Questions tagged [sensors]
A sensor (also called detector) is a converter that measures a physical quantity and converts it into a signal which can be read by an observer or by an (today mostly electronic) instrument.
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Can't use Ignition Gazebo thermal camera plugin with gpu lidar sensor
I am using Ignition Gazebo Citadel to simulate a differential drive robot, like https://gazebosim.org/docs/citadel/sensors. I am adding a thermal camera to the model (https://gazebosim.org/api/sensors/...
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how can i create a fire using Ignition Gazebo
i am trying to create a Fire in our world .we want a real fire it could be detected by thermal camera and also other sensors. I used particle emitter to create fire.But the thermal camera couldn’t ...
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Localisation without GPS: BNO055 vs BMI088 / other IMU
I am working on a robot for navigating confined spaces that are GPS denied, I have to navigate a 300mm square concrete tube. This is a prototype/proof of concept work and I don't have a ton of sensor ...
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Localization of Object in Rviz and Gazebo
I have a Simulated Robot in Gazebo and Rviz and i want to use a Camera and Bring an Object present in the Real World into Rviz, so that the Robot can see this Object. I would like to represent this ...
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Using SLAM in window cleaning robot
With my industrial design project group we are in the early stages of developing a window cleaning robot for tall buildings.
We would like to have this robot map the facade of the building using SLAM. ...
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How to simulate a radar(mmWave) sensor in gazebo?
I am trying to simulate mmWave radar sensor in ignition gazebo fortress. I am looking for a plugin for radar sensor. Can anyone guide me further?
I am working on a ros2 Humble on Ubuntu 22.04 and ...
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ROS2 Serial Communications
I am trying to get some data out from the proximity sensor through USB UART converter.
I don't know why but when I just run the code on mac OS with the similar code, it perfectly works fine. I would ...
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Finding North direction from magnetometer and accelerometer fusion
I was understanding accelerometer and gyro sensor fusion from this video. At time 3:56, Brian says:
To get north, we need to do some cross products. We can start with our measured mag (magnetometer) ...
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What type of ir sensor does the Wii remote use?
I am wondering what type of sensor the Wii remote works. I don't mean a specific model, but rather the general name of the type of sensor. I am looking in the end for a newer version
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Need advice on implementing ROS2 knowledge in a hardware-based autonomous robot project for navigation and object manipulation
I'm new to ROS2 and looking for guidance on implementing my knowledge in a project. I've learned concepts like publisher-subscriber, services, TF, URDF, RViz, Gazebo, and Navigation2. Now, I want to ...
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Phidgets limit switches in python using a VINT hub
I'm trying to set up a Phidgets magnetic limit switch in python on my RPi (this one - https://www.phidgets.com/?tier=3&catid=13&pcid=11&prodid=416) so that once the sensor detects the ...
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How to detect transparent objects (glass, plastic, etc.) with LiDAR (or what sensors can)?
I am wanting to create a robot that can pick up trash. I am planning on taking a picture of the trash, using an ai i've trained to detect the trash, using opencv to find the contour of the trash, and ...
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How to dynamically set a topic publication for a model sensor?
I've got a Gazebo model defined in a SDF file that I spawn in my world with ros_gz_sim create, with the -name argument.
This allows me to spawn several models based on the same SDF file.
Now I added a ...
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How to simulate encoders in Gazebo 11?
I am using a differential drive robot and would need to have access to the encoder counts from the simulator, but I cannot find an encoder plugin anywhere. Since encoders are one of the most basic ...
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Gazebo Garden : Green line in camera image with OGRE 1 render engine but not with OGRE 2
While loading the same map in gazebo garden with ogre 1 or ogre 2, the map looks the same in the GUI, but a green line appears in the camera image when using ogre1 (no distortion or noise applied, ...
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Gazebo-Garden : [GUI] [Err] [VisualizeLidar.cc:251] Lidar pointer is not set
When running gz-sim/examples/worlds/visualize_lidar.sdf (link), I get an error message ...
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What kind of sensor could detect insects moving in the dark?
