Questions tagged [ros2]

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

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how many callback groups lifecycle nodes use by default and why?

I am checking number of callback groups in my lifecycle node using : this->get_node_base_interface()->get_callback_groups().size()); Before initialising any ...
tomRob's user avatar
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Lifecycle node consuming cpu in deactivated state

My node which is a critical component of a larger system contains the following interfaces for communicating with other nodes Two action servers One tf listner One service server Four subscribers Two ...
tomRob's user avatar
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Track_unknown_space doesn't seems to enabled correctly in Global Planner and Costmap params

I have been trying to Navigate my robot in indoor as well as outdoor env. The issue is I have tested the stack with simulated Lidar in gazebo, however , I always have to move the robot at initial ...
Rakshit Soni's user avatar
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41 views

How to stop the robot with nav2 foxy?

I have an RC-Car that has object detection and distance estimation implemented. I want the car to stop if it detects a red light while navigating from point A to B. Once the light changes, it should ...
dmalad's user avatar
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"Gazebo GUI" is not responding when running spherical_coordinates.sdf world

I am trying to run the world spherical_coordinates.sdf that comes as an example with gazebo. I run ros humble on ubuntu22.04 and get this black screen and then error: This is the code for the example ...
Eyal Brilling's user avatar
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65 views

Integrating Velodyne HDL-64E S2 Lidar with ROS2 - Driver does not seem to support it

I have a problem that I have been working on for many weeks now: I want to get a Velodyne HDL-64E S2 Lidar running in ROS2. Background: I am using ROS2 Humble under Ubuntu 22.04 and have connected the ...
Henne Leuchte's user avatar
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micro ros agent connectivity issue

I'm working with an ESP32 module running Micro-ROS, and I need to connect it to a PC using Micro-ROS Agent. I've tried changing the agent IP from dynamic to static and disabling any firewalls that ...
Ayush Singh's user avatar
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2 answers
32 views

Ros2 Dictionary srv/msg type

I would like to be able to return a dictionary as a Response in my interface, Is it possible to return a python dictionary or should I write code similar to this: ...
nohacks's user avatar
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Guidance with DDS Setup

I recently stumbles upon this discussion on ROS Discourse. From my understanding of the discussion and of the report, setting up the DDS protocol to work over wi-fi networks requires a bit of ...
Biagio Trimarchi's user avatar
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50 views

Gazebo_ros launch

all !! Try to do first project https://github.com/Dizog84/articubot_one making all as joshnewans teach) youtube articulatedrobotics.xyz Steps before I have 22.04 Ubuntu LTS ros2-humble Stay on second ...
Dizog Dizog's user avatar
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micro ros arduino Deserialization of data failed -> function deserialize_change error

Setup: Arduino Portenta H7 & Arduino Nano RP2040 Connect Host PC running ROS2 Foxy and micro ros agent Problem: I get this error from time to time and randomly ...
AnaxGT's user avatar
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Adding ROS2 to existing C++ Project

I have joined a project where we use a third party program that runs on another computer and sends messages via ROS2 (topics and services). Our goal is for our own code to be able to receive these ...
T3 K14's user avatar
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ROS on ROBOT EPSON

Would you know if it is possible to control an EPSON robot with ROS, in order to get out of the dependence on the EPSON ecosystem. I'm a beginner looking for a solution, sorry if my question isn't ...
Yacine apprentice dev's user avatar
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facing issue while using tricycle_controller in ros2 humble

https://github.com/ros-controls/ros2_controllers/tree/master/tricycle_controller ...
amol jamble's user avatar
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Nav2 - How to create a custom behavior tree (BT) plugin/node in a separate ros2 package?

I'm trying to create a my own custom bt plugin. In the official tutorial https://navigation.ros.org/plugin_tutorials/docs/writing_new_bt_plugin.html, I can't see an instruction or an example on how to ...
Addy Pete's user avatar
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3 answers
142 views

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 ...
Mubahsir's user avatar
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How to fix no transform from left and right drive wheels of the mobile robot to map in rviz2 in RPS2?

