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Questions tagged [ros2]

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

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ament_cmake_vendor_package, does it exist?

when trying to build the rosbag2 repo from source (following this), I encounter the following cmake error when running colcon build (yes, I have sourced setup.bash):...
Eric Barrera's user avatar
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1 answer
80 views

How can I parallelize or multithread rviz2 plugins?

Brief summary: I do some intensive image processing in a custom rviz2 plugin, and I can only get one plugin to generate output at a time. How can I spin each plugin off on a thread so they'll work in ...
Chuck's user avatar
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MoveIt! "Jupyter Notebook Prototyping" tutorial : cannot configure planning scene monitor

I am doing the MoveIt! tutorial Jupyter Notebook Prototyping, but I cannot instantiate the MoveItPy object, because of an impossibility to configure the planning scene monitor. However, the Moveit ...
Q C's user avatar
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1 vote
3 answers
205 views

Gazebo crashes immediately - Segmentation fault (Address not mapped to object [0x220])

I installed ROS2 Jazzy successfully on a laptop running Ubuntu Noble 24.04 with an Intel Xe graphics card, and installed Gazebo Harmonic using: ...
PrattPrakash's user avatar
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jazzy ros2 does not recognize rclcpp::ok(), rclcpp::sleep_for()

We just updated our robot stack from ROS2 Iron to ROS2 Jazzy, and we are facing a problem, when we are building package, we receive a build error, that ok() and sleep_for() is not a member of rclcpp <...
PDvorak's user avatar
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21 views

how to change gazebo /clock QoS Reliability

how to change gazebo /clock QoS Reliability from BEST_EFFORT to RELIABLE . I did not find any gazebo param or any method to do so. It should not be hard coded. ...
Hrithik Verma's user avatar
1 vote
0 answers
31 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
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1 answer
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Bias Omni Navigation Towards Forward Movement

I am working on an omnidirectional robot using ROS2 and NAV2 BT navigator stack. I have managed to get the lattice planner working and have full omni directional movement. I was wondering if there was ...
Sebastian Pelletier's user avatar
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28 views

Service server never calls callback

I am trying to test a service with a small python script. The type used is std_srvs/srv/Empty. My minimal service server looks like this: ...
R. Larsen's user avatar
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28 views

Robot Freezing and Hopping while navigating with slam_toolbox

I'm currently facing an issue with my robot's navigation using the slam_toolbox. I intend to perform SLAM in a large empty outdoor environment like a parking lot, so my initial setup reflects this. ...
skatellite's user avatar
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Nav2 how to smooth velocities with deadband?

I'm having trouble with the cmd_vel that nav2 gives me for my robot. The robot only moves with : angular speeds ∈ [-1rad/s, -0.3rad/s] ∪ [0.3rad/s, 1rad/s] linear speeds ∈ [-1.2m/s, -0.3m/s] ∪ [0.3m/s,...
Tom Lemmel's user avatar
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nav2 cmd_vel only has Theta values

i am trying to integrate nav2 on a real robot. So far i managed to generate maps using the slam toolbox and load them, it creates a costmap, the local costmap is updated and sees obstacles. A path is ...
Tom Lemmel's user avatar
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9 views

Are Action Handles safe to share between threads?

I'm trying to understand the rclcpp example for a simple action server, specifically this line std::thread{execute, goal_handle}.detach(); The ...
2g4m's user avatar
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0 answers
59 views

python3-catkin-pkg : Conflicts: catkin but 0.8.10-7 is to be installed

I am working on my Final Year Robotics Project, relatively new to Robotics. I am using ROS2 on Ubuntu 22.04 Jammy Jellyfish. I ...
Ammar Mujtaba Tariq's user avatar
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0 answers
16 views

Message filter subscribe with best effor QoS can't receive message from publisher with reliable QoS

I'm using the pointcloud_to_laserscan package to convert pointcloud from depth camera to laserscan, but the pointcloud_to_laserscan node can't receive message from depth camera. The QoS for the ...
Phymin's user avatar
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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
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1 answer
26 views

Are ROS2 subscription callback arguments always pointers?