I live in a condo in a large urban area, which means that cockroaches are inevitable. I thought of an a DiY project I could embark on to help control these pests in my home.
Basically I would have a ...
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Looking for high accuracy lidar sensor on short range
Can someone suggest me where I can find high accuracy, high resolution lidar sensors? The sensor should have a resolution of 1mm. The accuracy should be very high ~1mm. The sensors can be short range ...
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centimetre accuracy using IMU, is it possible?
I need to track hand movement, most importantly its vertical position to centimetre accuracy.
I've tried this with IMU MP6050 but the errors I get from double integration are huge.
Is there a way to ...
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How are exoskeletons controlled?
It is my understanding that there are 3 fundamental control methods : velocity, position and torque.
In exoskeletons meant to augment an healthy user's strength, a typical control method used is ...
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Connecting MTi-G-710 sensor to PC using RS422 to USB adapter
I tried to connect an MTi-G-710 sensor to PC using this RS422 to USB adapter. I connected the wires from the sensor directly to the terminal block, using this wire color guide.
When I connected it to ...
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Why are moving objects and actors, that have been added to the Gazebo environment, not being detected by Sick LMS Scanner on ClearPath Husky?
I am using ROS Noetic and Gazebo.
https://github.com/JiangweiNEU/actor_collisions is used as the world, but the human walking actor is not being detected by the Husky laser scanner despite ...
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Do MEMS or optical gyroscope record Earth's rotational and revolutional angular velocities?
I am using a 3 axis gyroscope (Android device) to record angular velocities using a sensor data logger application.
When the device is placed stationary, the gyroscope recorded the following values:
...
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Rotation of a point in 3D space
I want to rotate a point (3,4,5) by an angle 45 degrees(0.785398 rad) in 3D space. I have used the standard DCM matrix in the order Rx, Ry and Rz.
Where,
theta = 0.785398,
Rx= ( [ 1, 0, 0]
[ 0, cos(...
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Using an optical mouse sensor for odometry?
I'm trying to use a mouse sensor for odometry on my robot. Most datasheets I have found use SPI or SDIO interfaces for communicating but my microcontroller would require an I2C interface. Would it be ...
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Object racking on conveyor belt using low cost Lidar or similar non-camera options
The requirement is that movement of products right from the start to end of the conveyor belt (of length around 2.5 m) need to be tracked. The same can be easily done using any IP Camera and OpenCV ...
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Rotate sensor frame to body frame
I'm working with a lsm303agr from ST. Here is the frame attached to the chip
Here is the body frame
So I have some doubts about the rotations, before to fuse data ...
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Gazebo Garden plugin and nested models?
I have a problem that I'm not able to solve with Gazebo Garden.
I wrote a System plugin that handles a stereo camera, I need a plugin to interface the simulator with our SDK.
Differently from Gazebo ...
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How does the lightsensor values work? Lightsensorvalue into Percentage
In Webots: I try to build a Braitenberg vehicle so that when it receives light information through the ligh sensors it drives either away or towards the light. I used an ePuck and tried to just ...
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How to read the map output file generated by a project using Cartographer without ROS
Currently I can successfully generate the map output file but I have no idea how to display it in practice. Basically, it should be a 2D SLAM map.
The project I'm using is available at the following ...
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Will there be any interference when distance sensors facing each other?
I'm working a robot racing project using small RC toy cars on a premade track and a main goal for the robots to do is to be able to avoid hitting the wall and the racing opponents. Avoiding wall is no ...
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How to fuse IMU with encoders in EKF
Background
I have a car-like mobile robot (4 wheels, where the forward ones are steering wheels) and I want to estimate its pose and velocity assuming 2D planar motion. I'm trying to solve this ...
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Sensors, ports, pins, drivers and firmware by example
I am looking to just make sure I correctly understand the fundamentals for how robotic systems typically receive and process inputs from sensors.
It is my understanding that a sensor peripheral, such ...
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Are there low cost options for producing high pressure at low flow rates?
