Questions tagged [ros2]

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

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navigation on rugged terrain

I use ROS2/Python/Gazebo. I need navigation (and mapping) for a tractor on a hill: a rugged surface, so to speak. I can of course project everything on a flat map, but distances will shrink and I ...
Steve Brown's user avatar
5 votes
1 answer
914 views

Network Issues: ROS2 Topic visibility dependency to Network Interfaces

My colleagues and I had the issue that sometime ros2 topics were not shown in “ros2 topic list” or that we could not “ros2 topic echo” the data. After further investigation, we concluded that the ...
Renzo 's user avatar
  • 81
5 votes
1 answer
575 views

Cyclonedds: Can see topic when using ros2 topic list, but only can echo some of the topics over the wireless network

I have two PC in my setup. PC A [ROS Foxy] is connected to the router via Ethernet while PC B [ROS Humble] is connected to the router via WIFI. When I run ...
Chun Jye Beh's user avatar
4 votes
1 answer
247 views

How to perform decoupling between decision making and action execution in ROS2?

Hi I'm making a robot using: ros2 foxy OS Ubuntu Linux 20.04.2 LTS (Focal Fossa). Linux 5.8.0-59-generic I built an Action based on the tutorial Building an Action Server and Client. Then expanded ...
rasa911216's user avatar
3 votes
2 answers
236 views

How to Access Robot Fields Inside a Webots-ROS2 Plugin?

I'm running Webots R2023a where I have a robot node marked as Supervisor in Webots world (*.wbt file) to be controlled by an external node in ROS2 network. When writing a webots-ros2 plugin, I'm faced ...
S4JJ4D's user avatar
  • 33
3 votes
1 answer
2k views

Why does ROS2 claim to be "real time"?

ROS2 uses DDS, in the wiki it says that DDS is "The Data Distribution Service (DDS) for real-time systems is an Object Management Group (OMG) machine-to-machine (sometimes called middleware or ...
Ricardo Casimiro's user avatar
3 votes
1 answer
471 views

Start and stop a node from another node with no system call (ROS2 CPP)

The issue I'm reporting is quite common looking at similar questions: Shutdown a node from another node in ROS CPP Start or stop the ROS node in another node Could a node can be stoped by another node?...
Antonio Bono's user avatar
3 votes
1 answer
95 views

ros2 foxy python or interface not seeing full extent of the custom message

My problem is that I cannot see or access the full extent of the custom message in ROS 2 Foxy. My custom message is named "Logitechjoy.msg": ...
Frenki221's user avatar
3 votes
1 answer
811 views

How do you automate fixing formatting errors found by ament_cpplint?

I'm working on a PR for rclcpp, and when I run the tests, I get formatting errors about white space from cpplint. Is there any automated way to fix these? Here is an example: ...
Tyler Weaver's user avatar
3 votes
1 answer
976 views

When reading serial data between Arduino and a node, it hangs. How can I properly send and read data?

I'm using ROS2 foxy with no libraries installed. It runs on an Ubuntu 21.04 x64 machine with kernel 5.8.0-59-generic. I created a project with the goal of controlling an Arduino using python serial in ...
rasa911216's user avatar
3 votes
1 answer
276 views

How to speed up colcon build (notably slower than catkin/cmake) and or debug causes?

My team has a ROS2 humble docker image we use for development. It contains our dependencies along with a source installation of Humble targeting Ubuntu arm64 architecture on a Nvidia Jetson device. ...
user1433734's user avatar
2 votes
2 answers
446 views

Convert ROS2 SQLite bag to MCAP format

I've got some ROS2 bags in SQLite format that I'd like to convert to MCAP format, but I cannot find any examples or tools that do it. I'd have hoped there would be an obvious option for ...
Ken Y-N's user avatar
  • 143
2 votes
2 answers
477 views

Writing multi-process Python tests in ROS2

I have a large number of tests in ROS2 in Python I would like to write that are essentially Publish a message Subscribe and do something Check what happens during the "do something" I ...
honorh's user avatar
  • 23
2 votes
3 answers
978 views

Spdlog linker error with ROS2 packages

Good afternoon! We are a company that has a pretty big robotic framework and we are currently working in a transition into ROS2. We are first creating the structure that all of our packages will ...
Jorge Playán's user avatar
2 votes
1 answer
83 views