I have mobile robot publish /cmd_vel topic from Roboteq Motor Controller. Also have 2D Lidar publish /scan topic with a frame id laser_link. My RealSense Depth ...
Macedon971's user avatar
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JTC ignores URDF velocity limit

having setup my igus axis to control it with the joint_trajectory controller it seems that it completely ignores any limits i set in the urdf file. Is there a fix for this? urdf joint: ...
Adam's user avatar
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Sensors in ROS2 without driver

I got a new LiDAR from a seller who unfortunately does not provide any ROS2 support. Rather there is only a Point Cloud Visualiser .exe in Windows. I would like to use the LiDAR in my project of ...
ra130's user avatar
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How to declare parameter that are only known at runtime

I'm currently facing an issue with the ros2 parameters. I'm not sure how to approach this, from Iron on ros2_controller creates a node without the node options ...
saikishor's user avatar
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1 answer
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No map received error while following nav2 tutorial

I am following nav2 tutorial with ROS 2 Iron. The /map is published as topic but it does not show at RViz2. What should I do..?
Jieun Ko's user avatar
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Using ROS 2 to transfer files in a periodic comms denied environment

Are there any existing packages or functionality for transferring files using ROS2/DDS for reliable communication? Recommended workflow or solution architectures (e.g. "just use sockets because.....
ProlificSwan's user avatar
1 vote
2 answers
87 views

How to read a mcap file and publish message using cpp and ros2(foxy)?

As known, we can record a mcap in ros2. Now I'm trying to read messages in this mcap file and then publish it with rclcpp interfaces. There are some examples and demos in the mcap source code, but ...
yang19900808's user avatar
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Launch rest of launch file after one process exits

I have a ros2 launch file script that instantiates nodes and also calls other launch files. I want to add the launch of another process and only instantiate the other nodes and launch files when this ...
atab's user avatar
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Spawning a second robot using the clearpath_gz simulation

OS: Ubuntu 22.04 ROS 2 Distro: Humble Built from source or installed: Installed followin this : https://docs.clearpathrobotics.com/docs/ros/tutorials/simulator/install Expected behaviour I am ...
Mechaick's user avatar
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1 answer
30 views

Colcon build does not build all of my packages (after I deleted and reinstalled older cmake)

I am working for a drone university project in a team and we set up a project in ROS2 galactic (https://github.com/AlboAlby00/CrazyflieControllers). I wanted to try out a new github repository which ...
Daniel He's user avatar
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1 answer
63 views

help with moving wheels of robot in gazebo

I'm using UBUNTU ros2 Humble I've been trying to control my robot in gazebo. I have tried several plugins to run it, but to no avail. I figured it could be that in my URDF, my wheel is connected to a ...
aman noufel's user avatar
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1 answer
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Duplicate tf messages with robot_state_publisher and coded tfs

From what I understand, robot_state_publisher reads the urdf and publishes the default frames to the ...
Yato's user avatar
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1 answer
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What is the ROS2 equivalent of rospy.AnyMsg?

Currently in ROS I am using rospy.AnyMsg. I would like to convert the ROS code to ROS2. I tried doing an import AnyMsg from rclpy...
jasonsf's user avatar
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ROS2 CANopen Stack

I'm trying to implement the ros2_canopen package for my Motor. So, i installed the package and set up all the configuration stuff. If i started the launch-file, I get following error message: ...
H10's user avatar
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2 answers
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Not able to use usb_cam package

Whenever I use following command ros2 launch usb_cam camera.launch.py Gives me the following error like this ...
Ankit Kumar's user avatar
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error while using diff_drive plugin

I am using ubuntu 22.04 humble ros2. I am trying to run a robot with wheels on gazebo using the differential drive plugin from https://classic.gazebosim.org/tutorials?tut=ros_gzplugins. When i try to ...
aman noufel's user avatar
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2 answers
56 views

Trying to install ros-ROS_DISTRO-behaviortree-cpp-v3 in ROS 2 Iron

I get an error you have held broken packages.
dennis's user avatar
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1 answer
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CMake Error: 'iDynTree::idyntree-core' was not found before

I am trying to build my package ros2_control_demo_hardware which uses ros2 control. But I have the following error after colcon build: ...
Benno's user avatar
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42 views

can't echo topics on the host computer with ros2 Docker

I'm using micros-ros on my custom stm32f722 board connected through USB to a Jetson Nano, with ubuntu 22.04 (custom image for the nano) and ros2 iron. If I run: ...
Leonardo Garberoglio's user avatar
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1 answer
75 views

Transform between odom and base_link not made. ros2_controller Ackermann Steering Controller

I cannot set odom as a fixed frame inside RViz. It doesn't show up at all. My robot is fully functional and visible in both Gazebo. I don't get any warnings, errors or exceptions in the log. I'm using ...
Balazs Tuba's user avatar
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56 views

Still facing problems with global planner to generate plan in NAV2?

