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Questions tagged [ros2]

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

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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. ...
pedrofz's user avatar
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2 votes
0 answers
17 views

RViz2 Text Markers Spacing Issue

I am trying to publish a Text Marker to RViz2 (ROS2 Humble). No matter which settings I choose, the text markers always seem to have inappropriate spacing (usually too big). See image below. Notice ...
Tim Huff's user avatar
2 votes
0 answers
63 views

Using ament_python_install_package

I am trying to start a C++ ROS node from python code. The python code uses the last message of several topics every 50ms. There are about 10k messages per second being sent and rclpy could not handle ...
AKORA's user avatar
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2 votes
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172 views

Building ROS2 Humble on macOS Fails Due to Old pybind11

I’ve been trying to build Humble for macOS 13.5.2 (on M1). With the help of Discord, I’ve gotten further along, but now I’ve run into an issue I’m not sure how to solve. When building ...
Rick's user avatar
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2 votes
0 answers
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Destroying a publisher using node.destroy_publisher raises Invalid Handle exception

I'm trying to trigger a camera which is configured to use trigger mode in ROS2 Humble, Gazebo. I create a publisher inside a state in our state machine, to publish the trigger topic. Once the state ...
silkjc's user avatar
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2 votes
0 answers
63 views

Generated "__rosidl_generator_py.so" files issue

I've created a custom distribution using Yocto. On it I tried to build "builtin_interfaces" from source (I use this example for reproducibility). I'm able to run cmake and make but then I ...
Antoine Van Malleghem's user avatar
2 votes
0 answers
81 views

DJI Mavic Pro 2 drone in Webots nosedives at high speeds

I am using the webots_ros2_mavic package found here to simulate a drone in Webots. The drone is controlled by publishing a simple Twist message with linear and angular velocity components. I noticed ...
neo's user avatar
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2 votes
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2k views

How to use Nav2, slam_toolbox with odom data, gps and imu sensors?

Setup details: ROS2 foxy on amd64 architecture CPU with nav2 and slam_toolbox installed Robot is Clearpath husky with Velodyne VLP-16 lidar, IMU and GPS sensor in gazebo. Can see data on every topic ...
you_know_who's user avatar
1 vote
0 answers
15 views

ROS2 cannot find "base_link"

I am trying to transform points from the camera coordinate frame to the base coordinate frame in ROS 2. Here’s my code: ...
Arjun Gupta's user avatar
1 vote
0 answers
6 views

ROS 2 send_action_goal Operation not Recognized

Description After installing rosbridge_server with apt-get, I try to run the example of action client in ROS 2 from roslibjs. The ros client is connected but then when the example code tries to send ...
Ugo sans H's user avatar
1 vote
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freely moving joints(non-actuated) not visible in rviz

I am working on a 4 wheel robot. I have added the 4 wheels under ros2_control tag for the controller to use it. Now I also have multiple continuous joints(connecting the rollers in the image below) in ...
Pratham's user avatar
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1 vote
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Amcl failure with nav2 tutorial

I've been messing around with nav2 lately and i tried some of the tutorials (more specificaly https://docs.nav2.org/tutorials/docs/navigation2_on_real_turtlebot3.html). It's a straight up tutorial and ...
kljako 's user avatar
1 vote
1 answer
31 views

Gazebo Bridge is not working correctly in Gazebo Sim

I am trying to make a 4 wheeled robot simulation in Gazebo Sim (formerly Ignition). I am using the differential drive plugin for driving the robot using teleop through /cmd_vel topic. My system ...
Nilutpol Kashyap's user avatar
1 vote
0 answers
26 views

Do subscribers in ROS2 have to subscribe to the same data types as publishers?

I would like to modify the message posted by the publisher directly from the subscriber side. So I tried the following method: pass reference to modify directly on subscriber side, but it doesn't ...
xudadi's user avatar
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1 vote
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12 views

Rotation Shim Controller is not triggered

I'm using Nav2 on Ros2 Humble to control my differential robot. The controller I use is Rotation Shim Controller and DWB Controller. The problem is that the Rotation Shim Controller is not triggered ...
Nguyễn Lê Phong's user avatar
1 vote
0 answers
10 views

Add constraint to maximise momentum in moveit

Is it possible to add constraint to trajectory planners in MoveIt to plan a trajectory such that it maximize momentum? For example lets say I want a robotic arm to hit an object. In this case I would ...
Pratham's user avatar
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1 vote
0 answers
16 views

Building ROS bridge because of own ROS 1 msgs

I want to build the ROS1 bridge by myself and I've read the documentation. But for the most important part I didn't find anything on the documentation, it only mentioned that you should define your ...
Hunk's user avatar
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1 vote
0 answers
10 views

