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Questions tagged [ros]

ROS (Robot Operating System) is a free, open-source robot software framework initially developed by Willow Garage. And now under the maintenance of Open Robotics.

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Building catkin_ws on one computer and copying it to another

I am trying to build my catkin_ws locally on my laptop as it has good compute, and copy it to orangepi, I am copying only devel and build to to catkin_ws on orangepi. But I am still getting error when ...
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2 answers
16 views

How do I handle map/odom transforms if I want to use robot_localization as well as slam_toolbox?

I'm trying to use slam_toolbox (2d LIDAR) in conjunction with robot_localization (IMU + Wheel Odom). So far my best idea for managing the frames is as shown in the pictures below. However, this ...
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2 answers
50 views

RVIZ on remote server, ssh x forwarding

I have connected to the remote server by ssh. Both of my local and remote machines are Ubuntu20.04. So when I run rviz command I get the following error: ...
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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 ...
1 vote
1 answer
516 views

UR5 Visual servoing(image based, eye in hand)

I am implementing IBVS on a UR5 using ROS. The algorithm works very well in linear X, Y and Z and omega Y. When I try to add a fifth axis(omega X or Omega Z), the robot jerks heavily and goes into ...
1 vote
1 answer
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ROS1 gazebo11 invisible links

I'm trying to spawn my robot urdf in gazebo, but some links are not showing, although they appear in the left menu bar. They also show in Rviz and Moveit, so it has to be something with gazebo visuals ...
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ROS: Further understanding the diffrence of MultiThreadedSpinner and AsyncSpinner

I have several years of experience with robot software development using ROS, especially ROS Noetic. I want to clarify my understanding about ...
1 vote
1 answer
33 views

Alternative to hardware interface

I am new to ROS2 but I am trying to create an alternative to a hardware interface for my robot. I have a diff drive vehicle. The main ROS program will run on an Ubuntu PC. The controller on the ...
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moveit_servo errors "[servo_server-1] process has died [pid 177444, exit code -11, cmd "

I want to run the pose tracking example of moveit_servo, but it shows an error message. ...
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6 views

Not getting intensity data from pointcloud when using gpu lidar in gazebo

I was trying to work on lidar point cloud using PCL by simulating a lidar in gazebo fortress and ROS 2. I am able to process the data but I always get the intensity as zero. Is there a way I could get ...
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1 answer
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ros2 commands fail on Jazzy when RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Description I have installed ROS 2 Jazzy on Ubuntu 22.04. If I just ros2 topic list and ros2 run demo_nodes_cpp talker on the ...
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Missing Bullet Inverse Dynamics while building tesseract-collision

I am trying to build the tesseract motion planning environment for ROS, but I am running into the following error while building the tesseract-collision package using catkin: ...
1 vote
1 answer
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ROS3D.UrdfClient suddenly stopped loading meshes

I'm trying to visualize a 3d robot simulation on a web browser and I'm currently using the ros3djs library (not sure if this is the best choice yet). Some days ago I managed to visualize correctly the ...
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"/gazebo/apply_body_wrench" service is missing

I want to apply force to an object in ROS2 Gazebo but "/gazebo/apply_body_wrench" service is not available in ros2 service list. After adding "...
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inconsistent bounce behaviour of ball in gazebo

I am trying to simulate a tennis ball in gazebo. The issue is that the ball is having inconsistent bouncing effects. Means the ball is bouncing different number of times when released from the same ...
0 votes
1 answer
43 views

Does ROS 1 have compatibility with any Renesas Hardware? Or is it just available for ROS-micro (ROS 2)?

I'm doing research about ROS compatibility with different microcontroller hardware. From what I've searched, I have only found compatibility with microcontrollers using micro-ROS, which is built with ...
0 votes
1 answer
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RTAB-MAP Android version , adding ros inputs/outputs

I want to know if someone have done any work on RTAB-MAP Android, I'm trying to add ROS input/output to the Android version but maybe its a too big challenge for me so I try to find someone to help. I ...
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1 answer
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Negative baseline in RTABMAP with OAK camera

I have an OAK-D Pro W PoE camera and I am trying to follow this tutorial to perform SLAM with RTABMAP in ROS noetic. I follow all steps but I receive the following error message when I launch rtabmap....
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Sensor fusion with Kalman filter: what should go as "command" in case we have a choice?

