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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: Specify RTI Connext as rmw implementation on NVidia Jetson Nano not work

I'm trying to build my package with rmw_connext_cpp. It works fine on my PC (64bit, Ubuntu 18.04). Here is what I did: vim .bashrc then add line ...
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Can't receive data in python node

Hi, I don't know how to debug this: I took the python demo listener and changed it to subscribe to odometry. But when I subscribe to my running cpp node which publishes odom, I don't receive any data ....
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What is a difference between ROS Multimaster and ROS Master-Slave

I am trying to understand the difference between ROS Multimaster and ROS Master-Slave-API but it is confusing me. Please help to understand the difference between them. There is a lot of tutorials ...
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What does real-time safe means?

Hi, I have read some ROS tutorials and articles on the web referring to "real-time safe". I do know what "real-time" means but I don't know what "real-time safe" means. ...
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What is the purpose of the beginner tutorials? I'm following them but I'm not sure what I am doing or why

http://wiki.ros.org/catkin/Tutorials/using_rosbuild_with_catkin This is where I am and I am sort of familiar with linux, I managed to install a few different distros to this machine. I am using Ubuntu ...
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[ROS2] Using sim time parameter, nodes time is always zero

I am trying to get the current simulation time, but I always receive zeros.. As soon as I set use_sim_time back to false, I receive current system time. Sim time should be working, shouldn't it? I am ...
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[ros2] sensor message publisher does not abandon old data

I am streaming small pointclouds over wifi for navigation2 using opensplice as my dds impl. Sometimes, I get messages like these for minutes at a time: ...
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ROS1 bridge ROS2

Hi, I am trying to communicate ROS1 (Melodic) and ROS2 (Dashing), but I am not able after several attempts ... My ROS2 package is called new_msgs, the same name that in ROS1 workspace, with the same ....
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Can ROS2 be used in a production with Windows 10

Hi, We are developing logistics management robotic platform. We are evaluating to use ROS2 on top of Windows 10 since ROS2 is natively supported on Windows 10. We are in the early evaluation phase. ...
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ament_cmake: Confused about ament_export_dependencies and ament_export_interfaces

I'm programming on ROS2 Dashing and trying to port some packages, but the ament_cmake docs haven't answered my questions What does ...
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Handling a delayed localization pose?

Basically I am getting a global pose for localization which is 60ms delayed. So just setting this pose to current pose will add an error of 6cm by not compensating for the driven distance ( e.g. 1m/s) ...
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ament_export_dependencies(Boost) not working?

I'm trying to use a library that depends on boost, and it doesn't seem like boost is properly being pulled in as a recursive dependency. How do I properly export the dependency on boost for downstream ...
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Colcon aliases?

Hi all, is there a way to define custom aliases for colcon similarly to what's possible with catkin tools?? Thanks. Originally posted by artivis on ROS Answers with karma: 65 on 2019-08-19 Post score:...
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Ament_cmake - recommended way to link a library doesn't work?

I'm trying to pull in the Eigen3 library as a dependency of my library on Dashing (latest patch release, on Ubuntu), but I'm not sure the "most correct" way to do this. This does not build, ...
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can `ros2 topic list` poll periodically?

Maybe I imagined this - but was there once a way to run ros2 topic list and not have it exit immediately, but rather poll periodically and list all topics that it ...
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Why can't I call cmake install like in the docs?

I'm trying to port a package to ROS2 using ament cmake hooks based on https://index.ros.org//doc/ros2/Tutorials/Ament-CMake-Documentation/#building-a-library When I do something like the ...
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[ROS2] I can publish a parameter with wrong type and get no exception

Hi guys, is this expected behavior, that when I publish a parameter with a wrong datatype, the result is always true? ros2 param set /test/my_double_value 1 ...
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ROS 2 Admin Privileges on Windows 10

I'm wondering why Windows 10 needs administrator privileges to build and run ROS 2, and if this could be changed with a patch? To build ROS 2 you will need a Visual Studio Command Prompt (“x64 Native ...
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[ROS2] How to check for incoming param type?

If I receive a parameter update and want to check if its the correct type, how could I do this? Because if I set a param over cmd line and write 1 instead of 1.0, no exception is thrown when receiving ...
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ROS2: issues building the composition demo found in ros2/demos

I am using ROS2 version dashing on Ubuntu 18.04.3 LTS. I am failing to build the ros2 demos found at: https://github.com/ros2/demos/tree/master/composition Steps to reproduce: ...
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Cannot compile a msg file

I want to compile a ros2 msg file and my packages.xml looks like this: ...
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2 answers
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Setting up a buildfarm with chroot

Hello everyone! As far as I understand, it's currently not supported to run all roles (master, agent, repo) of a build farm on the same machine. I thought it might be possible by giving each of them a ...
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[ROS2] Is it possible to listen and subscribe to newly created topic in C++?

