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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How ROS vs. ROS 2 compare for Spot Boston Dynamics Robot

I'm wondering what are some differences between the ROS and ROS 2 packages for the Boston Dynamics Spot robot? What is their level of support? How is their functionality in relation to the official ...
nitzan's user avatar
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Force transformation problem

I have the following set-up: I read force and torque values in sensor frame, but I want to transform the to tool frame. I have the following equation: where: This last matrix shoul be 6x6, but if I ...
Unai Granados Ormaetxea's user avatar
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How to get the world coordinates with position and orientation in ROS 2 Humble

I am using ROS 2 Humble. A person is supposed to take a photo of an AR marker with a camera. Inside the system, we can obtain the relative coordinates, position (x, y, z), and rotation, orientation (x,...
aotombo's user avatar
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Integrating Depth Camera with ArduPilot Gazebo for Obstacle Avoidance

I am currently working on integrating a Realsense D435 with my drone in the ArduPilot Gazebo simulation environment. My goal is to implement obstacle avoidance during the drone's mission. I have been ...
Jazx Jazx's user avatar
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DAE world dosnt load in gazebo

I am struggling to load my dae world in gazebo using a launch file. I have a dae file containing an apartment called apartment.dae. I have a simple world file ...
Elias's user avatar
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Why Lidar detection range in gazebo is different from setting?

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seokjinheo's user avatar
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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 ...
Ankit Kumar's user avatar
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133 views

ROS Planner Trajectory Sampling Rate

When using ROS Noetic (ROS2 answer great though too) with the Pilz industrial planner, I noticed that the plan output trajectory has 100ms between samples. I searched the web (and the source-code) ...
Dan Sandberg's user avatar
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C++ Refactoring help

I am working with C++ for a Teensy (Arduino-like board). There is a pattern that I have a lot which annoys me because it is tedious and ugly. But I don't know how to refactor it to make it less ...
pitosalas's user avatar
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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 ...
Amarnath's user avatar
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What is the frame name in a TF2 transform?

Often in literature and tutorials the concept of a "Frame" is used. In TF2 a frame requires both a parent and a child name. So when someone refers to "frame" are they referring to ...
FourierFlux's user avatar
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ROS Connection in React Native Is Not Happening

ERROR Error in ROS connection: {"isTrusted": false, "message": "Failed to connect to /10.0.2.15:9090"} ...
Ved Recharla's user avatar
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Real time velocity control with Moveit

I am working on a research project involving robotic welding, and once I get the motion plan with moveit, I want the end effector to move in specific velocity along the weld path, based on camera ...
welderboi's user avatar
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Colcon build unsuccessful

I'm trying to build an old package. I'm not able to build the package successfully. Here is the repo for the trial. I'm using ROS2-humble ...
Adithya Damarla's user avatar
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Navigation in Local Frame (odom frame)

I am working on a control related task - a docking procedure for an AMR to be specific. That task requires my robot's pose information throughout the planned path as it moves to the goal/docking ...
Alperen Keser's user avatar
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RViz2 Show Trail not working

I'm going through the MoveIt Quickstart in RViz guide and am trying to replicate Step 4: Use Motion Planning with the Kinova Gen 3. When following the instructions of un-checking the Show Trail box, ...
MAP3's user avatar
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Library index error in ROS Foxy

The error is shown below: ...
Athira GS's user avatar
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how can i run a ros2 launch file on startup?

I have a python file running the ros2 launch file ...
Danana's user avatar
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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 ...
Balen's user avatar
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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 ...
pitosalas's user avatar
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Help with Ros Noetic installation on Manjaro. libtinyxml2 issue when trying to access or install packages

I am getting the error: rospack: error while loading shared libraries: libtinyxml2.so.9: cannot open shared object file: No such file or directory I have manually installed tinyxml2, thinking that ...
Mark Crawford's user avatar
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OpenRAVE IKFast scipy error

I'm attempting to use the python app pyikfast to generate an analytic solution to my 6 DOF arm. I was able to successfully run the pyikfast solver on the PUMA 560 arm so I know the solver can work. It ...
MAP3's user avatar
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Adding ROS2 to existing C++ Project

I have joined a project where we use a third party program that runs on another computer and sends messages via ROS2 (topics and services). Our goal is for our own code to be able to receive these ...
T3 K14's user avatar
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ROS on ROBOT EPSON

Would you know if it is possible to control an EPSON robot with ROS, in order to get out of the dependence on the EPSON ecosystem. I'm a beginner looking for a solution, sorry if my question isn't ...
Yacine apprentice dev's user avatar
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164 views

Nav2 - How to create a custom behavior tree (BT) plugin/node in a separate ros2 package?

