Willow Garage.

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What's the correct approach to merging of localization and odometry data?

We've got a mobile platform with a source of odometry and an IMU, which are merged in an EKF filter (robot_localization node), producing continuous odom->base_link transform. The robot is also ...
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Setting An Initial Pose Rotation In ORB SLAM2

I am running ORB SLAM 2 on a drone with a downward facing, RGBD camera. I'm using Gazebo to simulate and Rviz to see the vision_pose ROS topic (the orientation/...
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ROS Navigation stack with Omni-wheel robot

I have worked through navigation stack on diff-drive, I'm wondering how to get the stack running on 4 wheeled Omni-wheel robot equipped with Arduino and how to get odometry from 4 wheel encoders It ...
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I get an error when I try to install ROS on VMware fusion 12 pro

I'm trying to install ROS on my VMware fusion 12, but after updating the bash file as per the installation document, I get an error when I enter roscore in the terminal. The error seems to be that my ...
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Error in Pose(): All values are zero for turtlesim/Pose

Here is the program I have written. The function is to make the turtlesim complete one revolution, with a fixed angular velocity and speed. ...
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How to use data collect from lidar to generate a 2d map with

I'm new to robotics and I'm using ros noetic with the package rp_lidar. I want to use the data collected from my a1m8 slamteck lidar and generate a 2d map for my rover to navigate and avoid collision. ...
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ROS TURTLESIM using PYTHON

In ROS TURTLESIM, While moving the turtle in circle using the linear velocity and angular velocity , how do i track the distance so as to stop the turtle moving after one revolution ??
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How to list all topics of a remote node

I am new to ROS and have inherited simple code to subscribe and monitor topic on a remote node. The code is using ws4py's WebSocketClient, connecting to ...
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Why can't the Controll Spawner find the expected control_manager ROS interface in a docker container?

I'm using ros-melodic in a docker container based on the osrf/ros:melodic-desktop-full image. What my docker file does: My Dockerfile installs the jackal's robot ...
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system design books for robot software

I see in the realm of app/web dev theres quite a few books out there to detail on system design templates, best practices and concepts. For example senior software engineers are often asked to design ...
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“catkin_make” prompts “+make” and “recipe for target … failed” errors

I have been working on a ground vehicle project for some time that has bunch of sensors, until now I have managed to overcome the problems I have encountered. I have used catkin_make many times and ...
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1answer
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List of tuples as argument in ROS2 launch

I'd like to define an argument in ROS2 launch file which is a list of tuples. How should the list in default_value be formatted? ...
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How does isam compare with Gmapping and Hector?

I read about incremental smoothing and mapping (iSAM) first in the paper on hector_slam (a flexible and scalable SLAM system with full 3D motion estimation by Stefan Kohlbrecher et al) and then read ...
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No ROS 'sourceing' anymore after installing rosdep2

My ROS-system was working pretty well. Then, I installed rosdep by using sudo apt install python-rosdep2, which ended fine without showing any issues. Then I issued ...
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1answer
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Running ROS, Gazebo and RViz on Macbook

I have recently started learning robotics. Being at uni, I had access to Linux PCs where I could easily run ROS and Gazebo. However, due to the current pandemic and closure of universities, I now have ...
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Estimate noise covariance matrix of measurements using a ros-bag

I am facing the following issue, and some hint or orientation would be great. I am working on a project in which I was given a ROS bag, and I have to implement a localization node using SLAM. To do so,...
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UKF for radar implementation

I'm struggling to implement Unscented Kalman Filter for tracking objects using radar. My state vector contains [x y z vx vy vz] and I can measure [rho phi theta velocity]. So everything looks trivial ...
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ROS Laser Scan rotates with the robot in RVIZ

I am currently working on developing a ROS application for autonomous navigation using AMCl. I am first trying to get move_base to work before continuing with AMCL. ...
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1answer
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RLException: neither a launch file package nor a launch file name

To get straight to the point I want to know how to fix this error and understand it, what is an RLException? Why am I getting this? How can I avoid this later? Below I will post what I did step by ...
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Get Topic values in script

Hi i am doing an apriltag following project. I am currently trying to test how to get distance between the tag and the camera. I have subscribed to the AprilTagDetectionArray msg. My main question is ...
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Custom implementation of robot_localization package

I plan to implement a sensor fusion of IMU + Visual odometry using an EKF. I came across the excellent robot_localization package which does pretty much all that I want. However, I need to use perform ...
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rospack can't find installed package

I installed ros-melodic-navigation with: ...
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1answer
120 views

Why can't the Controller Spawner find the expected controller_manager ROS interface?

I have a quadruped robot with base link (BL), 4 child links called LFT, LFT, RFT, RFT, T for thigh and each having 4 children with name LFC, LBC, RFC, RBC, C for Calf. 8 joints - Base link to 4 thighs ...
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ROS2 and TypeError when publishing custom message to Topic

I have defined a custom message: uint8[] data The custom message is imported in my Node class with no problems: ...
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Can ROS be an alternative for a KFLOP or RUMBA Board?