Gazebo vacuum_gripper setup

I am trying to add a vacuum gripper to my ROS2/Gazebo/Python project. I have the following: grip.xacro (note the plugin for gripper): ...
Steve Brown's user avatar
2 votes
1 answer
199 views

Global plan update frequency Nav 2 [ROS 2]

I have been testing out the Nav 2 stack in ROS 2 (humble) and was wondering if there is a method control the frequency at which the global plan is being updated. I am aware of the ...
akchobby's user avatar
  • 118
2 votes
1 answer
809 views

how to use the rate.sleep function properly

So I have a task of making turtle sim draw a heart using parametric equations I don't know if all my equations are correct but here's my code ...
Ahmed Sallam's user avatar
2 votes
1 answer
453 views

PERMISSION ERROR : colcon build

I've been using ROS2 Humble for a few months now - never faced this issue. Created a new package a few days back, but today, when I run colcon build, I get this ...
KK29's user avatar
  • 23
2 votes
1 answer
89 views

ROS across computers connected with low-bandwidth bit steams

I am at the early stages in a design project which will involve a complex robotic system operating mostly autonomously (payload) with a very flaky downlink to a ground station. ROS seems to be useful ...
Simon Tartakovksy's user avatar
2 votes
1 answer
34 views

How to strip down the install directory of a ROS2 package

I need to deploy and update a ROS2 system to an embedded device with limited connectivity. This ROS2 system is made up of many custom packages written both in C++ and Python. At the moment I am just ...
LastStarDust's user avatar
2 votes
3 answers
156 views

colcon build - number of threads

How Can I define the number of threads for a colcon building process in ROS2? In previous ros building tools we used "-j {number_of_threads}", but that does not work anymore. Originally ...
Pablo Iñigo Blasco's user avatar
2 votes
1 answer
75 views

Trouble Downloading Assets in Webots 2023a Version on MacOS

I've recently downloaded and installed the Webots 2023a version on my MacOS. The installation process went through without any issues. However, I'm encountering a problem when I try to install ...
Khilan S's user avatar
2 votes
1 answer
98 views

Modelling/Theory for Quadraped Robot Leg Example

I have been working on attempting to replicate the following robot developed by some MIT graduates. https://dspace.mit.edu/handle/1721.1/98948 Presently, I am trying to work out the model for a single ...
Jack Frye's user avatar
  • 121
2 votes
0 answers
20 views

Is there any LIDAR 3D perception package for ROS2?

I spent a very long time searching GitHub, Google, and many other sites, looking for a LiDAR recognition package for ROS2, but I could only find one nvidia pointpillar model. Because it requires a lot ...
user192301's user avatar
2 votes
1 answer
370 views

Getting the value of LaunchArgument inside python Launch file

I've came across an interesting issue. Is it possible to get the value of the LaunchArgument inside the python launch file? Take the following scenario: ...
Stanislav Svědiroh's user avatar
2 votes
0 answers
99 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
  • 121
2 votes
0 answers
139 views

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
  • 21
2 votes
1 answer
1k views

ros2 communication between machines work over ethernet but not over wifi

I have two different machines installed with ubuntu 22.04 and ros (2) humble. I connected those two machines to the same subnet over ethernet connection, and check that they can ping each other. Then ...
Ran Binyamini's user avatar
2 votes
0 answers
47 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
69 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
  • 21
1 vote
2 answers
335 views

creating complex messages with nested structure

I am trying to publish topic with dictionary inside dictionary.I wanted to publish a topic from from one node to another as message given below. ...
Rosemol Thomas's user avatar
1 vote
2 answers
618 views

What causes build error: cannot import name 'OVERRIDE_OPT' from 'em'?

When building a pure ROS2 message package (event_camera_msg) on github (CI) using the ros-tooling/[email protected] I get the following cryptic error when building on any ROS2 distro (humble, iron, ...
Bernd Pfrommer's user avatar
1 vote
1 answer
130 views

rclcpp wait for a list of service/action servers to start before proceeding further

I have a list of services and a list of actions that I need to wait for to start before I can proceed further. Is there some sort of inbuilt function in rclcpp or <...
ssarkar's user avatar
  • 500
1 vote
2 answers
251 views

Why TEB controller is not available in ros2 humble?

On navigation plugin setup document , the TEB controller is mentioned, but I don't find any documentation to set up this controller in nav2 humble. And there is no humble branch in the ...
Phymin's user avatar
  • 13
1 vote
2 answers
950 views

How to create a ROS2 simulation environment in Docker?