Let's say I have a robot with few sensors and dif. drive. And I want to perform sensor fusion using UKF. Dif. drive can take commands, so my first thought was to use command (linear and angular speed) ...
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2 answers
19 views

Problem while running C++ and Python node together in ROS

Hi everyone, I had designed a controller in simulink. I had generated ros c++ code using robotics system toolbox from mathworks. I'm planning to integrate with the existing crazyflie ros library. All ...
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1 answer
54 views

control computeCartesianPath's trajectory.points.size

i set this parameter to 200 rosparam set /move_group/ompl/minimum_waypoint_count 200 method1: ...
1 vote
0 answers
8 views

Extrinsic matrices of sensors from tf_static_publisher

I have two lidar sensors, and an IMU, I also have the nodes of static_transfrom_publisher with the parameters in the standard format of: ...
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0 answers
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ROS Melodic Visual mono SLAM with Orb Slam 2

Im trying to use ROS for the first time with a project that needs to use visual slam with a mono camera input. I am using ROS1 Melodic with the orb_slam_2 package along side turtle bots to get a basic ...
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1 answer
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Algorithm for turtlebot3 simulation

If I use the command roslaunch turtlebot3_gazebo turtlebot3_simulation.launch, the robot can automatically move around the environment's floor. I would like to know the algorithm running behind this ...
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15 views

How to apply force to an object in gazebo using script

I am trying to spawn an object in gazebo at certain height and apply force to it in x direction at the same time(when the object is in the air). The object is being spawned successfully. But the force ...
1 vote
1 answer
30 views

Convert MCAP to ROS

I have an MCAP file, which I want to convert to ROS (or other storage formats). I couldn't find any documentation online. Is there any github project available. Any help is appreciated.
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2 answers
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Is there a way to get "serial"-like output from the code running on the arduino

I am working on the "firmware" running on the arduino (or teensy in my case). From what I gathered so far, with the teensy 4.1 there is no reasonable way to set up a debugger with single ...
0 votes
1 answer
71 views

How to keep Gazebo open and load new changes to it from URDF file?

I have a launch file for gazebo that works fine in terms of loading the robot into the world. But the problem I have is that I have to keep ending Gazebo in terminal by using CTRL + C and then wait ...
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10 views

Latency spike in real time application (robotics arm)

I have set up my real time kernel Preempt_RT ( 5.15.0-1063-realtime) with Ubuntu pro. When I run ping test, I always got high max latency at 1.5 to 4ms, which is not ok, it has to be less than 1ms ...
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1 answer
10 views

ROS2 Xacro/URDF file isn't displaying, Error: No transform from [] to []

I've created a URDF file using a few Xacro files, and for some reason as soon as I added in the caster wheel it started having problems. The chassis and caster both show up, but the caster just spawns ...
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0 answers
10 views

Motor plugin in ROS2

I want to build a self-balancing robot. In the simulation of this robot, I need to have a motor plugin that allows me to set the wheel speeds and accurately implement the mathematical model of this ...
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1 answer
51 views

when use robot_localization package my robot is glitch

why this error is come when use robot_localization. i have problem with my odometry when use robot_localization. before use this package, my pose odometry is so bad but no glitching. but when use ...
0 votes
2 answers
14 views

RLException: Invalid <param> tag

I'm new to ROS and trying to learn from a book "ROS Robotics Projects". I'm using Ubuntu 18.04 LTS and ROS Melodic Morenia. I'm trying to build a robot simulation. And I was following ...
0 votes
2 answers
27 views

Can't install ros-noetic-ros-navigation package

I am trying to install the package ros-noetic-ros-navigation, but when running sudo apt-get install ros-noetic-ros-navigation I ...
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1 answer
43 views