Not sure if it's possible programmatically. Originally posted by ahtsan on ROS Answers with karma: 112 on 2019-08-08 Post score: 0
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Cannot create a rclcpp::spin function

Hi all, I am having a trouble in publishing and subscribing the node at the same time. More specifically, I am having an issue to pass the shared_ptr to the rclcpp::spin function. Here is my function ...
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what(): bad_weak_ptr

I have a constructor which looks like this: ...
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1 answer
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Wrong constructor in ROS2

I am trying to create a constructor for my odom node but for some reason I keep getting the strange error: ...
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What is the proper way to set up a build farm

Hello! Sorry to bother people with noob-level questions, but I’m currently learning how to set up a ROS build for work and am trying to compile the complete process into one compehensive step-by-step ...
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3 answers
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ROS2 workspace clean

What is the equivalent to catkin clean for ROS2 and colcon? Originally posted by mikepark93 on ROS Answers with karma: 47 on 2019-08-06 Post score: 4 Original comments Comment by stevemacenski on ...
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Send Request Funcion

The add_two_ints_client.cpp file in the ros2/demos repository has the following send request function. Is there a way to make this send request function generic for other services I have created? ...
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Ament_cmake BUILD_TESTING on by default?

I found it surprising that find_package(ament_cmake REQUIRED) turns BUILD_TESTING on. Is this on purpose? Why? Does this go ...
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1 answer
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Bridge specific topic or except bridge topic with ros2 ros1_bridge

Following the tutorial of ros1_bridge I can bridge the ros1 topics to ros2 and worked very well. And I want to use this feature to communicate between multi-robots through DDS But there is a problem ...
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Including entire services directory

I have a srv directory that has all the services I have created. In my main node I am including each individual .hpp manually. Is there a way to include all the .hpp files in one include statement, or ...
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1 answer
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Multiple Service Calls in ROS2

I have a sensor library that I am using ROS2 services to make function calls to that library. Is there a way to have multiple services in one node or do I need to make a new node for each individual ...
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1 answer
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[ROS2] Is there a function to obtain message size of a ROS2 message in C++?

This could be useful when optimizing system performance. Originally posted by ahtsan on ROS Answers with karma: 112 on 2019-07-29 Post score: 0 Original comments Comment by sloretz on 2019-07-31: By ...
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ROS2 how to programmatically set rosout logging handler

Hi, In ROS2 there are different types of logging handlers. Command line arguments can be used to setup the loggers: these are passed to rclcpp::init() and then to <...
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1 answer
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Why isn't image_transport_plugins available on ROS2 dashing?

Hello, I've been using image_transport on ROS crystal but now I would like to upgrade to dashing. I noticed ros-dashing-image-transport exists, but ros-dashing-image-transport-plugins doesn't. Why so, ...
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1 answer
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import rclpy error invalid syntax

when I try to run a simple python script to create a ROS2 node, I get an error immediately on the import rclpy line at the top. Running on Ubuntu 18.04 Bionic, ROS2 ...
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1 answer
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MicroXRCEAgenet Build and Install fails with missing TINY2_SOURCE_DIR in cmake

Environment Turtlebot3 Waffle Intel i5 NUC Ubuntu 18.04 ROS2 Dashing MicroXRCEAgent bin not found I found a ros-crystal-micro-xrce-dds-agent package for apt. There isn't one for dashing. So I tried ...
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2 answers
216 views

[ROS2] How to extract header from a ROS2 message?

Is there an example for it? Thanks! Originally posted by ahtsan on ROS Answers with karma: 112 on 2019-07-26 Post score: 2
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1 answer
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Import python script to different ROS2 package

I have created a package called custom_msg which has the following structure: ...
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1 answer
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[ROS2] How to enable logging

I'm having troubles with my ROS2 setup. One common way I use during troubleshooting is logging. Basically, whenever I face an issue, my standard response is: crank up the logging! My question is: how ...
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ros2 lifecycle state transition topics

I have created a rclpy node and an associated *launch.py file. I use ros2 launch "package" "launch file" to launch the node, and I see it successfully start. Embedding prints in ...
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ROS2 DDS communication: How to connect AWS EC2 Instance remotely

I am trying to connect from a Client PC (Raspberry Pi) to an AWS EC2 Instance remotely over the internet using by UDP unicast. I had set up both computers as below.I executed a "ros2 run ...
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Ros2 install / Unable to locate package

Hi together, I have some trouble installing ROS2 on Lubuntu 18.04 on a Asus Think Board. I tried the installation manual at https://index.ros.org/doc/ros2/Installation/Crystal/Linux-Install-Debians/ ...
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How should I choose appropriate QoS policy?

I am developing a ROS2 node which subscribes a camera topic and does image processing afterwards. I set the QoS policy as SensorDataQoS whose depth is 5, but I found that the latency was quite long by ...
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2 answers
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question about ros2 bag play

I am tried to use ros2 bag record to save the information of camera topic, but how to use ros2 bag play to loop play the package. Originally posted by RachelRen on ROS Answers with karma: 11 on 2019-...
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1 answer
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Support for ROS2 Dashing along with python3

I have built the geometry library for my project using colcon for ROS2 Dashing and Python 3 and sourced it using ...
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1 answer
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QoS not member of rclcpp and qmock comparison warning

Environment Turtlebot3 Waffle Intel NUC ubuntu 18.04 ROS2 Crystal Problem I ran into trouble with the ROS2 Turtlebot3 install Robotis eManula Section 15. In particular see Section 15.1.1.3 "...
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[ROS2] Will all nodes implemented on_parameter_event be notified if set_parameters is called?

If we do ros2 set param <node> <param> <value>, they will all be notified. How about if we create a parameter client and call ...
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3 answers
165 views

How to launch rviz2 using urdf like urdf_tutorial of ROS1

Hello. I want to make my robot arm with to use urdf on ROS2. However, I can't find lanch file like urdf_tutorial of ROS1 and use rviz from command line with urdf. I know that ROS2's launch file is ...
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