Gazebo Migration - Topic bridge

Thanks again to the Gazebo devs for the Gazebo Migration guide. I see that in the guide Gazebo topics are bridged one-by-one to ros2. Is there any option to bridge all topics in both directions by ...
gtoff's user avatar
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1 vote
0 answers
19 views

Ekf_node not publishing any tf transform

I am working with Nav2 packages for autonomy. A first step to make this work is to get odometry working. I am trying to get an ekf_node to publish an odom->base_footprint transform (the URDF has ...
Marc's user avatar
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1 vote
0 answers
22 views

ROS2 example : colcon build --symlink-install,error~~

Ubuntu 20.04, ROS2-rolling. When I refer to https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html to execute colcon build --symlink-install, the compilation error: <...
longmarchw's user avatar
1 vote
0 answers
30 views

SLAM Toolbox map size too small

I am working out of a simple 4 walled gazebo world with a 2 wheel differential drive robot similar in size to the turtlebot3. I am using the nav2_bringup package to launch the nav2 nodes and the slam ...
Abhi's user avatar
  • 11
1 vote
1 answer
16 views

Dynamic assignment of joints to ros2_controllers

Is it possible to assign all joints of a robot (or a series of specific joints according to a pattern, e.g. left_joint_*) to a controller in the controller configuration YAML or does each joint ...
Maximilian von Unwerth's user avatar
1 vote
0 answers
11 views

Migration from uuv_thruster to gz-sim thruster plugin

I'm facing some difficulties in migrating some code from gazebo-classic to gz-sim. I have an unmanned surface vehicle equipped with four thrusters that receive the target propeller speed as control ...
Tony's user avatar
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1 vote
0 answers
31 views

rosdep repository with versioned ros2 packages

I am developing multiple ros2 packages that depend on each other. I use a rosdep repository and a debian repository to install dependencies via rosdep install ... ...
Johannes von Zmuda's user avatar
1 vote
1 answer
19 views

Sending values to the hardware interface from a subscriber

I have a subscriber which subscribes the steering angle from the ackermann steering controller and send this value to the hardware interface via shared pointer, i am able to get the value inside the ...
evolved monk's user avatar
1 vote
0 answers
19 views

How to install ROS on Intel Galileo

I got an old Intel Galileo (Gen 2) board and found an article about installing ROS on it. After a while of research, I couldn’t find any useful downloads for it. I am looking for an SD Image with ...
michael86's user avatar
1 vote
0 answers
28 views

High RAM usage for ROS2 nodes

I am working on a ROS2 system that involves several nodes. Some are more complex than the others. Recently, we have encountered "out of memory" issues, and had a look to the memory ...
milidam's user avatar
  • 11
1 vote
0 answers
10 views

Structure ROS workspace when there is multiple versions of a package

I’m working on POC ROS2 project to understand the basic concepts and see what is feasible. An important metric is that I want to be able to version my packages, especially my ROS interfaces. I realize ...
polarissunshine's user avatar
1 vote
1 answer
106 views

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 ...
M1lden's user avatar
  • 13
1 vote
1 answer
36 views

Gazebo collision not working as expected. Link penetrating and crossing the object

I'm facing very weird problem with gazebo the robot link cross the object even though its collision and inertial properties are proper generated from Solidwork CAD Software . Why link is penetrates ...
Hrithik Verma's user avatar
1 vote
0 answers
21 views

[Slam Toolbox]Map is overlapping and doesn't make loop_closure

Required Info: Operating System: Ubuntu 22.04 Installation type: binaries ROS Version : ROS2 Humble Version or commit hash: release version Laser unit: RP Lidar We mapped it on the map above and ...
zarqu0n's user avatar
  • 11
1 vote
0 answers
20 views

CycloneDDS and ROS2 Launch File

I have this very specific network setup for my robotic platforms: Platform 1: RaspberryPi4, Ubuntu, Docker container with ROS2-humble over Ubuntu, access to Wlan0 and Eth0 (shared with P2) Platform 2:...
Andrea Infanti's user avatar
1 vote
0 answers
32 views

How can I schedule a function/callback to be executed by a callback group from another callback group?

