# Tag Info

### How to setup CLion for ROS?

Start CLion from a commandline with your sourced ROS workspace (i.e. after calling source devel/setup.bash) Open a project's CMakeLists.txt, and tell it to open it ...
• 273

### Programming Inverse Kinematics in C++

I agree with SteveO that there is nothing wrong with reinventing the wheel if you want to learn about wheels. And for a single application, 4 DoF arm, the IK is probably not too hard. But I feel ...
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### How to setup CLion for ROS?

Integrating CLion with ROS is actually straight forward and works out of the box if one knows how to do it: With your console, go into your ROS workspace and source the respective ...
• 291
Accepted

### Programming Inverse Kinematics in C++

It is rather straightforward to implement inverse kinematics for a particular manipulator in C++. Of course, you need to begin with the inverse kinematic equations themselves. Putting those into ...
• 4,326

### Is there any C++ library I could use to program a robotic manipulator involving forward and inverse kinematics?

The best way to understand forward and inverse kinematics is to write a library for its own. A good starting point is to implement Cyclic Coordinate Descent. So called "ready-to-run" librarys like ...
Accepted

### Create a simple C++ client Application to control KUKA's Robot-arm LBR iiwa via FRI

I have a library called grl which integrates control of a KUKA iiwa in C++. Right now the most reliable mechanism I've found for control is to receive state over FRI, then send state via Java. All ...
• 486
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### How to become proficient in software development for an aspiring roboticist?

If you make a career of robotics, you will come in contact with a lot of languages, a lot of libraries, and a lot of systems. The more you know about the fundamentals, the easier it will be to adjust ...
• 4,205
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### Adjusting the PWM frequency and duty cycle to achieve the desired angular velocity in differential drive robots

At first, I did not go trough your code to check for errors in the formulas but from a high level perspective this seems ok. Therefore, your position controller is fine. What you lack is a lowlevel ...

### How Can A Total Beginner Become A Skilled Roboticist?

Robotics is a mixture of things like mechanical engineering, electronics engineering and software engineering! Knowing C++ is a big head start in this area! Because I strongly believe that amongst all ...
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### PID Control: Is adding a delay before the next loop a good idea?

Don't disengage your controller. The purpose of a controller is not only to steer your system to the desired setpoint according to a predetermined dynamical response but also to counteract potential ...
• 3,470
Accepted

### Does a stable library exist for docking robots using images?

There's a lot of solutions out there already for this. I'll start by suggesting AR tags not QR tags. They're better optimized for localizing. The Alvar library is commonly used for tracking AR tags. ...
• 1,041
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### How Can A Total Beginner Become A Skilled Roboticist?

There are a few dimensions to being a roboticist: is knowledge of theory about robot perception (understanding the world through sensors such as cameras, signal processing and machine learning), ...
• 1,497
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### Some Kalman filter implementation queries

Answers are inline Qn 1. Does kalman filter require constant time step? Correct it does not. The reason you may find in literature that it requires a constant time step has to do with with lack ...
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### difference between the two constructors

IMHO the main difference is, that inside function/method the first one (object) is allocated on the stack and destroyed after leaving the function, while the other (pointer) allocates its data on the ...
• 443
Accepted

### C++ (ROS node) for Euler Integration to estimate Velocity knowing the acceleration

I find it easiest to make a class for stuff like this, where you have data you want to use between callbacks, or your want to publish a message inside of another callback. For example, your class ...
• 14.5k

### Does C have advantages over C++ in robotics?

As the comments indicate, the answer is really based on what you want to do with the programs you write. There are a lot of benefits to the object oriented capabilities of C++. But the inheritance, ...
• 4,326

### Is there a simpler way than ROS for 5 DOF Dynamixel arm control

The library call could be as simple as these two OpenRave Python lines: robot.GetController().SetPath(traj) robot.WaitForController(0) Of course the types would ...
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### Is there a simpler way than ROS for 5 DOF Dynamixel arm control

Cross post on YARP Q&A channel: https://github.com/robotology/QA/issues/54
• 3,470
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### Stereo Vision Using Compute Module: Pi camera synchronization

You need real camera synchronization which means using cameras that both have external trigger capability (it is like the "remote shutter" on consumer/DSLRs). What you do is feed a common trigger ...
• 623
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### How to split tasks between interrupts and the main loop on a bare metal controller?

Some very general advice. My first impression from your question is that you are struggling with the fact that no hardware provides infinite resources. You can either slow down your control loops or ...
• 4,205