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Questions tagged [ros2]

Use this tag for questions related to ROS (Robot Operating System) version 2.

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getting front wheel states with ros2 control Ackerman steering

I have setup a ackerman steering controller with ros2 control. I am using gazebo fortress for the simulation. Everything works except in rviz2, the state of front wheels are not shown and gives the ...
peter's user avatar
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How to use imu plugin with ros2 control

I have setup ros2 control with ackerman drive which works properly and lets me control the vehicle by publishing to ros2 topics. Now I want to add an IMU sensor and following this tutorial: https://...
peter's user avatar
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What is the purpose of referenced_type_descriptions in type definition json?

I noticed that my [manual] ros2 installation contains both builtin_interfaces/msg/Time.json and std_msgs/msg/Header.json and at ...
limki's user avatar
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How to install ROS2 on the robot (NAOiq OS)?

I came across https://docs.ros.org/en/humble/How-To-Guides/Cross-compilation.html to install ROS2 on the nao robot, but then what is the target architecture of the software, how to install ROS2 on ...
Sam's user avatar
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merging multiple lidar sensor

Actually iam having problem with this question could please explain what to do here is the question: assume a 2-lidar configuration (diagonally placed) on an AMR. assume scanning range is 0-270 ...
Aravind siddharth's user avatar
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Current Arduino Stepper Control implementation in ROS

Working on my first ROS implementation but not new to robotics and machines. I've been doing a lot of searches and using ChatGPT but I'm really lost on finding a current (and somewhat complete) ...
QuantumRob's user avatar
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How do I give my node a parameter of another node?

Is there a nice way, in my launch file, to fech a parameter of another node and use it as my parameter? Chat proposed to use a console call to read the value, parse it and assign. That works, but it ...
Dominik's user avatar
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ROS2 multicast a topic to remote machines

I understand that the when using RTPS protocol multicast is used to discover other nodes on the network, I am wondering if it is also possible to multicast topics to a private network? In my setup I ...
Mateo Kelrajter's user avatar
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How do I set publish_time on a ROS2 mcap?

I am generating synthetic data in ROS2, and the rendering step takes longer than the sensor frame rate. This isn't a problem, or hasn't been in ROS1 - I just write the stamp I want in the message ...
Chuck's user avatar
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Ros2 Nav2 issues : Robot not able to autonomously follow path correctly

I am trying to develop a robot and firstly I wanted to implement the nav2 stack in it. Its a custom designed robot and everything is working fine untill I run the autonomous navigation. In that I am ...
ProgramHub's user avatar
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How to serve dynamic status information from a sensor via ROS node

I'm learning how to code a C++ driver for ROS2 (Humble, at the moment) to access a custom measuring device. Beside continuous measurement data streams and parameters for static configuration, the ...
kawk's user avatar
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Sick PicoScan 150 - Start Multiple Nodes

I would like to use 2 Sick PicoScan150 in Ros2 Humble. My IpAddresses are as follows configured on the sick scanner: Scanner1 : 192.168.0.101 (host ip), ros2 ip : 192.168.0.100 (udp receiver ip) udp ...
Ravi Kiran Reddy's user avatar
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Passing arguments while building ROS 2 python pkg using colcon build

Is there anything that can help with the customized building of the Python pkg in ROS 2? I found it is possible to pass arguments with pkg type ament_cmake. But I couldn't find any documents for ...
aarsht7's user avatar
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Issue with smac planner going crazy at goal reaching

I'm getting an issue with SmacPlannerLattice, almost everytime I give the planner a destination. It calculates a well feasible path but when my robot is reaching the goal the planner goes crazy and ...
EMall's user avatar
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Add constraints to cubic or quintic polynomial for robot arm trajectory generation

I am planing path for a robotic arm. I am using cubic/quintic polynomials for trajectory generation. How can I add constraints to cubic or quintic polynomial such that the generated trajectory is ...
Pratham's user avatar
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Ros2 Humble colcon build error

I am learning ros2 and I am having problem with colcon build command. I am running ARM based Ubuntu 22.04 virtual machine on my Macbook. Here is the error that I am ...
Kemal's user avatar
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Nav2 waitng for transform from base_link to odom to become available

I am trying to run Nav2 together with mapping by slam_toolbox. I'm using a raspberry pi 4 to connect my hardware, it's running ROS2 humble and ubuntu server 22.04, everything runs on the raspberry ...
Henk's user avatar
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Correct setup of the URDF and the sensor`s output when using the robot_localization library

