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Questions tagged [ros2]

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

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Ros2 Humble colcon build error

hello 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 getting on my terminal after ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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ROS2 Humble Rviz not loading STL file

Problem Hi, I've exported a cad model from Soldiworks 2023 to URDF using the plugin from: http://wiki.ros.org/sw_urdf_exporter I've put this STL that generates the geometry into my own package to load ...
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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 ...
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1 answer
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Tune Nav2 parameters - Ackermann vehicle

I have an ackermann vechicle and I want to tune the Nav2 params, but I cannot do it well. This video shows what I have with my current tuning, at first it is ok, but when I'm in the vicinity of the ...
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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 ...
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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 ...
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1 answer
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ROS2 Humble - Clearpath Jackal

I own a Clearpath Jackal (J100-0758) with GPS, Intel Realsense D415 and ouster os1-32-u. I have been trying to install ROS2 Humble for some time. Unfortunately, I keep running into problems. I have ...
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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 ...
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1 answer
91 views

ros2 humble: how to log a message after CTRL+C

I'm used to use this kind of main function: ...
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1 answer
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How to maintain a single package version numbers across multiple ROS2 distros?

Assuming you maintain only a single ROS2 package version, i.e. you always keep the sources identical across all ROS2 distros, and you want to release all packages with the same version number on all ...
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1 answer
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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 ...
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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-...
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1 answer
185 views

Multi robot SLAM problem

I'm trying to make two robots work in ROS Galactic with no luck so far. As far as I know the approach is to use namespaces. In order to make this I have namespaced everything (nodes, frames, topics, ...
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1 answer
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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 ...
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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?
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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'...
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from autoware_auto_msgs.msg import BoundingBoxArray ModuleNotFoundError: No module named 'autoware_auto_msgs' OSSDC SIM with Autoware.Auto and RViz

I am currently working on integrating the OSSDC simulator with Autoware.Auto and RViz. However, I am encountering a couple of issues that I need some help, I am trying to import BoundingBoxArray from ...
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3 answers
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AttributeError: module 'xml' has no attribute 'parsers'

I try to visualize turtlebot2 urdf in ros2 humble by following the command ros2 launch urdf_tutorial display.launch.py model:=turtlebot2.urdf. I source my both ...
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1 answer
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colcon build cannot build the entire packages (navigation2)

I tried to build navigation2 with colon build. (https://github.com/ros-navigation/navigation2) Despite the fact that navigation2 has many packages, when I try colcon build, it only builds one package -...
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1 answer
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ros2 parameter dynamic update and node restart

I'm wondering what design pattern, if any, should be followed for a ros2 node that restarts after a dynamic parameter update. The use case is the following: ros2 node starts and reads parameters from ...
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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 ...
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1 answer
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For my 6-axis robot, goal pose accuracy +/- 0.3 degrees with any OMPL planner. How to reach at least 0.01 degrees or better?

I'm very disappointed about MoveIt planning accuracy and hope you can help me with some useful advices. Some tech. intro: Ubuntu 22.04.3 LTS ROS2 Rolling Gazebo Classic MoveIT2 (installed from source) ...
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1 answer
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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 ...
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2 answers
37 views

ROS2 robot_localization how to correct x and y position when hit a wall

I started using the robot_localization EKF node recently to fuse encoder odometry and IMU data (I'm using a differential robot with 2 wheels). It works well because if I rotate the robot by hand, the ...
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2 answers
78 views

Renaming odom frame on robot_localization

I'm trying to update my robot_localization config, where I want the odom frame to be called 'odom2' (for example) instead of 'odom'. But the ekf node only seems to work when the odom frame is called '...
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1 answer
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ROS2 Node (Robomaster driver) getting disconnected after launching realsense node

I am trying to setup nav2 stack for robomaster ep-core Robot. I have two systems, Jetson Nano (running Ubuntu 20.04, ROS2 Foxy) on robot to collect scan data from realsense camera and cmd vel from ...
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151 views

Issue with Continuous Map Creation Using YDLidar X2 and ROS2 Humble SLAM Toolbox

I'm currently facing an issue while working on my robotics project. I have set up a dynamic transform for Lidar data from Map-> odam-> base_footprint->base_link. Following this, I run the ...
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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 ...
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1 answer
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Nav2 map server - map frame does not exist in RVIZ

I created my custom wheel robot and run it in ROS2 Humble. My launch file: ...
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1 answer
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Where is the discussof register callback and run callback in ros design

I remember I have read the article about ros client’s register callback and action callback design in ros document. It discusses different ways to register the callback and run callback. Also, it can ...
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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 ...
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35 views

How to debug ROS2 Publisher/Subscriber issue

I am facing the following situation: A publisher that periodically sends a message to topic, queue size is set to 1. A ...
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1 answer
76 views

Unable to use rmw_cyclonedds_cpp with ROS2 Humble under Windows

I'm using ROS2 Humble, installed from binaries. Experiencing some performance issues, I want to try different middleware implementation. So I simply do: ...
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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 ...
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2 answers
268 views

How to fuse wheel odom and visual odometry in robot_localization?

As the title says. I have a question about robot localization. I have a wheel robot and ZED2i camera in ROS2 humble. My TF:robot_localization publish odom to base_link, rtabmap publish map to odom ...
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1 answer
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Sharing a publisher between threads?

Are publishers thread safe? Can I share a reference to a publisher with another thread and use it from that thread to publish a message, or do I need to create a new node + publisher in the thread and ...
1 vote
1 answer
115 views

High frequency robot-localization output when fusing GNSS + IMU

I'm in the process of tuning a robot-localization package parameters in my sensor-fusion ROS2 package. I have a dataset from various sensors mounted on a vehicle (IMU, GNSS, Lidar, Rgb Cameras, Radar, ...
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1 answer
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I don't know how to get gazebo updated information

/cmd_vel Sends the speed value as a message to drff_drive. /diff_drive sends the following ...
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1 answer
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C++ Publisher and Subscriber in ROS2

I use Ubuntu 20.04 and Ros2 Galactic when I run the code I'm able to get subscribe information and pub this information and also I can see publisher information on topic echo continuously but when I ...
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1 answer
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"spawn_entity.py" executable not found

i have created a workspace in ros2 humble in Ubuntu 22.04 and i am trying to spawn the robot in gazebo empty world using the following command: ros2 run gazebo_ros launch spawn_entity.py -topic ...
2 votes
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37 views

How to trigger/start the movement of a ROS2 mobile robot from Gazebo?

I'm developing a ROS2 node that controls a mobile robot in Gazebo Harmonic. For simplicity sake, we can say that all the node does is sending commands to a robot so that it starts moving in circles. ...
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1 answer
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RViz - showing [0] points from [0] messages - Gazebo lidar issue

I created a robot model with lidar in .sdf file, I'm using Ignition (Gazebo) for simulation: ...
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2 answers
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How can i send either tf or fixed frame data from a gazebo ignition fortress world to rviz2 through a parameter bridge?

Every possible solution that i could find by searching was for ros1 rviz1 and gazebo classic, which results in it not working for me. I've a virtual intel realsense D435 camera kept on a cube in a ...
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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: ...
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1 answer
60 views

Integrate hardware (actuator and sensors) into ROS2 framework for automated control

I am new in ROS2 and robotics development with an automotive engineer - electrical background. As I am a doing a project that requires ROS2 for integration of automated features. I want to confirm ...

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