I have been looking more closely at ROS2 messages. Something I have noticed is that. The publisher always appears to take in the message object when publishing a new message and The subscription ...
FourierFlux's user avatar
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1 answer
19 views

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 ...
Victor Marques de Souza's user avatar
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0 answers
21 views

GPS waypoint following

I am trying to create a node for Unitree go1 (4 legged robot)to follow gps waypoints. Can anyone guide me from scratch.
Muteeb Rehman's user avatar
1 vote
0 answers
12 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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0 answers
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Return of a mobile robot to skipped places (nav2, opennav_coverage)

I am planning an autonomous vacuum cleaner application in which I will use opennav_coverage to cover the full area. I expect a situation where the robot will miss part of the area due to an obstacle ...
SKJQ's user avatar
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1 answer
36 views

How to set up depth camera to do obstacle avoidance in navigation2

I follow the navigation2 docsnavigation2 docs and add a depth camera to my gazebo model, the depth camera works fine until I configure the pointcloud from depth camera to do obstacle avoidance. There ...
Phymin's user avatar
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1 vote
2 answers
133 views

SLAM_TOOLBOX , topic /map is empty

I’m attempting to run the slam_toolbox. My setup includes ROS2 Humble, Raspberry Pi 4, and RPLIDAR A1. Previously, I encountered an issue with a terminal message like: [async_slam_toolbox_node-1] [...
Ivan Mokiets's user avatar
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0 answers
16 views

Moveit not using sim time despite setting param

I am trying to do the moveit tutorials but using Gazebo too, and here is the error I am getting: ...
vivek mannava's user avatar
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1 answer
51 views

How to Configure a PID controller Yaml file in ROS2_Control

In this page of the documentation of ros2 control There is no mention of how to make the PID controller actually work. If I run the yaml file example provided ...
Mohamed Abduljawad's user avatar
0 votes
1 answer
26 views

Error when initializing tf2_ros::buffer in ROS2 Foxy

does anyone know why i cant initialize an instance of tf2_ros::buffer in ROS2 Foxy? test_file.cpp : ...
Bryan's user avatar
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0 answers
49 views

web video server over HTTPS

I'm on ROS 2 Humble and my web app is on https. Is there any way I can make web_video_server stream the image topics over HTTPS/SSL instead of HTTP so I can use ...
gxomalis's user avatar
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0 answers
15 views

Nav2- Using BehaviorTree.CPP nodes along with nav2 BT plugins

My application is dynamic object following and tracing the recorded goal poses to return to the intial pose when no /goal_update message is received for 5 seconds. ...
AUNebulosa's user avatar
0 votes
1 answer
31 views

ROS2 services: do they block server node execution?

I'm interested in writing a node which subscribes to some topics and does stuff, as part of this node a service will be offered that dictates how the node interacts with some other topics. Basically, ...
FourierFlux's user avatar
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0 answers
11 views

How to fix error message "undefined symbol" when launching moveit setup asisstant?

While trying to open the moveit_setup_assistant with the command: ros2 launch moveit_setup_assistant setup_assistant.launch.py I get the error: ...
Davy Vos's user avatar
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0 answers
16 views

Get 3D boundingbox with 2D boundingbox and LiDAR data

I'm trying to create 3D bounding boxes from 2D bounding boxes created with yolov5 and point cloud data from a lidar sensor.I'm working with ROS2 and Gazebo and as a reference I'm trying to use this ...
antisocialkid's user avatar
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0 answers
51 views

Laser Scan rotates with robot

Required Info: Operating System: Ubuntu 22.04 LTS ROS2 Version: ROS2 Humble The LaserScan rotating with robot when I use teleop_twist_keyboard to manually rotate the robot. I am using the rplidar_ros ...
Vrushab Jain's user avatar
0 votes
1 answer
13 views

Rviz2 display nothing after window minimized

working properly at first After click minimize button and reopen it. The orge display is disappered. No error message in terminal even with start rviz with "-l" Ubuntu 22.04 with ros2 ...
佘思稹's user avatar
1 vote
1 answer
40 views

I am trying to create map using odometry and display in rviz2. I am not able to create map as my scan topic doesn't have any publisher