I am trying to use the robot_localization library to fuse the pose information from a camera fixed to a wall and an IMU mounted on the robot itself. The robot has a base_link and attached to it are ...
SuperGrandBob's user avatar
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Moveit with UR and onrobot gripper attached in ros2

I'm trying to attach an onrobot gripper to an ur10e and plan paths using moveit. I followed this tutorial to attach the urdf-file of the onrobot gripper (rg6) found here to the robot. I ran the ...
CNGF's user avatar
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ROS2 Topic/Node Communication Between Container and Local Machine- Ros2:Humble:22.04

Before I explain my problem, I have already made sure of the following: BOTH the container and my machine are on rmw_fastrtps_cpp Both the container and my machine are running the same version of ...
Nick Koenig's user avatar
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Singularity/apptainer simulation slow down ROS2 Gazebo

Good afternoon, I'm trying to run a Gazebo simulation of a Turtlebot4 as showed here on a singularity container. I tried also to run this example from ROS2 documentation. In the first case the real ...
Paolo's user avatar
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Installation of Kinect SDK in ROS2 Humble to install the driver

I am trying to install the Azure kinect camera driver in ROS2 humble and Ubuntu 22.4, all the information that I can find for the installation of the SDK are for Ubuntu 18.04 and I am not sure if this ...
Omar El Sherbeny's user avatar
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Unordered point cloud not visible on Rviz2 or not useful for Rtabmap

Does any one have any idea why my unordered point cloud is not visible in Rviz2? Here is my point cloud 2 message data fields. When I gave it to Rtabmap, occupancy grid was not generating. I assume ...
naitik nakrani's user avatar
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Using ros2 launch to run Python nodes on Windows

I'm running into a problem when I try to use ros2 launch (under Jazzy on Windows 10) to run Python nodes. The Windows shell doesn't understand shebangs, so it isn't able to determine that it should ...
egwhoi's user avatar
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Prismatic joint not moving upwards in Gazebo simulation

I am working on a small forklift URDF model which I am using in Gazebo in conjunction with ROS2 (Jazzy). I am trying to get the fork plate to move upwards by utilizing Gazebo's JointPositionController-...
splendicus's user avatar
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2 answers
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ROS 2 humble hawksbill's rviz 2 not able to load either STL or DAE files. How can i resolve this?

I'm sharing details for this issue only with the STL file but the same issue is occurring with the DAE file as well. I've checked to make sure that the STL file is located exactly where rviz 2 is ...
ahiyantra's user avatar
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rosbag2 with time replaced to now

I recorded with rosbag2 some messages without the clock msg. I like now to play the bag file, but I like to get my header timestamps replaced with the current ROS time. Is there an option to do that?
Max's user avatar
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How can I load a ros2 parameter config file independent of the namespace?

I have a setup where I have multiple modules running in the same ros2 network. Therefore, all of there nodes run under a namespace for that module. I now have the problem that my config yaml file won'...
a crazy Minion's user avatar
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ros2 actions not being passed to UR client from different computers on the same network

We are running a UR3e using the Universal_Robots_ROS2_Driver/ which works perfectly when we launch the driver from the CLI and then run a python node with rclpy.action commands to move the robot. We ...
Kat's user avatar
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Namespacing nav2 stack for multi-robot navigation

What are the current approaches to namespacing the different topics when using the ROS2 nav2 package? I am having issues understanding how to set up Nav2 for multiple robots sharing the same map. I am ...
Ara 's user avatar
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Guide to me learn robotics using ROS

Hey guys I have started learning ros but Im overwhelmed with the amount of things to learn. Should I learn about pid, control systems and kinematics before jumping into nav2 stack ? I’ve got the ...
Robocop's user avatar
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Regression testing for ROS stack

I have a complex ROS2 (Humble) application to get ready for production. We already unit test each node but that covers 5% of the global application. I want to set up an automatic regression test ...
guidout's user avatar
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1 answer
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How to publish data to a topic different than the one listened to

I want to execute a ROS2 command say: ros2 topic pub --smth /obj std_msgs/String "sometext" from a package node (written in Python) that is execute using ...
Sam's user avatar
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7 views

How to get the result of a goal execution on a different machine?