Planner using : Smac Hybrid A* controller: DWB, Have to test with MPPI I have two questions. First Query I am trying to setup the NAV2 stack for Ackermann robot. However, the issue I am still facing ...
Rakshit Soni's user avatar
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1 answer
32 views

Not getting any output with python message_filter ApproximateTimeSynchronizer

I am trying to project 3d bounding box detected on a point cloud data to Image. I am using message filters to subscribe to image and detection topic. when I run the node i get the debug message on ...
Hem92j's user avatar
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1 answer
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Using ImageTransport in a constructor throws std::bad_weak_ptr

I am trying to create an ImageTransport instance to set up an image publisher which is a class member). I stick to this example, trying to adapt it to my class: <...
labude's user avatar
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2 answers
84 views

ros2 ackermann robot not moving forward, left and right

I am working on a ros2 ackermann steering robot with 4 wheels. Issue: The robot is not moving forward, left and right. Although its wheels are turning left and right. The robot is moving in reverse ...
Pratham's user avatar
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1 answer
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Mobile robot moves sideways in Rviz, but properly in gazebo

I am currently simulating a mobile robot, and I control its movements using the teleop keyboard node. Upon loading the robot model in both Gazebo and Rviz, the initial orientation appears consistent ...
Vishaal's user avatar
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1 answer
69 views

Service callback in ros2 Python is not firing

i just wrote a simple service program to print numbers using a service but is not working as intended ros2 - humble ...
Pedakolimi Harish's user avatar
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1 answer
34 views

Hinfinty Controller for TWO wheeled self balanicng robot

I'm trying to implement a H-infinity controller in a TWO-WHEELED-SELF-BALANCING-ROBOT, already implemented LQR for the same in gazebo, where the control input was torque(used this selfbalancing robot ...
zorx's user avatar
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1 vote
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25 views

Moveit2 'planning plugin name is empty' error when creating a new planning pipeline

I am trying to create a ROS2 node to send a goal pose to Moveit2 to initiate planning when working with 6 dof robot arm, xarm6. I am following the tutorial code from moveit2 like here. I am currently ...
kmartbirthdaycake's user avatar
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1 answer
40 views

How do you send positions in joint_states topic if there's already default positions being published?

By default joint_state_publisher publishes a message with all joints and default positions to the joint_states topic. What is ...
Yato's user avatar
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2 answers
77 views

Model loading in rviz but not visible in gazebo

I have an issue spawning my URDF model in gazebo. It works fine in rviz but when I launch it in gazebo the model shows up in model parameters but I don't get any visuals. My theory is that since ...
drec0xy's user avatar
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0 answers
10 views

ACADO Toolkit MPC based robot controller weird behaviour around obstacles

I have been strugling with this issue for a long time now, any help would be appreciated. So, I have a robot simulation running in Gazebo. I have implemented a robot controller that follows a direct ...
Krzo's user avatar
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"depends libdrat-dev but it is not going to be installed" when trying to install gazebo humble [duplicate]

I had tried to install libdrat-dev but it didn't work
NAM's user avatar
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1 answer
13 views

is there a way to transform gz's gz.msgs.Model message to sensor_msgs/JointState?

i am publishing a robot state in gz using the JointStatePublisher plugin, which outputs a gz.msgs.Model message. Is there a simple way to transform this into a sensor_msgs/JointState message or should ...
Stefano Mutti's user avatar
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1 answer
45 views

What is prioritized in Nav2? bt_navigator or simple commander API?

upon reading the documentation of nav2, I've came accross bt_navigator and simple commander api. Both ways allows modification of the behavior of the robot. For example bt_navigator has FollowPath ...
Addy Pete's user avatar

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