Build Rviz for ROS2 foxy arm64 version fails, lots of ament_add_gmock errors

I build rviz of version 8.2.8 for ros2 arm64 versino in a docker with image ros:foxy --platform=arm64 (from https://discourse.ros.org/t/announcing-ros-foxy-docker-images-availability/14511), and after ...
0 votes
1 answer
468 views

RViz - showing [0] points from [0] messages - Gazebo lidar issue

I created a robot model with lidar in .sdf file, I'm using Ignition (Gazebo) for simulation: ...
0 votes
1 answer
50 views

hello i want to ask about my personal global planner in ROS_Noetic

i set the my personal global planner in ros_noetic my name is chang, so i make my own planner which named changs_planner it is package name in ros, and in src folder i make two file, changs_planner....
0 votes
1 answer
12 views

Reconsructing original array from MultiArrayLayout message

I'm using the MultiArrayLayout message for the 2D grid map, but i don't know how to reconstruct the 2D array, can anyone give me example for it.
1 vote
1 answer
37 views

Configuring-ROS2-Environment

I am going about setting up ROS2 for the first time, and when I enter the command set | findstr -i ROS the output I receive is ...
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0 answers
10 views

Simulate joint holding in gazebo

I am building a simulation of a custom-designed robotic arm. In the simulation, I am controlling it using 'effort_controllers/JointVelocityController'. However, I want the joint to remain still when ...
0 votes
1 answer
21 views

Cmake error for ROS - cannot find the package

I follow the tutorial of Turtlebot3 to launch the turtlebot into the Gazebo environment. I am using OS - Ubuntu 20.04.1 LTS, ROS version - Noetic, Gazebo Version: 11.14.0. I received error while ...
2 votes
2 answers
1k views

How to record all topics in a rosbag using rosbag API (rosbag::Recorder)

I am trying to create a recorder logging all topics into a rosbag using ROSBAG C++ API The record should be eventually enabled/stopped by some external topic. The examples show how to log specific ...
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1 answer
20 views

ROS launch not working for turtlebot

OS - Ubuntu 16.04.7 LTS ROS version - Kinetic Gazebo Version: 7.0.0 command working: roslaunch gazebo_ros empty_world.launch commands not working: ...
0 votes
1 answer
20 views

Can' find my custom node for a new behavior Tree plugin RO2 nav2 bt_navigator

Hey I'm trying to write a behavior tree plugin following this tutorial https://docs.nav2.org/plugin_tutorials/docs/writing_new_bt_plugin.html I'm on Ubuntu20.04 using Ros2 galactic and v3 for ...
0 votes
1 answer
25 views

ROS MoveIt on RPI4 running on Raspberry Pi OS(64-bit)

I'm currently working on a 6 dof robotic arm controlled by ROS from RPI4. The Raspberry Pi4 runs Raspberry Pi OS(64-bit). My question is can I make MoveIt work on my RPI4 without that gui simulation?
1 vote
1 answer
31 views

Could I create multi dynamic_reconfigure in one package in one CMakeList?

I have two *.cfg files, each one working with its executable process. The CMakeLists: ...
0 votes
0 answers
10 views

pylon-ros-camera

The content displayed by roslaunch info shows 'BayerGR8' | 'NO_ROS_EQUIVALENT', with only the Mono8 encoding format available. My camera model supports RGB encoding format, and I can capture color ...
1 vote
2 answers
140 views

ROS2 on Windows with NVidia GPU

Hi everyone! I'm trying to understand the best way to setup my environment for ROS2+Gazebo. Up until now I was using an Ubuntu 22.04 VM with Virtualbox to get simple exercises up and running in ROS2, ...
0 votes
1 answer
22 views

Using ROS for an autonmous skyscraper crane robot [closed]

first time asking a question and relatively new to ROS, I have project where I need to make a robot for skyscraper cleaning, the robot is hooked with a crane on top of the building. the crane, motors ...
0 votes
1 answer
101 views

Rviz Amcl spreading over time when stayin still

I am trying Multirobot navigation with the navigation_stack and the Rviz, in ros noetic. When i publish the amcl when starting, the spread looks normal. Then i publish a goal, the robot moves and the ...

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