I have a few questions about controlling robot arm motion. I see that some have used Dynomotion KFLOP and other CNC motion controllers to control arms. Some have used Rumba board as well as several ...
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OpenCV4.2 and Ubuntu16.04 with python2.7?

Summary: I'm using new vision of opencv, opencv 4.2 with ubuntu 16.04 and python 2.7 After built cv_bridge, the output is: ...
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ROS Network configuration on multiple machines - Publisher and Subsciber

I am trying to set up a simple and listener talker across two machines connected on the same wifi network. Machine A has the 10.42.0.89 address and is running the roscore and another node that ...
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Caculate/Specify the covariance matrix for a omniwheel robot

I have an omnidirectional robot (x, y and rotation around z), which I would like to use the SLAM-algorithm from ROS. But the odometry from the robot has a drift, which makes some error. To improve the ...
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How to setup CLion for ROS remotely?

I know how to set up CMake and Toolchain remotely using ssh through official wiki. Does anyone know how to configure a remote <...
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Why do inverse directions give correct movement?

I am currently working on driving a bot based on the location of a white ball and I find that giving it negative angular movement moves it to the left rather than the right. Here's a code snippet for ...
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Am I checking for a white pixel correctly?

I am currently going through all the pixels in an image to determine what is a white pixel. I then have to decide where to drive the bot. I am also using sensor_msgs/Image.msg that I get from the <...
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What are the numbers to the left when logging with ROS_INFO_STREAM?

Here's what I currently see in my terminal when logging: ...
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Syntax highlighting for source code of urdf & sdf (xml-based) files on Github

Note: I posted this on stack overflow but couldn't get an answer. I am trying it here. I have files that are in urdf [Unified Robot Description Format] for ...
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Missing “devel/setup.bash” after “catkin_make”

I'm trying to use ROS and already installed it, but following the tutorial doesn't work for me. When I follow the instructions, create a workspace and run ...
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Simulation flight gives inconsistent sensor data

I made a short outdoors flight of 10 minutes with hector quadrotor on Ubuntu 16.04 Gazebo 7. The sensor readings and the path images are as attached. The flight was simple. I took of slowly, moved ...
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What and where is “the log file” for errors in ROS?

I ran the following and got an error with something that previously ran well (I was just missing the entire world though and not the robot). Something I did in the middle could be the problem. ...
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audio_play dst parameter

I am testing audio_capture and audio_play node on raspberr yp 4B. Here when i tested it by capturing audio on pi and playing in remote computer with audio_play it is playing the audio on my headphone. ...
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56 views

Guidance on SBC for Visual-Based SLAM [closed]

Intro: I am a student that just started a project regarding prototyping a mobile robot that involve Indoor SLAM implementation. I am very new to the field of computer vision, SLAM and SBC (single ...
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1answer
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Gazebo throwing error in opening model created in it

I created my world with gazebo9 and saved it. world$ tree . └── myworld ├── model.config └── model.sd Now when I start it with ...
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2answers
238 views

Gazebo not reading the material color in URDF

I have a chassis link that has casters. I would like the casters to be grey and the box to be blue. The ROS link doc mentions ...
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1answer
48 views

Can you refresh gazebo when you load through ROS?

I have a urdf model that I have loaded with: roslaunch my_robot world.launch I noticed that I gave the wrong color to a part of the robot. I have made changes. ...
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1answer
24 views

What is the purpose of an empty link without any child elements?

I was looking at a model xacro [urdf] file in a ROS tutorial when I saw: ...
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Coordinates seem to show overlapping but RViz doesn't

How can you place two objects that seem to overlap with their units but appear stacked on top of each other [original intent] in RViz? I was watching this video tutorial on ROS and URDF. I have ...
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1answer
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Why are shapes in ROS and Gazebo called links?

I have been trying to figure out why shapes in ROS are called links, ie <link> tags in urdf and ...
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1answer
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Turtulebot not showing in custom world

I made a map.world file and placed it under /opt/ros/kinetic/share/turtlebot_gazebo/worlds and ran ...
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1answer
53 views

Difference between rosservice and rossrv [the info version at least]

What's the difference? I see my service in rossrv list but not with rosservice list. From ROS wiki • rossrv: displays ...
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2answers
553 views

roslaunch not found

Running ROS melodic on Ubuntu 18.04 and I keep getting this error. ...
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1answer
33 views

ROS sensor implementation

From this page, there are lots of sensors to be used in ros robots. http://wiki.ros.org/Sensors But, I could not install any of them to the robots in my simulations. For example, I want to install the ...
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Data collected from ROS

How can we collect the flight data after a ROS simulation and what kind of dataset do we obtain? Can we get the sensor and video dataset with timestamps to be used in analysis?
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137 views

Path planning algorithm better than RRT* and Artificial Potential Field

Hello robotics stack exchange community, hope my message finds you well during these challenging times. I need an opinion regarding path planning algorithms. Goal I am looking for a path planning ...

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