Newest Questions
47,102 questions
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Need service node to not send response before recieving a msg on a topic
i have the following issue;
Node is a service node, and a subscriber. When the service recieves a request, i want it to wait for a msg on the topic it subscribes to before the service returns the ...
0
votes
1
answer
5
views
Overriding node parameters after calling rclpy init
I want to be able to write tests to verify that a node initialises correctly with different parameters. The parameters are retrieved/defined in the node's init function as follows.
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- 133
0
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0
answers
6
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How to delete shared memory files created by ros2 specifically?
I run ros2 applications in docker-container and communication based on shared-memory. The containers will stop or restart occasionlly, so i want to clean shared-memory created by specific container to ...
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0
answers
12
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Issue with Follow Path when following a straight path
I am providing the follow path controller sever in Nav2 with a set of global points to follow as below:
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0
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0
answers
19
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Pointcloud not aligned with with map
i am new to robotics and i want to build a robot that has a lidar sensor, depth camera and which detects traversable soft objects (using yolo) and extracts only the depth image of the detected objects ...
1
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1
answer
16
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trajectory preempt with FollowJointTrajectory controller is not smooth
I implemented a soft stop function (in two variants) to stop the motion of a manipulator in my repository (ManyMove)
It basically builds a single-point trajectory with time_from_start in the future, ...
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0
answers
16
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What types of embedded controllers (PLCs, FPGAs, ARM boards, etc.) are used with ROS 2 in real-world robotics applications?
I'm a robotics student trying to understand what kinds of embedded or industrial controllers are commonly used in real world or production level robotics applications with ROS 2.
I'm especially ...
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0
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10
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Could not contact service /abc/controller_manager/list_controllers
I have problem with launching my robot in my declared namespace. I mean for example "abc". After adding namespace, there are warnings:
...
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34
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How can I implement obstacle avoidance with an FHL LD20 LiDAR sensor on an ESP32-based robot (without ROS)? [closed]
I'm working on an electronics project where I'm building an autonomous mapping robot. The robot is based on an ESP32 microcontroller and uses a 4-wheel chassis with two dual motor drivers (L298N).For ...
1
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1
answer
34
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Colcon doesn't build subfolders
I'm building a ros2 (jazzy) python package with the following structure:
...
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1
vote
0
answers
15
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Compatibility of IMX500 AI Camera with ROS 2 Iron on Raspberry Pi 5 and Ubuntu 24.04.2
I'm currently working on a robotics project using ROS 2 Iron on a Raspberry Pi 5 running Ubuntu 24.04.2 (64-bit). One of my key components is the Sony IMX500-based AI camera (Aitrios), connected via ...
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19
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ESP32 micro-ROS RPLIDAR N10 + MPU6050 publishes /scan & /imu/data_raw but SLAM Toolbox shows “No map received”
I’m building a handheld mapping setup with:
ESP32‑WROVER‑E running micro‑ROS
UART2 → RPLIDAR N10 → publishes /scan (sensor_msgs/LaserScan)
I²C → MPU6050 → publishes /imu/data_raw (sensor_msgs/Imu)
ROS ...
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0
answers
10
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I want to know the best motor to select for my robotic arm and why it is the best choice among other motors [closed]
I am designing a robotic arm with the aim of maximizing strength while minimizing weight.
What are the key factors that ? should consider in selecting a suitable motor, and why are the important ...
- 1
0
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0
answers
6
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NED to ENU Conversion Causing Depth Cloud and Pose Mismatch in ROS2
I'm working with a multi-UAV simulation using GZ Harmonic, ROS2(Humble) and PX4 SITL. Each UAV publishes its pose to /vehicle_pose and depth image data from a stereo camera. The depth points and pose ...
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0
answers
5
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Trying to use Gazebo depth camera with visibility mask
I have a Gazebo Harmonic simulation with a depth_camera sensor attached to my robot. I want to exclude certain visuals from the depth image. As far as I understand using the ...
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0
answers
6
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'Save world as' not saving the world - Gazebo Fortress
Am I the only one who is experiencing this bug in Gazebo Fortress when trying to save the world using 'save world as' in the GUI?
Any help will be highly appreciated.
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0
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1
answer
12
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Can't add moveit interactive marker due to Namespace
I am using Moveit for robotic arm simulation. I want to use multiple robotic arms in Gazebo simulation. To differentiate the topic and ...
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2
answers
48
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ROS2 Control: How do controllers subscribe to topics?
My question is: How can a ros2_control controller be made to subscribe to a topic?
I've been working in robotics for a while now, but I'm relatively new to the ...
- 111
0
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0
answers
7
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unequal number of readings each time in /scan topic (ranges vector length)
I'm experiencing an issue where the /scan topic publishes a ranges vector with an inconsistent number of readings in each message. How can I ensure a fixed number of range readings per scan?
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4
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ROS2 Teleop Architecture for Multi-Robot Lab – Feedback & CAN Advice?
I’m building a modular ROS2 teleop control system for several robots in our lab (2-wheeled & 4-wheeled). The idea is to support different input sources (UDP, MQTT, joystick...) and allow either ...
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answers
5
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Understanding Actor Pose vs. World Pose in Gazebo Sim with Trajectory Movement
I am using Gazebo Harmonic. Can anyone help me figure out why:
My actor’s pose does not change, even though the world pose changes
and the actor with a trajectory moves? I’m aware that, according to
...
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0
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0
answers
5
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Trajectories recording extremely minute values with Kinova Robot
I am trying to record the trajectories the robot takes when I exectue joint position based movements. However, the recorded trajectories have extremely minute values that the robot maybe is not able ...