I'm looking for a low-cost way for a device to produce up to 4 bar pressure. Flow rate at that pressure almost doesn't matter; 2L per minute would be ample. All the options available seem very over-...
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Joint limits detection
I am pretty new to robotics and I am prototyping my own custom design of a robot with different types of joints controlled by ROS.
I have a custom joint activated by a DC motor and direct drive gears ...
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Where do sensor models come from?
i'm new to robotics. I understood why we talk about probabilities and probabilistic robots, but i don't understand where those probabilities come from, how do i go about building a sensor model? Does ...
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Force sensors output when inclined
So here is the context:
I am working on a motorcycle simulator. It consists of a motorcycle frame mounted on different actuators (see picture on the left).
In particular, the two actuators at the ...
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Custom sensors and materials simulation in Gazebo: how to simulate specific sensors behaviors for heterogenous materials / buildings
We are currently working on a simulation for a drone that would evolve in an urban environment. It would flight in front of facades and thus must avoid collision into walls, balconies, windows, etc. ...
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Trying to get started with iRobot Create2 - need help reading sensors
I'm getting started helping high school students learn about robotics and we're trying to interface a Raspberry Pi 4 to the iRobot Create 2. I've got them started with some sample code for moving the ...
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GPS + IMU data and kinematics equations
I have the following data
Longitudinal acceleration, $a_x^{IMU}$
Lateral acceleration, $a_y^{IMU}$
Vertical acceleration, $a_z^{IMU}$
Yaw angle, $\psi$
Yaw rate, $\dot{\psi}$
Latitude, $\rightarrow ...
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How can I feel feedback with electric power steering (EPS)?
When I am rotating steering wheel and it meets an obstacle, I feel it. I have EPS. How does it work? Is it just explicit sensor and feedback? Can I sniff this feedback on CAN bus?
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Tips for designing an optical eight channel read head for a DIY rotary encoder
I'm thinking of using the gray code optical encoder disc design described at TeX Stack Exchange to sense the base rotation of a robot arm. Being able to vary the disc to suit the physical aspects of ...
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Real-Time, App-Based Tool Tracking and Inventory Management System
For one of my classes, I need to create a sensor system that can connect with an app that will be able to track when specific tools leave a certain area. I do not know which sensor to implement that ...
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What are common method for sensor feedback in teleoperated underwater ROV to close the control loop
I would like to know what are the common method to get sensor sensor feedback in teleoperated underwater ROV to close the control loop. I mean does it use Velocity or Force and what sensor are used. ...
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Sensor fusion in a metal heavy environment
I am trying to get heading information of a forklift. I've designed a small PCB for this purpose. This PCB has a 3 axis magnetometer and a 6 axis gyroscope-accelerometer (Z- axis looking towards the ...
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Can inferences about servo torque or applied force be made by measuring servo current drain?
I'm working on a robot arm project for hobbyist / learning purposes. One of my DIY motivations is to be able to easily add additional sensors. I've been thinking about using ACS712 linear current ...
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Nonlinear Sensor Fusion with Space-Time Finite Element and Static Condensation?
I have recently implemented an algorithm for the nonlinear fusion of GNSS, barometer, magnetometer, accelerometer and gyroscope data.
The algorithm is based on a space-time finite element where the ...
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How to use knowledge of sensor noise
Reasoning about the meaning of uncertainty of sensor measurement I ran into a doubt:
(1) When we talk about sensor uncertainty, we often model it as a Gaussian distribution $\mathcal{N}(\boldsymbol{z},...
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Can you plug a CMOS camera (like the iPhone 8 back camera) into an mPCIe in a laptop?
I read that 12 megapixel iPhone cameras don’t record video in 12 megapixels because the processors are not able to keep up. It seems though, that if I could plug the CMOS sensor to the CPU of a laptop,...
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how to calculate the accuracy of data received from RTK-GPS?
I have received data from an RTK-GPS, in an environment free from buildings and other GPS obstructions. the covariance of these data is 0.01. now I do not know this is good or not? How can I find out ...
