New answers tagged ros
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How to resolve singularity in six arm robot
My suggestion is to add constraints to the motion planner (see here how to set them in MoveIt -please be sure to read the tutorial related to your ROS/ROS2 distribution!-), rather than editing the ...
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How can you start gazebo with a non-0 simulated clock time?
Generally speaking, best practice would be to set the use_sim_time parameter in any ROS nodes that rely on timing in the simulation. Making sure everything is ...
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C++ can not build simple test program after update (Ubuntu 22.04/ROS 2 Rolling)
Have you tried deleting the "build" and "install" folders in your workspace (to remove any pre-existing cmake-generated files), and then running colcon again in this newly cleaned ...
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Issue with Rostopic Name Length Affecting Node Communication
This may be the same bug I reported years ago which is triggered when using a UDP connection. The ros_comm code has a buffer overflow, and I provided a patch to fix it.
https://github.com/ros/ros_comm/...
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How can the ROS 2 TurtleSim turtle icon be changed?
To be honest I haven't tried to change the images of turtlesim, but you can try to build the ROS tutorials package from source (ros_tutorials) add add your custom image to ...
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Is it possible to create a catkin package to provide precompiled libraries?
The answer above and other related resources helped me find out the following solution. My main problem was that the libraries wouldn't be seen in the devel space, which I brute-force solved by ...
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Custom ROS Service Cannot be Imported
Welcome to Robotics Stack Exchange!
If my_ros_pkg and MyService.srv are the name of the ROS package and name of the service file,...
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Does ROS 1 have compatibility with any Renesas Hardware? Or is it just available for ROS-micro (ROS 2)?
micro-ROS for ROS 2 is the successor to rosserial for ROS 1. Although the tutorials here focus on Arduino, plenty of other devices are supported, and you can always ...
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control computeCartesianPath's trajectory.points.size
It is not required that you call computeCartesianPath(). This function linearly interpolates points between the waypoints you pass into it. If the incoming ...
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In ROS, is it possible to do dynamic reconfigure with "nested" parameters?
Yes, multiple sets of dynamic_reconfigure parameters are supported for a single ros node. You need to create a Server for each path that has this kind of parameter. You can reuse a .cfg class name for ...
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How to add parameters to a node via a yaml file using a python launch file in ROS2?
So answering my own question,
To make the parameters available to the node, they first need to be declared inside the node.
Hence, the node should be something like:
...
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Debugging ROS nodes in c++
This video shows how to use VS Code ROS extension for debugging. https://youtu.be/uqqHgYsskJI
Here is a guide on debugging in VS Code:
https://github.com/ms-iot/vscode-ros/blob/master/doc/debug-...
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waitForTransform kills node after changing static tf
I found the problem!
A prefix was missing in the StaticTransformBroadcaster. The frame_id should be just footprint (the masters ...
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Trajectory waypoints are not exactly the same as joint positions. How to find the closest waypoint?
If the planned path could reach the same position twice, there is no unique "minimum distance" you could use to get the path parameter, whatever distance-function you will choose.
In this ...
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node crashes when subscribe to /image_raw topic
I would suspect that the problem is not with your posted code - but rather the driver itself.
The driver is likely implemented as a lazy publisher - this means that it does not interact with the ...
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Could I create multi dynamic_reconfigure in one package in one CMakeList？
Provide all the cfg files in a list instead of separate generate_dynamic_reconfigure_options() lines. Change
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publish saved trajectory one by one
I think the ros::Rate rate(nextTime) should be a duration instead: ros::Duration(nextTime).sleep()
I am assuming that ...
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Rviz Amcl spreading over time when stayin still
I suspect the problem is that your launch files rely on the obsolete tf_prefix feature. This feature was deprecated long ago, and I believe it is not reliably ...
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ROS Noetic. How can I manage origin of coordinates for each STL model in Rviz?
So, I found an answer:
There is option in SolidWorks - add origin of coordinate.
You can choose initial point and axises.
And as you save file as .stl,
In options, at the bottom of window, you can ...
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How to get ROS_MASTER_URI so that other devices can also connect to it?
On Linux:
set Env variable
export ROS_MASTER_URI=IP_ADDRESS
get Env variable
echo ROS_MASTER_URI
On Windows:
set Env variable ...
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IMU sensor Vectornav VN100 driver doesn't post any INS messages
Found a solution for my particular problem.
I just commented "if" condition for the INS publishing part of the C++ script, see the screenshot below.
*talking about ROS driver for VectorNAV
...
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ROS Noetic. How can I manage origin of coordinates for each STL model in Rviz?
In Solidworks, look for the STL output option "Do not translate output STL data to positive space."
https://help.solidworks.com/2011/english/SolidWorks/sldworks/legacyhelp/sldworks/impexp/...
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ROS node reading from bag not exiting correctly
It sounds like you'd like to avoid the while(ros::ok()) pattern because you're reading from a bag file, so rather than running in a loop you plan to step through ...
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How to deserialize ROS messages from Bag to ROS defined types in C++?