What I'm trying to do? I would like to run ROS2 in a Docker container using Gazebo for ...
Pyy's user avatar
  • 111
1 vote
1 answer
157 views

Decision behind ROS2's Python tutorial switched from src layout to flat layout

As far as I can see, the entire tutorial suite of ROS2 (citing Creating a package (docs.ros.org) to begin with) has switched from what is called "src layout" to "flat layout" (i.e. ...
IsaacS's user avatar
  • 4,492
1 vote
1 answer
1k views

How to bridge rclpy with Python's asyncio?

In my opinion, the correct way of running ROS2 nodes inside a larger asynchronous Python application (e.g., an application built around asyncio) is not particularly obvious. I think a good solution ...
mallwright's user avatar
1 vote
1 answer
811 views

Multiple ROS installation on single machine

Can I have multiple versions of ROS or ROS2 installed on a single machine or PC?
Jishnu's user avatar
  • 181
1 vote
1 answer
755 views

slam_toolbox mapping is not life-long?

I've tested slam_toolbox producing life-long environment mapping, and not quite satisfied with the results. Below you can see a fragment of the mapping. I used a 1x0.5m case to test the changing map ...
nigeno's user avatar
  • 15
1 vote
1 answer
100 views

Robot Operating System can be usable other than Robot application?

I am asking very general question, but i would appreciate if someone helps me. I want to use ROS for manufacturing process (Not robots) as a middleware that can create simulated Cyber physical system ...
dekota Chappel's user avatar
1 vote
3 answers
143 views

ROS2 data exchange over network

I have a question regarding ROS2 data exchange over the network. Let’s assume, I have two hosts that are running some ros nodes over the same network, using ROS_DOMAIN_ID=0, so I broadcast all topics. ...
Filippo Bentivoglio's user avatar
1 vote
1 answer
70 views

Find all dependencies of a ROS 2 workspace for a source build

I have a project where I use a proprietary library to exchange data with a PLC, therefore I have to use debian as operating system. As a consequence, I have to build the ROS distro from source. ...
Christoph Froehlich's user avatar
1 vote
2 answers
505 views

How to upgrade ROS 2 Foxy to Humble in Ubuntu 20.04?

I have a straightforward query, but I want to confirm that I'm on the right track before moving forward. Right now, I'm utilizing ROS1 Noetic and ROS2 Foxy on Ubuntu 20.04. However, I need to ...
Rony Shaji's user avatar
1 vote
1 answer
160 views

Point cloud using static lidar

I am working on a "Dynamic Object detection" problem using just point cloud and deep learning algorithms. I have to use a static depth camera/ static lidar in the environment. The ...
Hem92j's user avatar
  • 76
1 vote
2 answers
265 views

ROS2: colcon build --symlink-install --merge-install PermissionError WinError5

I am experiencing problems with colcon build. I am running it in x64 Native Tools Command Prompt for VS 2019 as admin. I get this error for every colcon build i was trying to create. I am using ROS2 ...
Vincent's user avatar
  • 21
1 vote
2 answers
163 views

How to pass parameters to included launch description?

I have two launch files: a main launch file, and a sub launch file. The main launch file invokes the sub launch file with ...
WouterOddBot's user avatar
1 vote
1 answer
233 views

ROS2 Humble on Windows - "failed to create process."

I am trying to install ROS2 "Humble Hawksbill" on Windows 10, but when done and trying to run ros2 I get the error: failed to create process. I get the ...
Roberto's user avatar
  • 131
1 vote
1 answer
60 views

ROS2: name 'Node' is not defined

we are working on Webots environment with ROS2. when we launched the following example in the Webots-ros2 tutorial, we got the following error, could you help us to overcome that problem, thanks. The ...
nejattukenmez's user avatar
1 vote
2 answers
2k views

Message Filter dropping message: frame 'laser' at time

I am ruing RPlidar with slam_toolbox. When I run ros2 launch sllidar_ros2 view_sllidar_a1_launch.py and ...
JohnDoe's user avatar
  • 21
1 vote
2 answers
123 views

[ROS2-foxy] where to place source and header files and how to link them?

I have a ROS2 Project and I want to develop a good structured filesystem. I wanted to do some "good-practice"(from my point of knowledge) and import a class definition from seperate header ...
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