I am using this tool which exposes a server to speech to text service: https://github.com/MERLIN2-ARCH/speech_to_text The command to send a goal is: ...
Sam's user avatar
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0 answers
8 views

Error when running voskros on Windows

So following the below link I have downloaded and build the voskros tool under Ros2 in Windows 10 (Python 3.8): https://github.com/bob-ros2/voskros But when I run the execute command: ...
Sam's user avatar
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0 answers
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How to run multiple tests in parallel with colcon test?

I am currently engaged in a ROS2 project aimed at optimizing our testing processes by enabling concurrent execution of tests within a single package using ...
LastStarDust's user avatar
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1 answer
24 views

Render Gazebo model in web interface

From the portal https://app.gazebosim.org/fuel I see that 3D previews of the selected model are proposed. Analysing the page source I see that this preview is done with three.js. I therefore wanted to ...
Luigi Gargioni's user avatar
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0 answers
13 views

Segmentation fault on action result callback

I am trying to write an action server to perform some action asynchronously. When the goal is completed the action server sends ...
Sriram's user avatar
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10 views

rqt error in ROS2 Tutorial

I have started working through the ROS2 Tutorials: Using turtlesim, ros2, and rqt When I first execute rqt I get the following error messages: kmu69@nU-Boats:~$ rqt QSocketNotifier: Can only be used ...
Kevin Ulmer's user avatar
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1 answer
24 views

Behavior-Tree navigator not recognizing a basic condition node

I followed the BT Plugin tutorial (https://docs.nav2.org/plugin_tutorials/docs/writing_new_bt_plugin.html) in order to create this simple C++ BT Condition Node: ...
Jesús 's user avatar
2 votes
1 answer
30 views

How to edit a slam_toolbox map a posteriori

I use the slam_toolbox to build a map (generates a .posegraph, .data, etc), and I later load it with slam_toolbox again to localize on it. Once the map is done, how can I edit it to eg. remove ...
PatoInso's user avatar
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Conversion from RadarScan to RadarTracks message type

I just tried to implement the Autoware Radar Sensing data pipeline and noticed that Autoware requires RadarTracks as input message type. My customer only gets RadarScan messages. Is there already a ...
Sönke's user avatar
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Good resources on multiple custom robot navigation with ROS 2 Foxy and Gazebo

Does anyone have any good resources/compilation of resources that could be helpful in tackling custom robot navigation with ROS 2 Foxy. A lot of the information I have found online are scattered and ...
Ara 's user avatar
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0 answers
14 views

Terminals are unable to communicate through ROS 2

I have been using ROS 2 Humble on Ubuntu 22.04.4 for about 3 months now and haven't had any big issues until now. My issue is quite strange; the terminals on my desktop are unable to communicate with ...
Turtle403's user avatar
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how do you create a python workspace in moveit from scratch?

I am a beginner, I am trying to setup moveit2 environment to run python code. the website shows the method to create a workspace in C++, how should i alter it for python. should i use ament_python to ...
dhanoosh's user avatar
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15 views

ROS2 C++: Creating multiple sub-nodes with the same parameter names

I have a ROS1 project that I'm trying to port to ROS2, and part of the functionality of that project involved creating multiple node handles that had different namespaces, and then each node handle ...
Eric Foote's user avatar
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8 views

Debugging ROS 2 node with Gazebo in VS Code - Stopping the simulation on breakpoint

I am developing a ROS 2 node for a quadrotor controller. The quadrotor is simulated using Gazebo and it employs the PX4 autopilot. I am using VSCode as the code editor and I am using the ROS extension ...
ric-enr's user avatar
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Realsense Camera with Isaac Ros SLAM quickstart guide: No RealSense devices were found

I am following the isaac ros visual slam guide (ROS2 Humble): https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_visual_slam/isaac_ros_visual_slam/index.html#quickstart and after ...
Shimon Jacobs's user avatar
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Running ROS2 in docker on OSX - net=host not being able to see nodes on other non docker machines on network

Hi there I am running osrf/ros:jazzy-desktop-full in a docker on OSX(m1) using net=host and have verified that network is working by sending some OSC messages to a python script running in the docker ...
Thor's user avatar
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Only One Time Mapping Issue

I need help about my slam_toolbox mapping issue. I am using ros2 humble distro and slamtec s2 lidar and for mapping slam_toolbox. When ı run my lidar and slam toolbox laser and toolbox working and ...
selamigül's user avatar

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