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.
21,015
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Applying raw torques to joints in Gazebo simulation
I have a 7dof arm that I want to simulate, and the experiment requires me to be able to apply torques to the 7 servomotors (actuators) in the simulation. I would like to know how I can set up "...
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2
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29
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ROS1 to ROS2 in Burger
I want to work in ROS2 on my turtlebot3-burger (pi4), while I already work on ROS1-melodic. Can I do that with keeping my progress and without problems?
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[ROS2] Testing launch of Node
I've been trying to write some tests for my package, but with not much success until now...
I have a "PelicanUnit" node and in its constructor I require a path to a .sdf model: if that's not ...
- 13
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2
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Trying to publish information from subscriber node
I'm trying to make system consist of several sections, it must surely have at least 1 node doing 2 roles, both subscriber and publisher. and here it my codes.
##First section##
...
Nongtuy
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1
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105
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Why ros2 std_msgs/Header removes `seq`?
Hi,
I'm upgrading a ros1 package to ros2 and found that std_msgs/Header msg has changed.
in ros1: https://github.com/ros/std_msgs/blob/kinetic-devel/msg/Header.msg
<...
felixf4xu
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1
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251
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Float32MultiArray in pub/sub example
Hello ROS people,
so basically, I am simply trying to reproduce a simple C++ pub/sub example using the Float32MultiArray type. Here are the codes :
SUBSCRIBER
...
Lilipop
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1
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3
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Speed control of UR in Simulation and RealLife
Hi everyone,
i’m simulating a ur10 in Gazabo. Unfortunately i don’t know hai to set its speed. The default one that is set when using the Description Pkg form UR and the Gazebo Sim PKG from UR is very ...
Icon45
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1
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6
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Undefined symbol after source ros
Hello,
I create my own library with setuptools. When I run the command in terminal :
python3.8
Then I import my library, it works properly.
But if before starting ...
xavier12358
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1
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9
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Control robot remotely with a joystick
Hello,
I would like to control my robot remotely with a joystick. On a Jetson Nano I have running roscore and I'm able to connect from my desktop to the Jetson over WiFi. But when I plug in the ...
ElectricRay
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2
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11
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Slow Callback Processing for High-Frequency nav_msgs/Odometry Data
Hi, when I subscribed to nav_msgs/Odometry data which is published at a frequency of 100hz, the callback processed the data slowly and the data was lost. Even if it do nothing with the data, just ...
zyt
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111
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Objects slips from gripper during Gazebo simulation
I'm trying to simulate a simple scenario of pick and place for my UR5 ARM robot but i'm encoutering some problems during grasp. In particular, when grasping the gripper starts shaking untill the ...
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159
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unable to locate package ros-iron-desktop
I am trying to install ros2, i first installed ros2 foxy but had some issues with gazebo bridge package and also as ros2 foxy went to end of life i decided to try ros2 iron and now during installing ...
Brijrajsinh Raolji
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2
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14
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Is there a big difference between ros2foxy and ros2humble?
I saw a smart cart for ROS2, which happens to be the direction I want to learn, so I want to buy it. However, the official system for the cart is ROS2foxy, and I am learning ROS2humble, which is ...
xudadi
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118
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Control a robot remotely with joystick using ROS
Could anybody help me out controlling my robot remotely with a joystick. I will try to give all the information needed here below and explain what goes wrong.
I use a Jetson Nano which had ROS running ...
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1
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25
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Get currently active ROS 2 distros programatically
Is there a way to get a list of currently active ROS 2 distros, that a package needs to support?
This would be good for CI jobs. We could then warn the maintainers if their package is not supporting ...
- 454
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15
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Deprecated error while running "colcon build --mixin release" for moveit2_tutorials in ros2 humble
The error happens in "moveit_task_constructor". It seems the class names are wrong in that particular cpp file. This is the error message:
...
FailedMesh
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Some questions about C++ header file references when programming ROS2humble
This header file always fails to be referenced:
#include "tutorial_interfaces/msg/num.hpp"
I don’t know why. I am learning humble from Foxy’s tutorial. ...
xudadi
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24
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Gazebo simulation with robot arm interacting with floating item
I am trying to build a simulation where I can test my control scheme of robot arm to impose accurate force on a floating item.
I have found online how to build a robot model in Gazebo and control it ...
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1
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7
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How to use a Jupyter Notebook with Colcon?
I've got a problem that I suspect is easy, but I absolutely can't figure out---any advice is much appreciated.
Here's the situation: I have a standard ROS2/Colcon Python package (ie. basically fresh ...
ari-reframe
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1
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27
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Issue with changing the precedence order of ROS_PACKAGE_PATH
My system: Ubuntu 20.04, ROS noetic.
My issue: I'm working with two packages that have ros1 packages with the same name ORB_SLAM3 which causes an issue with ROS_PACKAGE_PATH and thus with ROS finding ...
gts_63
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2
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87
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ROS2 - Cannot build examples
Hi,
I am trying to build the examples from the tutorials
I did precisely this
...
phil123456
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1
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6
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Failed to connect to server (When ROS is connected to the robot)
Hi All,
I'm having difficulty connecting to my fanuc robot with ROS Melodic. I followed this tutorial to configure "http://wiki.ros.org/fanuc/Tutorials". When I send this command：
...
787500229
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23
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depth_image_to_laserscan not publishing to /kinect_scan topic in ROS2 Galactic
Hello,
I am trying to convert a depth image to a laser scan using the depthimage_to_laserscan package in ROS2 Galactic, but I am having trouble getting the node to publish the converted LaserScan data....
Vini71
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1
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57
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[ROS2] Odometry with Velocity feedback
Configuration:
ROS 2 Distro: Humble
OS Version: Ubuntu 22.04
Hi there, I have a 2 wheeled robot with differential drive kinematics and odometry setup, I implemented ...
