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.
87
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Astra_Camera: Wait for device to connected
I setup the Astra Camera using this link. It give the message after launching the command roslaunch astra_camera astra.launch.
...
- 425
7
votes
1
answer
18k
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How to get a python node in ROS subscribe to multiple topics?
How a ROS node written in Python could subscribe to multiple topics and publish to multiple topics?
All examples I found were for a single topic. Is this an event-driven model so subscription to ...
- 173
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1
answer
4k
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Implementing a boustrophedon algorithm in a given room with obstacles
I have a mobile robot which is navigating around a room, I already have the map of the room. I am using the navigation_stack of ROS. I am using rotary encoders for odometry. I am fusing the data from ...
- 101
4
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2
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1k
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Robot moving sideways in RVIZ ROS
Hi,
I have a wheeled-legged robot as you can see in the picture. When I simulate it in ROS-Gazebo it works fine, however at the same time in Rviz it moves sideways instead of forward or backwards. I ...
- 536
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1
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420
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ROS : Performing 2-D Pedestrian Dead Reckoning on an AR Drone and displaying location on a floorplan [closed]
I'm trying to find a way where I can estimate the location of my drone on a floorplan. Note that right now, I will just be moving the drone around manually and not flying it.
I read up on PDR and ...
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1
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Should one or multiple controller_manager nodes be used for modular robots (e.g. base + arm)? [ros2_control]
If you have a robot composed of several sub-robots (e.g. a mobile base platform with a manipulator attached), each of which has its own independent controllers defined, is there a preferred approach ...
- 801
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1
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152
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ROS in Docker: messaging with host PC
Hi!
I would like to know how to set up connection between ROS in Docker with ROS on host PC correctly.
Following some answers like these [1][2] I can understand that connecting container to host ...
akim
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2
answers
354
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How to specify the network interface ros2 uses for communication?
When I launch my node, after installing a docker image, I get following warning, luckily it arbitrarily selects the right interface, but how can I specify it to get rid of the warning?
...
Hakaishin
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153
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How to fix ValueError: module PIL Image is not a class?
This is the node I've written in rospy. It opens a socket connection and then converts the received image to < ndarray > and then < sensormsg.Image > and publishes it
...
- 9
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1
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What is the difference between the gazebo differential drive plugin and a differential drive controller spawned by controller_spawner?
What's the difference between
a controller specified by
in a tag, in an URDF file, and
a controller spawned by a controller_manager spawner node of type "diff_drive_controller/...
nodge
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3
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2k
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ros2 spinning problem[SOLVED]
i'm trying to transform ego-planner-swarm founded in:
https://github.com/ZJU-FAST-Lab/ego-planner-swarm
to ros2...
the problem was in one of the subscription's callbacks there was a function in which ...
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1
answer
15
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MoveIt! rviz MotionPlanning plugin broken Robot geometry
I followed the Moveit Setup Assistant Tutorial to configure a manipulator for use with MoveIt. I did
load the URDF/Xacro file
set the virtual joint
add a planning group
define a robot pose
generate ...
bas
-1
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1
answer
859
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How can I save messages publishing from a ROS package into a variable?
I am using darknet_ros_3d package and writing a subscriber. So far, I have followed the code given as under:
...
32
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14
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17k
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Can ROS run on a Raspberry Pi?
Can ROS run on a Raspberry Pi?
ROS is resigned to run on a network of machines, with different machines, even different cores on the same machine doing different jobs. Can one of those machines be a ...
- 6,459
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2
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ROS: catkin_make vs. catkin build
When using ROS:
Why should I use catkin build from catkin_tools instead of catkin_make?
I've been told that ...
- 323
19
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1
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ROS: Best practices?
I'm going to build a small robot system, and it seems like that ROS serves a nice framework to control and program the system.
However, I am wondering which is the best practice to manage the ...
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2
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How to choose a good IMU for a wheeled robot?
At our lab, we have a several "Kurt" type robots (about the size of a Pioneer, six wheels, differential drive). The built-in gyroscopes are by now really outdated; the main problem is that the ...
- 4,243
4
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1
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Calculate covariance matrix from x,y,z data
In ROS I've recorded a bag file from a custom robot (in real world) that does not provide covariance matrix and I want to use /odom to feed an EKF, but covariance ...
- 345
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1
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358
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Does a stable library exist for docking robots using images?
I built a mobile base from scratch, and now I am focused on getting the robot to charge.
The robot is using an on-board webcam (and PC) to detect a QR barcode on the charger unit. Using OpenCV I find ...
- 361
3
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1
answer
2k
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Tf frame origin is offset from the actual base_link
I have built my differential drive mobile robot in solidworks and converted that to URDF file using soliworks2urdf converter. I successfully launched and robot and simulated with tele-operation node. ...
- 113
2
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1
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393
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What is the Point of Monocular SLAM
I am not a V-SLAM expert yet, but as far as I understand with monocular V-SLAM there is a scale ambiguity introduced by the fact that a camera essentially is an azimuth sensor that maps the 3D world ...
- 120
2
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1
answer
421
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cartesian velocity control loop implementation
I'm using ROS (noetic) to intuitively control a franka manipulator using the panda_robot package for the simulation.
I've set up an extended kalman filter which fuses the following measures:
IMU data:...
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1
answer
1k
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Using Qt Designer and ROS2 together for a GUI
Hello,
I want to create a GUI for my project using ROS2. I do not have any experience in developing graphical applications, so I decided to use Qt Designer for a more "Drag and Drop" ...
- 685
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2
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16k
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unable to locate package ros-humble-desktop ubuntu 22.04
I am using ubuntu 22.04 and I am getting the error of unable to locate package when trying to install the ros 2 humble. I followed the instructions on the ros.org page for humble.