I'm trying to create a my own custom bt plugin. In the official tutorial https://navigation.ros.org/plugin_tutorials/docs/writing_new_bt_plugin.html, I can't see an instruction or an example on how to ...
Addy Pete's user avatar
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Gazebo custom mesh not showing shadow

This seems like a silly issue that I am having, but I am trying to use a custom mesh as the ground for my simulation. I have generated a .dae file containing the following tag: ...
Steven Kraine's user avatar
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ROS2 master-slave communication

Currently I am working on a simple image transfer. I have a folder on the master (containing high-resolution images), and I need to transfer the images from the master to the slave through ROS2. Both ...
Nian47's user avatar
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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 ...
labude's user avatar
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Does rostest/gtest (ROS , CPP) provide any conditional compilaton flag?

does rostest/gtest (ROS , CPP) provide any conditional compilaton flag? My use case is that i have a code snippet using std::chrono::steady_clock to wait for many seconds to enter specific parts of ...
ACristea's user avatar
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13 views

Seeking Automated Sensor Tracking Solution in ROS 1- Handling Large Data and Performance Issues

I could use some advice on how to track sensor data while the robot is in motion. Let me explain further: I'm working with ROS 1, and I know I could use the 'rosbag' commands to save a topic where the ...
Lino Compile's user avatar
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ROS RQT Update Speed

In Subscribe Program or rostopic echo, Racing Wheel (Logitech G29) data is output well in real time. However, RQT's Topic monitor seems to reflect the latest data slowly, does anyone know why? Is it a ...
NeighborDva's user avatar
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59 views

ROS Debug Clion - Controller

I have following problem. I am using clion and ROS (1). I use franka_ros to develop a controller. Hear I want to mention, that I followed all the steps provided by clion - documentation website, to ...
klanky's user avatar
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What is the ROS2 equivalent of rospy.AnyMsg?

Currently in ROS I am using rospy.AnyMsg. I would like to convert the ROS code to ROS2. I tried doing an import AnyMsg from rclpy...
jasonsf's user avatar
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39 views

Incorrect values of encoder for mbot Ranger

I have an mbot ranger which uses the 180 Optical Encoder Motor (https://support.makeblock.com/hc/en-us/articles/12376087604887-About-180-Optical-Encoder-Motor-for-mBot-Ranger-). My final goal is to ...
umerkhan-mas's user avatar
1 vote
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22 views

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 ...
brian wei's user avatar
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52 views

ROS 1: How to programatically write static transforms to a bag file so that rviz "sees" it

I'm having an issue with an application that programmatically creates ROS bag files using the rosbag code API (http://wiki.ros.org/rosbag/Code%20API). Then I want to be able to playback and visualize ...
Eric Foote's user avatar
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1 answer
64 views

What is prioritized in Nav2? bt_navigator or simple commander API?

upon reading the documentation of nav2, I've came accross bt_navigator and simple commander api. Both ways allows modification of the behavior of the robot. For example bt_navigator has FollowPath ...
Addy Pete's user avatar
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16 views

Gazebo Classic - Inertia Visual Does not Match Robot Shape

With the following values, the inertia visual in Gazebo 11 matches the basic shape. (inertia implementation at bottom of post) ...
Carson's user avatar
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285 views

plotjuggler read rosbag error

when i run run plotjuggler plotjuggler to read data from a bag file, i encounter the following errors: ...
joe qiu's user avatar
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49 views

TF drift when use IMU on Cartographer

I want to use my IMU MPU9250 on the robot to perform 2D SLAM using Google Cartographer and RPLIDAR A1. But when my robot moves, the transformation goes crazy. The map rotates randomly (I see it in ...
Emir evcil's user avatar
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16 views

Robot moves to certain coordinate point with rclpy and set multiple goals?

i'm new user in ros2, i'm trying to send robot to certain points, i dont understand how to do it, i tried many codes and nothing works, can you help me with code? Tnx!
Oleg Shamray's user avatar
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30 views

How to stop "hold" trajectory in joint trajectory controller when close enough

As soon as my robot initializes its velocity_controllers/JointTrajectoryController, the arm starts swinging back-and-forth as the controller tries to reach ...
01 Binary's user avatar
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45 views

Calculating IMU random walk using allan variance

I am trying to calculate accel and gyro noise and random walk for Intel realsense using allan variance. I quickly generated imu csv in the format specified here using custom CPP script for just 3 ...
RajS's user avatar
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-1 votes
1 answer
32 views

Error while implementing a ROS Service

I am implementing a ROS Service to input two numbers but an error keeps occuring. File "/home/atharva/arduinobot_ws/devel/lib/testing_ros/service_client_example.py", line 15, in exec(...
VelvetThunder_06's user avatar
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1 answer
31 views

Stuck on Astar Planner plugin for movebase to operate turtlebot3

I have a problem on my astar planner plugin for move_base to move the turtlebot3. When I use the 2D nav goal, sometimes it works I don't know why but many times it doesn't. It does not make the path ...
한정민's user avatar
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15 views

How to view green ( VIO odometry) and blue (odometry under GPS global fusion) path in Rviz?

I'm new in the ROS and I'm trying to run Vins-Fusion with KITTI GPS Fusion (Stereo + GPS), I used this repo https://github.com/HKUST-Aerial-Robotics/VINS-Fusion. The problem is that I cannot see ...
Black_Ste's user avatar
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1 answer
50 views

Kinematics for tricycle drive robot

I have a tricycle drive robot with propulsion and steering in the front wheel, and the rear wheels are fixed. I want to calculate the robot's steering angle and front wheel velocity from the twist ...
Saurabh Rahatekar's user avatar
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1 answer
25 views

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 ...
Blueetooff's user avatar
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1 answer
13 views

Error establishing the connection between MATLAB and ROS

I am trying to run the following code on MATLAB ...
Devesh Vaish's user avatar
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1 answer
55 views

Lifelong mappping in slamtoolbox

I have this parameters to run slamtoolbox in lifelong mapping , map is creating worse ( will give the pic below) here is the params: ...
Tuğba Kara's user avatar