Ammar Albakri
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1
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25
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How is TF2 supposed to be set up for an Ackerman steering robot with Navigation2
Hello, I am currently working with a physical, ackermann steering robot (car like). Right now my TF is setup with base_link on the ground between the two rear wheels.
However, I notice strange ...
- 3
1
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28
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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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1
answer
20
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Model bounces when calling the "reset_world" service in gazebo
Hi,
I am trying to reset a model to it's original position but when I call the "/reset_world" service (without a large time delay with time.sleep) the model bounces in the air.
Any help to ...
vertical_beef576
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1
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17
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Visualization of sensor output in RViz
I'm trying to visualize the output of a ultrasone sensor (HC-SR04) in RViz with ROS1. When I do a rostopic echo /RightSonarDistance I receive the values on the ...
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58
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How to keep the orientation of end effector during movement in ROS Gazebo simulation
I am using Ubuntu 20.04, ROS NOETIC, Moveit to control a UR5 robotic arm in Gazebo simulation. I am trying to move a robot with a fixed orientation of its end-effector. The basic idea is to use the ...
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2
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61
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Competitions for show innovations and gain visibility
I'm looking for robotics competitions suitable for companies that desire show their innovations and gain visibility. I know about DARPA Robotics Challenge and RoboCup, but I'd love suggestions for ...
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6
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I'm confused with callback_groups and threads
Hi,
I want to get a value from a topic and after perform some operations on the value retrieved (can't be in the callback function).
I imagine a subscriber and this simple loop (python)
...
- 31
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103
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[ROS2] Close all threads when using CTRL-C
Hi all!
In my project I'm spawning a thread which contains a while loop, simply like so:
...
- 13
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1
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16
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Robot localization: Odom tf is far offset from Map tf
Hello all,
Recently, I am using the robot-localization package to fuse all my sensors and does the localization for my robot.
And as I was testing the localization result outdoors, I found something ...
sdu568
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1
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10
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Wheel link is not modeled as a cylinder or sphere
Hello everyone, So i am having this error
...
the_one
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1
answer
8
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laser_scan(/scan) topic not showing and driving 4wheel bot using diff_drive_controller
Hi folks, I am currently implementing a 4wheel bot. I added a laser_scan topic in urdf file, you can see the file below...when i run the launch file, i can't visualize any laser and the "/scan&...
the_one
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1
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5
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Integration of realsense d435i camera and openvins
Hi everyone, I am updating my question, I am trying to integrate the realsense d435i camera and openvins nodes in one launch file in ROS2 Foxy. I have converted the openvins node into a composable ...
Robo_guy
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1
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149
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Can't publish or echo topics with custom message types from command line
Hello. I have starting to migrate from ROS1 to ROS2 and have encountered some issues trying to use the topic tools in the command line. I can use the "ros2 topic" tools just fine with ...
squidonthebass
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1
answer
11
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Queue full: chose drop actions?
Is it possible to decide what action should be taken when the queue size of a publisher or subscriber is reached? e.g. to let the newest message drop instead of the oldest, or to not drop anything at ...
JoshE
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1
answer
3
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How to transfer data from a set of topics to another based on name/prefix of topic?
I currently using script which subscribes to 3 separate topics with different message types, converts the data from those topics into one message type, and publishes the combined data into a topic ...
csanchez5
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0
answers
25
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Modeling EKF for localization of an Autonomous Mobile Robot
I've got an EKF for a simple two-wheeled mobile robot, whose states are the pose and the wheel's angular speeds.
I was wondering what were the advantages of having those last two states included ...
0
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1
answer
5
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Save all recorded bag files with `rosbag record`
I am recording data from a range scanner with ROS Melodic using the following command:
rosbag record -o nav310_ws/bagFiles/session --split --duration=1 --max-splits 1 /cloud
In the ...
Ben Brian
2
votes
1
answer
156
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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 ...
- 21
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115
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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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0
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31
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How to get proper position of gripper for UR5 Arm?
I am trying to attach gripper to ur5 arm but the gripper is not in proper position there must be origin changes.Does anyone knownhow to get gripper in a proper position? GRIPPER Should look proper ...
- 23
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1
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95
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How can I convert Quaternions rotation values into Angular Velocity?
I am currently trying to teleoperate a UR5e robot using a haptic feedback device (3DSystems Touch). I have installed the necessary ROS(noetic) drivers for both devices.
I would like to be able to ...
0
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1
answer
6
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publisher from tutorial doesn't react to simulation time of 1s
I followed this tutorial (ROS/Tutorials/WritingPublisherSubscriber(python) - ROS Wiki) and everything works fine for real/wall time.
But then I tested the same code with simulation time (in separate ...
MaxGyver
1
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1
answer
91
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RViz cannot display robot arm until I enable show robot collision
I followed the tutorial to display a robot arm in RViz. However, Rviz displayed nothing until I enable the "show robot collision" feature in MotionPlanning-Scene Robot
Can anyone tell me how ...
- 11
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1
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14
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How to get joint velocity from Moveit 2 Robot State?
Is it possible to get the velocity of each joint using Moveit 2 Robot State? Is there any better approach?
I tried the following:
...
mth_sousa
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1
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2
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ROS1 ROS2 porting help?
i have a std::queue defined like this
std::queue<sensor_msgs::PointCloud2ConstPtr> pointCloudBuf;
I wanted to understand how to define this in ROS2 , i tried ...
chrissunny94
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1
answer
15
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Time system when using tf2 lookupTransform
Given I have a topic /tf in rosbag, I want to run the rosbag and use lookupTransform to get transform between different frames. ...
hck007