The following ...
2
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1
answer
1k
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Python PID tuning - Parrot Bebop 2 - Target follower - ROS
I'm developing a PID controller for making the drone follow a detected object.
I used as reference these topics:
Ttracking-objects-from-camera-pid-controlling-parrot-ar-drone
Tracking-objects-...
- 53
1
vote
1
answer
153
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Problem with Define Robot Poses (in Moveit Setup Assistant)
In this picture, I can use GUI to define any pose of robot. However, I can't drag the slider or enter a number in the box. What is my problem?
- 37
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1
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43
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1
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1
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182
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ament_target_dependencies vs target_link_libraries
In the tutorial for adding dependencies, it mentions
Sometimes it will be necessary to call the target_link_libaries CMake function
What are the situations where I should use ...
- 486
1
vote
1
answer
190
views
How do you publish on a ROS topic when the message type is not known?
I am trying to publish a ROS message in Python but I do not know the message type. I tried using AnyMsg and it did not work. If this is possible would someone be able to provide a Python code snippet?
- 49
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568
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Compile ROS2 package with pre-compiled shared library
Hi there,
In my ros2 package, I want to compile the node with a shared library, which is an SDK shared library provided by the manufacturer of the hardware. I am able to compile my code with ...
hank880907
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2
answers
47
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Conversion from ROS timestamp to ISO-8601 time format
I would like to convert a ROS timestamp like this:
ros::Time stamp = ros::Time::now();
to string in ISO-8601 format.
The best resource I was able to google up so ...
Fairf4x
1
vote
2
answers
177
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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, ...
- 25
1
vote
1
answer
252
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Converting from URDF to STL
Is there any way to convert URDF files into STL files?
I know basically we use CAD software to create stl and convert them into urdf to simulate our robots.
But, in my situation, I have only xacro ...
koki
1
vote
1
answer
479
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Read data from ROS2 topic when I want to instead of callback
Hi,
Currently, if a topic is published, in order to listen to the message, I create a subscriber and a callback function which gets called whenever there is a new message on the topic. Instead of this ...
dvy
1
vote
1
answer
84
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ros2 interface command dosen't work
Hello, I'm fairly new to ros so I might be missing something obvious.
During the ros2 tutorial I need to type the command 'ros2 interface', you can see in the image below that I get an error message ...
1
vote
1
answer
723
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convert/use rosbag1 with ROS2 on Ubuntu 22.04
Hi,
I just got several datasets in the form of ROS1 rosbags.
I would like to use them within ROS2 (humble), either by converting them to ROS2 bags, or by replaying them in ROS2, whatever is easier. Or ...
felixn
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vote
1
answer
258
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Correct use of transformations while using coordinate frames
I would like to understand better the transformations between the frames established in REP-105. I did read the specification but I think I might be misunderstanding something.
Let me bring one ...
- 172
1
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1
answer
172
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Coordinates seem to show overlapping but RViz doesn't
How can you place two objects that seem to overlap with their units but appear stacked on top of each other [original intent] in RViz?
I was watching this video tutorial on ROS and URDF. I have ...
- 315
1
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0
answers
477
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Gazebo crashes and burns launching empty world in new package [closed]
I'm launching empty_world copied into my package with the command
roslaunch my_package empty_world.launch.
Here is ...
- 111
0
votes
1
answer
487
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Build of ROS2 package: Out of memory
Problem
I try to build a ros2 package and run out of memory so that the system gets unresponsive or the process is terminated.
I'm using ros2 foxy on ubuntu 20.04
Hardware
CPU: 4 x ARM A53
RAM: 4 GB
...
holunder
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votes
1
answer
21
views
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 ...
- 63
0
votes
1
answer
142
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Ros2 Galactic binary installation on Windows 10: failed to create process
Hi - I followed the steps here: https://docs.ros.org/en/galactic/Installation/Windows-Install-Binary.html without any errors. And then attempted to run a test node and received the following error <...
ckrobin
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1
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70
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What is the naming conventions for tf_prefix vs ns?
I have not found a clear answer to this, and reading code on Github has merely confused things further.
What is the standard naming convention for tf_trees that relate to a namespace for a robot? ...
hwil292
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1
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207
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0
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1
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27
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ros2_control manage hardware_interface::return_type::ERROR
Hey guys,
I am currently working with the foxy branch of ros2_control and trying to figure out how is the error management done by the ...
mcbed
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1
answer
235
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Why does ROS2 custom message colcon build give include file errors?
I am new to ROS2, but very familiar with ROS1.
I am doing a very minor tweak of the ROS2 tutorial Creating custom ROS 2 msg and srv files and it fails to build. The base tutorial code works fine. I ...
ajayvohra2005
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1
answer
620
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ros2 launch using IncludeLaunchDescription and remapping topics
To re-use other packages in the ROS2 ecosystem, it's often advantageous to directly re-use the launch files provided with a package by using IncludeLaunchDescription...
jeremya
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1
answer
58
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add acceleration to 'move_group->stop()' command
when 'move_group->stop();' command triggered, or when i press 'Stop' button on 'RViz', the joint stops very suddenly.
how can i add acceleration to stop command ?
is that possible ?
thank you
...
omeranar1
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1
answer
82
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How to avoid planner jumping between 2 possible path
Hi everyone, recently I'm using Navigation2 release 1.1.0 with Galactic built from source in Ubuntu18.04.
I'm using Smac 2D Planner and TEB controller in my navigation stack, they are run in 10Hz. The ...
stu00608
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1
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113
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ROS2 python launch: Using argument to create file name for a launch_argument
Hi!
I like to launch gazebo with different environments (world files). But I only want to give as argument the world file name and not the full path. The full path should be created by launch file.
...
Markus Bader