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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questions with no upvoted or accepted answers
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Ros2 pub, dds sub, use zero copy
When I use cyclonedds, I send a string using the publisher_member_function of ROS2 and subscribe to rt/topic using pure dds. If SharedMemory is not enabled, I can communicate and receive string data ...
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Fixing the consensus algorithm code for ROS Noetic
The Python script below is about an implementation of the consensus algorithm (rendez-vous) using static Metropolis weights for Turtlesim in ROS Noetic, run in Ubuntu 20.04 OS.
The issue is that the ...
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Generated "__rosidl_generator_py.so" files issue
I've created a custom distribution using Yocto.
On it I tried to build "builtin_interfaces" from source (I use this example for reproducibility).
I'm able to run cmake and make but then I ...
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answer
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robot_localization GPS causing large drift/covariance spike
I am trying to implement the dual ekf navsat example on my real-world robot. The local EKF with wheel odometry and IMU works quite well and has no issues. As far as I can tell, my global EKF ...
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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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Implementing PID on a line following bot using turtlebot
I am using ROS melodic,turtlebot 2 on Ubuntu 18.04.
The idea is to create an environment consisting of lines as a path (slightly curved), and to program the turtlebot to follow the lines. Basically, a ...
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Why is ROS1 Message Generation Slow in Python?
I hit a performance issue when trying to use a custom message type in ROS 1 Noetic in Python. My custom message was defined like this:
...
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Gazebo Bridge is not working correctly in Gazebo Sim
I am trying to make a 4 wheeled robot simulation in Gazebo Sim (formerly Ignition). I am using the differential drive plugin for driving the robot using teleop through /cmd_vel topic.
My system ...
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Changing username on ROS discourse https://discourse.ros.org/
Is it possible to update the username on https://discourse.ros.org/
Not sure if this is the right place to ask the question, but I haven't found any option on https://discourse.ros.org/
Thanks.
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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 ...
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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 ...
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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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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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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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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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Error [rospack] Error: package 'rosbag_storage' not found when using bag_reader.exe on Windows
I have compiled a bag_reader.exe program using VS2019 on a Windows environment to read ROS bag files. While the program works perfectly fine in the ROS environment, I encounter the following error ...
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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 ...
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Collision Checking using Moveit (python wrapper) for a set of Joint Positions
I have a set of robot joint positions which I found by sweeping through the allowed joint positions with a fixed delta. This gives me about a set of ~2 million joint positions. Now, I want to check ...
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Local and Global costmaps not showing up in rviz
I have been working on an autonomous navigation for a 3wheeled robot. I am using hector-slam for mapping (and already have several maps saved) and want to use move_base for the navigation. My main ...
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1
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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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move_base / teb_local_planner not subscribing to odometry/local message from robot_localization ekf_localization node
Currently building a autonomous mecanum drive robot with wheel encoders, IMU, and LiDAR (with GPS to be implemented using a global EKF later). The current configuration uses a local EKF from the ...
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robot_localization not applying corrective measurement (GPS)
I am a beginner building a mobile outdoor robot using robot_localization and navsat_transform_node. My current setup is to use the ZED2 odom->base_link for relative localization and a ...
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Control axes with encoder or sensor
I want to move the axis using the encoder sensor readings, but when using the encoder my axis rotates suddenly and not gradually. i used arduino to send encoder data.
i use this encoder
and this ...
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Error on include my own library in ROS service
I have coded my own library for some purposes and use it in a ROS service. After modifying the CMakeLists file I get the following error:
undefined reference to `decirHola()' collect2: error: ld ...
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Costmap boundaries
Is there a way I can manipulate a costmap so that the outermost cells of the inflated obstacles in the x axis are counted as the map borders. I think I can write a script that does that using Python ...
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does the quadruped robot suffer from Gimbal lock issue?
I am a student working on forward kinematics of a quadruped robot. I am confused whether we can use euler angle roll, pitch, yaw in ZYZ Sequence for quadruped robot or not.
Does the angle vary till ...
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Manipulating the costmap to follow the path between obstacles
I am working on a project where a USV needs to follow the path between buoys. I set up the LiDAR and IMU which I will use to get localization and map data.
The problem is, pathfinding algorithm will ...
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76
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How to compute quaternion or Roll Pitch Yaw from a directional vector?
I am trying to get a sensor attached to the end of a robot arm to point at a specific Point of Interest. I know the XYZ position of both the POI and the target pose of the sensor, and I am able to ...
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cv2.stereoRectify works only when the rotation and translation are from camera 2 to camera 1
I am using the euroc-mav dataset to create a disparity map from stereo images: https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets.
In this dataset the cameras are already ...
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Local costamp not cleared properly
Summary:
I am using a TOF depth camera to convert the received point cloud into a laser scan and add it to the costmap. However, when the dynamic obstacles (i.e. people) move out of the camera's FOV, ...