The earlier issue is fixed but now the map is updating rightly in the rviz. The scanned data is moving along the robot as it moves. This is my main function. ...
Zooz's user avatar
  • 11
1 vote
2 answers
407 views

rviz2 is not working in ros2 jazzy

I installed ubuntu 24.04 and installed ros2 jazzy when I type "rviz2" at the terminal, it does not work ubuntu version: 24.04 ros2 version: jazzy hardware: intel nuc & raspberry pi 5 (I ...
Dane's user avatar
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0 votes
0 answers
19 views

/usr/bin/ld: cannot find -lpackage_name

I am new to ROS2 (Foxy) and CMake. I have a ROS2 package called senso_gui_control, that is dependent on another package in my workspace (...
shellyshampaine's user avatar
0 votes
1 answer
31 views

Difference between "ParamListener" and "auto_declare" when initialising parameters in ros2_control

I am creating a custom controller using ros2_control. Going through the source code of existing controllers, I found out that there are 2 ways to initialize parameters(the one defined in controller ...
Pratham's user avatar
  • 63
0 votes
2 answers
38 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 ...
Gaetano Pispisa's user avatar
0 votes
0 answers
17 views

Reading Global Parameters in ROS2

I am trying to have a global parameter node and a client program that reads the global parameter off of the global parameter node. I am using ROS2 Foxy. Here is the global parameter node with just one ...
Farbod's user avatar
  • 1
0 votes
0 answers
24 views

How to send_goals to action server one after another

I have an action client and action server. I want the action client to send_goal to the action server one after another, that is only if the previous goal was successful. I'm not sure what kind of ...
polarissunshine's user avatar
0 votes
1 answer
40 views

PointCloud2 xarco implementation

I'm trying to use a lidar for my simulation and I want to receive data from it. In the XACRO file I used the following plugin but the topic won't show in ros2 topic list. Here is the lidar code ...
antisocialkid's user avatar
0 votes
1 answer
39 views

ROS2 DDS behavior when network is saturated

I've been testing ROS2 Iron DDS behavior over a wifi ad-hoc network in which a publisher publishes data (a Int64MultiArray whose size can be changed) and a ...
Dani's user avatar
  • 1
0 votes
0 answers
108 views

ROS2 - ORBSLAM3 detects no points of interest on my Gazebo Classic simulation

As part of a project, I need to run a SLAM to determine points of interest from my Gazebo Classic simulation. I've made a URDF that's as representative as possible of the real model: the two cameras ...
Gwen's user avatar
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0 votes
1 answer
32 views

Tf2 dynamic broadcaster (w/ Gazebo)

I want to publish a dynamic frame, that is child of the base_link of my robot. I follow this tutorial. However, once this frame is published, it appears to be disconnected from all frames controlled ...
user37959's user avatar
0 votes
0 answers
19 views

ROS2 bag record: Serialization format?

the CLI for ros2 bag record offers the option --serialization-format: The rmw serialization format in which the messages are saved, defaults to the rmw currently ...
labude's user avatar
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0 votes
2 answers
29 views

Undesired Transforms not available in RVIZ2

In rviz I am getting error: No Transform from [front_left_link] to [odom] No Transform from [front_right_link] to [odom] No Transform from [rear_left_link] to [odom] No Transform from [...
Pratham's user avatar
  • 63
0 votes
0 answers
5 views

Synchronizer not working when built inside a class

I need to subscribe to two different topics (PointCloud2 and PoseStamped) in a synchronized manner. First thing I did was to write a simple callback function and test if message_filters was working ...
Alessandro's user avatar
0 votes
1 answer
14 views

Alternatives to gripper_controller on OSX

I am currently following the MoveIt tutorials using the Robostack setup on ROS 2 Humble, running on macOS. Unfortunately, the gripper controller lacks official support for macOS, as indicated here. ...
vivek mannava's user avatar
0 votes
1 answer
31 views

How is bandwidth used in ROS2?

I am developing a multi robot system, where each robot publishes its status to ROS bridge. Robots also have a LiDAR which is always on. Will this use bandwidth on the network, even if I am not ...
Sriram's user avatar
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0 votes
0 answers
19 views

Failing to map PointCloud2 topic to octomap_server cloud_in

I have an Ouster sensor which I am attempting to use to incrementally build an OctoMap of an indoor environment. PointCloud2 data is successfully published on the /ouster/points topic and can be ...
D.Batchelder's user avatar

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