I think that you're looking for the instantiate method on the rosbag MessageInstance
There's a very minimal example here
...
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/apriltag_detector node crashes after viewing an apriltag. Receive openCV error
I got the same error, I'm using this repo: https://github.com/AprilRobotics/apriltag_ros.git
When I'm trying to run some of the tutotials of ros wiki(bundle calibration) from ros tutorials http://wiki....
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Formatting rosservice response
In general, it is preferred to create a new Message type, in your case something like Area.msg, and in your Service return a list of Areas.
Then, in your client, ...
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Rosserial missing subscribed messages
Just as test, I would move the publisher creation out of 'talker'. The creation of the publisher requires that other nodes be made aware of it's existance and if you create it, publish on it, and it ...
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bloom-release fails to open a PR on rosdistro with token error related to workflow scope
No you should not add more scope to your token!
Bloom opens this pull request using your personal fork of rosdistro
https://github.com/$USER/rosdistro.git
It will ...
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osrf/ros docker images don't contain Gazebo packages
The variants for ROS 2 are defined in REP 2001
- desktop_full:
extends: [desktop]
packages: [perception, simulation, ros_ign_gazebo_demos]
I think that ...
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Controlling Arduino device from ROS node
You can use rosserial for sending commands over the Serial port to your Arduino.
|0000|0000|0000|0000|0000| as |ID|Motor_1|Motor_2|Motor_3|Motor_4|
This is called a dataframe. If you do end up using ...
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Execute move_group.stop() more smoothly
The goal of MoveIt's stop() function is to stop the arm, which may be sudden. As described in this related question, what you're looking to do here isn't supported ...
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Accepted
rosdep key for SDL2 not working
You found the right entry. However you should be referencing the parent key, not the platform specific package.
So sdl2 and then on your platform rosdep will ...
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joints not showing up in rviz
As already mentioned, it seems that your are missing the tf2 tree, which rviz needs to render your robot.
You'll get this by adding robot_state_publisher to your launch file.
A tutorial of the ...
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How to send a 2D Nav goal without the button "2D Nav Goal" in RVIZ?
I tested in my case, when I set 2d nav goal in rviz, the message topic name is:
/move_base_simple/goal
and the message type is:
...
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How can I calculate the static transform between 2 coordinate frames?
Welcome to Robotics Stack Exchange!
How can I calculate the static transform between 2 coordinate frames?
Using terminal
Please use tf_echo utility from tf ...
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cannot launch node of type [gmapping/slam_gmapping]: Cannot locate node of type [slam_gmapping] in package [gmapping]
i solved it !!!
I've noticed that the gmapping package that i git cloned, from which then i would try to useroslaunch gmapping slam_gmappin_pr2.launch it wasn't ...
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cannot launch node of type [gmapping/slam_gmapping]: Cannot locate node of type [slam_gmapping] in package [gmapping]
Have you tried source /opt/ros/noetic/setup.bash on same terminal where you are launching your gmapping launch file because it's saying it can't file the pkg ...
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Can I get the current git commit in the ROS buildfarm binary packaging step?
By the time your Debian binary is being built, the git history is long gone:
When the PR build runs, it is simply checking out your repository, building your code, and running the tests. Therefore, ...
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Generating Core File on Segmentation Fault
This may not be exactly what you're looking for - but the Nav2 project has some documentation on Getting Backtraces in ROS 2 that might be helpful.
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catkin build fails because PythonInterp cannot be found
"FindPythonInterp.cmake" has been deprecated for a long time, and is removed in more recent cmake versions:
https://cmake.org/cmake/help/v3.16/module/FindPythonInterp.html
The page ...
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Gazebo Ignition how to bridge SerializedStepMap
Looks like I managed to solve the issue with @Bi0T1N help. To anyone interested in my setup:
I have .sdf file with my world (walls and robot)
I'm running Gazebo simulation
Gazebo publishes some ...
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How to calculate error for inverse kinematics?
First, you don't seem to correctly define pose, homogeneous transformation matrices etc.
A 'pose' is defined by a position and an orientation.
Position is typically represented by [x,y,z]' coordinates ...
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Accepted
Gazebo Ignition how to bridge SerializedStepMap
The JointStatePublisher plugin publishes a gz.msgs.Model (might be the SerializedStepMap on ...
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ModuleNotFoundError: No module named 'turtlesim.msg'; 'turtlesim' is not a package
You probably failed to setup the ROS environment in that terminal:
source /opt/ros/noetic/setup.bash
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An error occured in MOVEIT: ABORTED: START_STATE_IN_COLLISION
In your log there is this line:
...
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AttributeError: 'list' object has no attribute 'header'
joint_state should be a sensor_msgs/JointState msg not a list. If you search for "header" in the error msg you can see that it is trying to serialize the header in the joint state msg which ...
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IMU sensor Vectornav VN100 driver doesn't post any INS messages
Have you checked using the control center sw if the VN is actually publishing INS messages? Then you should also check which ports are selected for output and the rate limits. When having everything ...
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