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CARLA tutorial: roslaunch ImportError: No module named util
I am a beginner in ROS and CARLA. I set up Carla ROS Bridge package using the steps mentioned in https://carla.readthedocs.io/projects/ros-bridge/en/latest/run_ros/ after installing ROS bridge from ...
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Why is robot model collapsing in gazebo even with controller settings?
I am currently working with Ros Noetic, Gazebo, and Moveit. I have converted a KUKA lbr iiwa CAD model to a URDF (kuka_model_0) and made modifications to the package.xml, CmakeLists.txt, and the URDF ...
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53
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Unable to identify any set of controllers that can actuate the specified joints: []
I use ubuntu 20.04 and ROS noetic. And, I want to connect Moveit with Gazebo simulation and Rviz. The robot model is auboi5 robot arm. I call /aubo_i5/controller_manager/list_controllers and the ...
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robot moving on its own in gazebo simulator
im trying to control my robot using the ros navigation stack in gazebo, i know that i need a plugin to be able to send velocity commands to the robot,
i tried using the diff_drive_plugin i was never ...
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1
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70
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pcl_conversions/pcl_conversions.h not found when colcon build, but appriopriate packages are installed
I bought a LiDAR D4 on AliExpress and received a package from the buyer with a driver for ROS2. Unfortunately, I get the following errors when calling colcon build:
...
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Windows 11 error ModuleNotFoundError: No module named 'rclpy._rclpy_pybind11'
My Python version is 3.8, but he still reports that the module cannot be found. I developed it on Windows 11 system. Do have anyone who has encountered this problem? Can share how to solve it? Thanks
<...
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My global and local coast map is not aligned with the map and not showing any sign of obstacle
enter image description here
HI,
I am currently build an AMR in which i am facing some errors in the navigation that is my local and global coast map is not proper shown and aligned in the rviz,it ...
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23
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AMCL not updating the map - odom tf when robot navigating
Hello Im trying to autonomously navigate a robot using ros. I have created a launch file to start the navigation stack for the robot
Here is my launch file for the robot.
...
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25
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Implementing A Nested State Machine using SMACH library
I am trying to implement a Finite State Machine using the SMACH library. My state machine has 3 nested state machines and I don't know where am I making a mistake. Any help is highly appreciated.
'''
...
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PILZ Industrial Motion Planner claims missing cartesian limits
I am trying to use the Pilz Industrial Motion Planner and follow the tutorial at https://ros-planning.github.io/moveit_tutorials/doc/pilz_industrial_motion_planner/pilz_industrial_motion_planner.html. ...
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ros tutorial turtlesim running but no display in docker
I have just started learning ros from the tutorial given in their website. Tutorial link
As i am using windows I wanted to learn in Ubuntu. So i am using docker version of the ros. but now while ...
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Identifying Gazebo objects with a GpuRaySensor
I want to identify objects within a laser scan provided by Gazebo with the aim of obtaining point-wise ground truth data. Using the gazebo::sensors::RaySensor, I ...
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gazebo_ros_control plugin causes all joints and links to collapse to the origin of gazebo
I'm currently trying to simulate a 6 wheeled differential drive robot in gazebo with ros noetic on Ubuntu 20.04. However, I'm running into an issue when I launch my robot into gazebo, the robot does ...
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1
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108
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Customize SLERP used in MoveIt motion planning
I am currently working on a project utilizing ROS Noetic and MoveIt for robotic arm path planning. I have a robot arm that has to pick up items from between shelves on its left and right side. However,...
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Costmap configuration (costmap common_params.yaml)
I have a robot equipped with IR sensors, I don't have lidar. I don't understand how can I set my parameters in this file (costmap common_params.yaml) , what should I put instead of LesarScan (Note I ...
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49
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ROS1 Custom messages generates strange memory graph pattern when using multiple string types
In ROS1 Noetic, I have the following custom message named Test.msg:
int32 did
string a
string b
And I have another custom message TestList.mgs:
Test[] testList
In ...
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452
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error: no type named ‘type’ in ‘struct std::enable_if<false, void>’ when calling rclcpp::create_timer()
I am trying to convert a piece of code written in ROS1 to ROS2. I am having trouble with the following line, which instantiates a ros:::Timer object:
in ROS1:
...
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1
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125
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Dispersion of object edges in lidar point cloud
I'm having an issue with some spurious points appearing in the point clouds coming from my 3D lidar.
More specifically, I'm working with an RS-Bpearl lidar, and the point clouds that I receive from it ...
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2
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122
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SLAM but without actually driving the Robot?
I am just starting with SLAM and have to implement SLAM to get a dimensions (map) of an indoor space.
I have looked at the turtlebot3 slam and slam_toolboox packages with algorithms like gmapping and ...
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Can I avoid leaking memory when calling `plan_sequence_path`?
Context:
I am planning motions for a six-axis robot arm moving a tool along a toolpath. I am working in ROS1 Noetic, calling Pilz Industrial Motion Planner's PTP planner through MoveIt's ...
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