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How to update robot_radius and footprint dynamically for motion planning

To use from Python you can try this below class, where decrese_footprint can be used to switch as per your needs. Make sure to import necessary libraries. class ChangeFootprint(Node): ...
Ani's user avatar
  • 17
1 vote

ROS2 on RaspberryPi4 - odom frame for nav2

You need to have wheel encoders velocities reported from the motors, visual odometry, lidar odometry, etc to provide the relative motion information to populate the odom frame - this is very important ...
Steve Macenski's user avatar
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What ROS2 Topic can I use to detect when a robot does a left or right turn?

Along with checking the RVIZ, you should also check the speed given by the move_base / nav2. In a straight path, the /cmd_vel should only give a positive value for the linear x-axis and 0 for the ...
Isak Martin Simbolon's user avatar
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AGV can't reach move_base goal/can't navigate properly

In your AMCL launch file, do not use the static transform publisher for tf from map to odom. This transformation should be done by the odometry node. Since AMCL relies on the topic ...
Isak Martin Simbolon's user avatar
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What ROS2 Topic can I use to detect when a robot does a left or right turn?

Without other informations on which kimd of sensors yuo have available is a bit difficoult to help. What i would check is if the parameters of the physical robot are the same of the ones you have in ...
Filippo's user avatar
1 vote

ROS 2D costmap layer to avoid certain areas

You didn't mention whether you are using ROS 1 or 2 but for ROS2 there is an option in Nav2 named "Keepout Zones" that you can identify the terrain areas on a preknown map and use keepout ...
fatemeh_p's user avatar
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IMU and Magnetometer Conventions in ROS: Sanity check

If the sensors were to rotate from X to Z that should generate a positive reading in pitch. From Z to X should generate a negative reading. If the sensors were to rotate from X to Z that should ...
automatom's user avatar
  • 5,572
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nav2 range_layer not working

Nilutpol I took 2 days to figure out this issue (you are lucky because I also need ultrasonic for my project hehe). I will try to guide you to reach it step-by-step (If you are still stuck): 1- The ...
Marcus Vinicius's user avatar
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Bad costmap while using Intel Realsense D435i camera in ROS2 NAV2

You need to either filter your sensor data, calibrate your cameras, or limit the depth in your configuration to the range at which the RGBD cameras are accurate probably a mix of all 4).
Steve Macenski's user avatar
0 votes

nav2 range_layer not working

Try to declare the sensor layer parameters to see if work: https://navigation.ros.org/configuration/packages/costmap-plugins/range.html I would change the .mark_threshold or clear_threshold to check ...
Marcus Vinicius's user avatar

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