Basically: While inside callback group A or B of a node. I need a way to add any callback ...
Elian's user avatar
  • 11
1 vote
0 answers
22 views

TF2 Best Practices for large transforms trees

I've been using ROS2 for a while now, but mostly in projects which don't involve large transform stacks. Recently I've started a project involving drilling holes in many locations ~100+ with multiple ...
user40652's user avatar
1 vote
0 answers
37 views

Debugging ROS2 rclpy Service Call

I have a project using ROS2 Humble running on Ubuntu 22.04. I’m looking for advice on debugging a issue with a synchronous service call. middleware: rmw_fastrtps_cpp Context I’ve completed a large ...
AlexandreBorowczyk's user avatar
1 vote
0 answers
38 views

Ros2 drone camera projection issue

a few days ago I started working on a project whose aim is to avoid obstacles in the simulation autonomously by the drone and travel from point A to point B. Now I have reached the stage where I want ...
antisocialkid's user avatar
1 vote
0 answers
26 views

How can I build ROS 2 as a variant?

According to REP 2001, ROS 2 comes in 6 variants. ROS Core ROS Base Desktop Perception Simulation Desktop Full Additionally, there are 2 variants for development, referred to as ROS infrastructure. ...
Blacklight MG's user avatar
1 vote
0 answers
36 views

ros2 zstd compression - why is file ending not aligned to library default

When compressing rosbags (ros2) with the zstandard library, why is the file ending '.zstd' instead of '.zst'? The latter seems to be the default one for the zstandard library and is therefore ...
roslo's user avatar
  • 11
1 vote
0 answers
21 views

Trouble running gazebo simulation on ROS2 Humble

Here is what my Launch file looks like: ...
Kwasi's user avatar
  • 11
1 vote
0 answers
78 views

Can't build with colcon on ROS2 Humble. Issue with empy library

I'm on Ubuntu 22 Desktop. Just installed ROS 2 Humble and can't proceed with this tutorial https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html When I try to execute ...
Raúl Bezares's user avatar
1 vote
1 answer
106 views

Sensor fusion in ROS2: 360 lidar + depth camera

I recently purchased an OAKD-Lite camera and I'm trying to integrate it into my ROS 2-operated robot to detect obstacles that are lower than the 360lidar, preventing collisions. So far, I've succeeded ...
Daniela's user avatar
  • 11
1 vote
0 answers
26 views

Issue changing Behavior Tree in Nav2

I am trying to follow this tutorial for NAV2 to begin development of dynamic object following. I got everything running however I am not quite sure that I properly changed the behavior tree. I haven't ...
Lukas Nöller's user avatar
1 vote
0 answers
61 views

robot_localization EKF covariance exploding with absolute pose input

Firstly, I have had a look at other questions targeted around exploding covariances, yet I still cannot figure out what is wrong with my setup. I have multiple static cameras that detect a moving AR ...
b0xermatt's user avatar
1 vote
1 answer
63 views

How do I properly model tires in Gazebo?

I created a complete URDF of a car-like robot, which I simulate in Gazebo Harmonic with the DART engine connected to ROS2 Iron. It drives around nicely, but going above 6 m/s introduces intense ...
multiplex's user avatar
1 vote
1 answer
54 views

Intermittent Communication Freeze in ROS2

Our team encountered a peculiar issue while developing with ROS2. We are using the iron version of ROS2, and during intensive communications between multiple nodes (short time intervals but not large ...
BobH233's user avatar
  • 11
1 vote
1 answer
62 views

Pointcloud2 dropping message

My robot consists of an IMU, a LiDAR and a TOF sensor(in form of depth camera), which are all connected to the base_link. I want to visualize all the sensor data and the end goal is to achieve sensor ...
Bozzer's user avatar
  • 13
1 vote
2 answers
48 views

MoveIt move_group_interface not using sim time

I'm trying to get the pose of the end-affector using auto pose = move_group_interface.getCurrentPose("tool");. I encounter the following error: ...
mink4sure's user avatar
1 vote
1 answer
36 views

Possibility of Co-simulation between Ignition Gazebo and Matlab/Simulink?

I would like to know this Co-simulation (Sending and reading commands from Simulink and the model is present in Ignition Gazebo) possiblity between Matlab/Simulink and new Ignition Gazebo. If anyone ...
vbalaji21's user avatar
1 vote
1 answer
55 views

/goal_pose topic in navigation2 doesn't work in ros2 humble

I have successfully installed ros2 desktop and turtlebot3 packages in my workspace (ubuntu 22.04). Now I've launched turtlebot3_gazebo and turtlebot3_navigation once i set goal in rviz /goal_pose ...
loveson vashikaran's user avatar
1 vote
0 answers
14 views

Why do we have to return the launch arguments at the end of the launch description in ros2 launch file?

If I understand correctly, we use the LaunchConfiguration function to define local variables in the launch file. To be able to set them externally, we have to use the DeclareLaunchArgument function. ...
Bogdán Havjár's user avatar

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