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18 votes
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Is ROS (Robot Operating System) mandatory?

I'm back to a computer! Like I said in this comment, ROS is generally not mandatory. ROS is one platform among many, famous mostly due to Willow Garage giving away free robots at some point in time ...
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18 votes
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ROS: catkin_make vs. catkin build

The main difference is the isolated environment that you get with catkin build. This makes the whole build configuration much more compartmentalized and robust to ...
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17 votes
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ROS: Best practices?

Very short answer: 2 Sensors Regarding whether reading from sensors all in one node or each separately, you should ask yourself this question: Are the sensors meaningless without the other? This ...
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12 votes

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 ...
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11 votes

Why do we need ROS?

I think it is safe to say that ROS adds a lot of value to many robotics applications, but it definitely isn't appropriate for every robotics application In fact, the ROS website has a series of pages ...
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7 votes

Implementing a boustrophedon algorithm in a given room with obstacles

I implemented something like this in College: https://github.com/Auburn-Automow/au_automow_common/tree/master/automow_planning Basically we just passed the vertices of the boustrophedon path as ...
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6 votes
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How to get a python node in ROS subscribe to multiple topics?

You can follow the example code here and simply add a second subscription like so: ...
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6 votes

ROS on Raspberry Pi Model 2: UbuntuARM vs ROSBerryPi

The ROSBerryPi page is quite outdated, you actually can install prebuilt ROS Groovy binaries on Raspbian. You will be better off installing prebuilt ROS binaries rather than building from source on ...
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  • 106
6 votes

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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6 votes

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 ...
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  • 291
6 votes

Alternative to ROS?

I think you are getting confused between the basic ROS possibilities and some more advanced libraries which are integrated but do not need to be used by users without 'advanced' requirements. If you ...
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6 votes

ROS: catkin_make vs. catkin build

Apart from the isolated build, it is much more convenient to use: Independent packages are build in parallel which can make it much faster. catkin build can be ...
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  • 163
6 votes
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Robot moving sideways in RVIZ ROS

I have found the problem after some long search on the internet. The problem was that in Rviz, X-axis is defined as front of the robot and Y-axis is defined as the sideways. However, in my URDF I ...
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  • 516
6 votes
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How secure is ROS2?

Rather than trying to explain the nuances of ROS 2 security, I think its better to mention that ROS 2 uses the DDS standard for its security paradigm. If you're working on something important like ...
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5 votes
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Build a ROS robot with SLAM without laser

A kinect mounted on your robot is enough for mapping and localization. There are a few different packages that will work: rgbdslam can create a 3d map using a kinect You can use ...
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  • 101
5 votes

Is ROS hard real time safe?

ROS is not a real-time operating system. The purpose of ROS was not to be like VXWorx (which is what the Mars Curiosity rover uses). ROS was developed to be a simple, generic, reusable platform for ...
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5 votes
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Create 2 Cable with 700 Series Roomba

Yes, it will work! The electrical interface is the same between the Create 2 and the 700 series Roomba; however, the position of the mini-DIN is changed. Instead of being to the right, under the top ...
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  • 952
5 votes

How to align solidworks global origin with assembly origin while exporting in solidworks to urdf

I did a little step-by-step tutorial with images, but if my other answer regarding aligning frames didn't work well for you, or the definition of "Front Plane" or "Top Plane" is confusing in ...
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5 votes

What are the prerequisites for learning ROS?

It sounds like you're excited to learn ROS. The best way to learn ROS well is to dive in and learn any necessary bits along the way. Once you finish going through EVERYTHING in the ROS tutorials you ...
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  • 295
5 votes
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What is the difference between ROSberry Pi builds?

Well this is embarrassing. I didn't realize they are in fact different distributions not variants. Also found the page where you can find out more about them: http://wiki.ros.org/Distributions
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5 votes
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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 ...
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  • 4,326
5 votes

Inverse kinematics for differential robot knowing linear and angular velocities

Your linear velocity should be the average of both wheel values. Assuming there's some wheel radius of WHEEL_RADIUS, as you've stated, then you should get each ...
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5 votes

rostopic list not showing topic

In which order do you run your commands ? rostopic list is used to list current topics registered with the rosmaster 'node', ...
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5 votes
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Is ROS still maintained are any other trendy alternatives?

ROS Melodic supports 18.04, the current LTS-version of Ubuntu, so it's perfectly up to date. ROS has a huge active community in Academia and(!) Industry (ROSIndustrial), many robotic companies use ...
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5 votes
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roslaunch not found

Even though you have added source /opt/ros/kinetic/setup.bash to your .bashrc, the fact you get a "command not found" error ...
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5 votes
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Is using a robotic operating system still considered bare-metal C?

Bare metal programming is defined by not using any abstractions that might be provided by an OS and working directly with the hardware. Wikipedia Technopedia. ROS provides an even higher level ...
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4 votes

Can't Read current on Pololu Dual MC33926 Motor Driver Shield for Arduino

When there is miscommunications between the microcontroller and a chip, assuming the electronics are not damaged, there could be a couple of things that can go wrong. Of course, further diagnosis is ...
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4 votes

Hector SLAM, Matching algorithm

Imagine someone put you in a wheelchair and blindfolded you, then let you reach your arm out and touch a wall. You could tell how far away the wall was, but as long as you were pushed parallel to the ...
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4 votes
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Using Gazebo installed on same machine in MATLAB

The MATLAB tutorial doesnt cover this aspect well about when you have matlab and gazebo running on the same linux machine with no virtual box. Change your linux ethernet interface ip address ...
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4 votes

How to use SLAM with simple sensors

The actual implementation of SLAM won't care about whether you are using high fidelity laser range finders or cheaper ultrasonic sensors. Both are providing range measurements with the biggest ...
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