3
votes
Fully decentralized network for mobile robots using ROS2
ROS2 is inherently decentralized as it uses DDS. So as long as the controller hostnames are known to eachother (via a private network/VPN or some other goofy networking if not on the same router), ...
- 31
3
votes
work envelope volume calculation using reach and stroke values
Yes, that's exactly right. The envelope is the maximum space it can reach and move within (i.e. the volume encompassed).
The x-axis can move from -1.2m to +1.2m, covering a distance of 2.4m.
The y-...
- 338
3
votes
ROS Package Dependencies Installation for Begginer
It looks like you have a question about best practicies for managing dependencies in ROS 1. Using rosdep is the prefferred route during development (option 3). ...
- 1,273
2
votes
Accepted
Omnidirectional kinematic model in robot_localization's EKF
I forgot that Euler angle rates $\dot{q}$ are of course NOT EQUAL to body angular rates $\omega$.
$$\dot{q} \neq \omega$$
Their relation, given RPY rotation convention, is
$$
\begin{bmatrix}
\dot{\phi}...
- 271
2
votes
Accepted
How to control the position of a load shared between two (servo)motors?
I've done several applications similar to this one, which we call here as "Torque sharing", where two motors move the same load.
Your approach is right: Control a motor in Position Mode and ...
- 144
2
votes
Accepted
Why are bird-like bipedal robots more efficient than humanoid robots?
You might try searching IEEE Explore for papers on the subject. The IEEE sponsors a humanoid robotics conference each fall that publishes a journal. I attended one year and I think I recall a couple ...
- 338
2
votes
Creating a Custom Hardware Interface for a Two-Wheeled Mobile Robot for ros2_control?
Have a look at the diff_drive example, this should answer question 2.
About how to write a hardware_component this video could help you with the first steps, or have a look at this step-by-step guide.
2
votes
ROS1 or ROS2? in Autonomous Navigation
You would need to provide much, much more information for anyone to make any kind of reasonable suggestion. But in general, ROS 2's navigation system is far more sophisticated than ROS 1's. If you ...
- 5,360
1
vote
Robot_state_publisher don't publish on /tf topic
That error shows that amcl has crashed and is no longer running. That is where I would start your search.
To that end you're not the first to experience this. There's an open bug issue at
https://...
- 24.7k
1
vote
ROS1 to ROS2 in Burger
You can start working with ROS 2 in parallel with your ROS 1 system. And you can bridge between your ROS 1 systems and your ROS 2 system using the ROS 2 bridge.
https://github.com/ros2/ros1_bridge
The ...
- 24.7k
1
vote
What Robot Type is depicted?
It seems to be basically a SCARA robot. It's just that the tool tip has an odd extra degree of freedom.
Is the axis of rotation of $\theta_3$ really about the tip, or is it further up at the $L_2$ ...
- 338
1
vote
Instantaneous Center of Rotation of Skid-Steering Mobile Robot
If the context is differential drive calculations, the robot's z-axis center-of-rotation has nothing to do with the robot's mass.
- 692
1
vote
Accepted
Displaying a png-file on a display - stays black
The Display.imageLoad simply reads the image from file and store it internally in Webots. To actually show the image in the Display, you have to call ...
1
vote
How to find the optimal path for a line following maze robot?
How will this blind robot know it isn't viewing the same node multiple
times if it keeps coming back to the same point after getting caught
in a loop?
If you can assume the robot moves at constant ...
- 692
1
vote
How to measure pull force on a (kite) rope?
That is a load cell, comprised of four strain gages in a Wheatstone bridge, probably mounted in sheer mode to cancel out bending forces.
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