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0
answers
8
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Using a UI to manually control ground rover through MAVROS
I am currently working on making a ground rover move through a UI. My PixHawk model is PixHawk 6X using PX4 firmware. I have already connected it with MAVROS using this:
...
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0
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1
answer
13
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ROS2 communication between two devices not working
I am trying to establish two way communication between my robot (f1tenth setup) and my local PC, via the ROS_DOMAIN_ID.
river@convoy-0:~$ printenv | grep ROS
...
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0
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9
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I'm having an issue with the TurtleBot3 Waffle Pi with OpenManipulator-X in Gazebo simulation using ROS1 Noetic
I send a goal to move_base with specific (x, y, theta) coordinates so that the robot approaches a target (e.g., a station with an ArUco marker) and stops facing it perpendicularly. The robot reaches ...
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0
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0
answers
8
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TurtleBot3 Waffle Pi with OpenManipulator slowly rotates after reaching goal in Gazebo [closed]
I'm having an issue with the TurtleBot3 Waffle Pi with OpenManipulator-X in Gazebo simulation using ROS1 Noetic.
I send a goal to move_base with specific (x, y, theta) coordinates so that the robot ...
- 1
0
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0
answers
21
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Output of MPU6050 IMU not equaling one g
When my robot is standing even on a surface, the output of the IMU accelerometer is around:
acceloremeter_x: 1.0 m/s²
acceloremeter_y: 1.029 m/s²
acceloremeter_z: -9.213 m/s²
I assumed the norm of the ...
1
vote
0
answers
44
views
DoF of a delta robot
I'm working on a uni project about a delta robot. I've been a bit stuck on calculating the DoF of the robot using the modified Grubler formula.
mobility coefficient = 6;
rigid bodies l = 11;
number ...
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0
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0
answers
6
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ros2 setup failed on MACOS with error Compatibility with CMake < 3.5 has been removed from CMake
installation https://docs.ros.org/en/jazzy/Installation/Alternatives/macOS-Development-Setup.html
MACOS: Sequoia 15.4.1
Build step:
...
0
votes
1
answer
17
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Visualising data from a docker ROS2 Humble stack on ROS2 Jazzy
I'm new to ROS2 so please forgive my nievity. I'm attempting to visualise data from a Docker humble stack on my computer, which is running Jazzy. The Docker stack is also being run from the same ...
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0
votes
1
answer
12
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Mecanum Bot drifting away
I'm making a bot which has mecanum wheels. I'm using ESP32 as the controller, 2 - l298n motor driver modules, dual shaft BO motors of 300 rpm each. I have a few observations:
My bot drifts in the ...
- 1
0
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0
answers
13
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Texture file is not loading in Gazebo but working in Rviz
I'm using gazebo fortress and ROS2 Humble, I can't seem to be able to load the texture files for my mesh, though it's working properly on Rviz2 and the texture is loading and it was working fine on ...
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0
answers
7
views
Issue with creating an Occupancy map
I'm trying to build an occupancy map(ROS2) using my rosbag, which I collected in the Ghost v60 robot. I have a 3D lidar, so I wrote a node to convert from point clouds to 2D point,s and I'm publishing ...
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0
answers
14
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"joint_state" vs "dynamic_joint_state" in ros2_control
I'm currently in the process of updating my dual-arm robot's packages from ROS 1 Noetic to ROS 2 Jazzy while learning how to use ROS 2. Currently, I have a very basic implementation of ...
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-1
votes
1
answer
25
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Gazebo documentation on "Model Insertion from Fuel" point to bad URL [closed]
Gazebo documentation on "Model Insertion from Fuel" (e.g., https://gazebosim.org/docs/latest/fuel_insert/) mentions browsing online models at app.gazebosim.org/fuel/models
However, that url ...
0
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1
answer
16
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With ROS2 Humble, is there any reason to use Gazebo Garden over Fortress?
With ROS2 Humble, is there any reason to use Gazebo Garden over Fortress(LTS)?
Bug fixes? Wondering what most developers use.
Many Thanks!
0
votes
1
answer
19
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ROS2 Humble with SLAM, map not updating
I never had used ROS before, and, for a project, I was given a ROS-based robot (Clearpath Robotics, some years old). I upgraded it rom ROS1 to ROS2 Humble, and I added a LiDAR, Nav2 and trying with ...
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4
votes
0
answers
22
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How does ZMP-based walking control actually work?
I am trying to implement basic walking controllers for a custom biped robot with two 5DOF legs that I have simulated in ROS2 + Gazebo with its inverse kinematics solved. I do not have a controls ...
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0
votes
1
answer
18
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Four wheel drive robot not moving properly in Gazebo Harmonic (ROS2 Humble)
I am a ROS2 beginner and I am currently working on simulating an unmanned ground vehicle in gazebo. I initially wanted to simulate the robot as a tracked vehicle but eventually gave up due to the lack ...
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2
answers
19
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No topics published by camera (sensor) when running Gazebo Fortress
Using Gazebo Fortress.
I have a bare-bones SDF (included below) to test camera operation.
I open it with
ign gazebo bare_bones.sdf -v 4
Everything comes up in Gazebo.
However, when I run
ign topic -l,
...
1
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0
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10
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Check actionserver existence
I have a system where actionservers are created with an action topic based on user input. I want to throw an error if the user provides a duplicate name.
I'm using the following check to determine ...
- 133
1
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0
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16
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On ROS 2 Humble, can you add a launch file into a RegisterEventHandler<OnProcessStart> as the trigger?
Below, I have a launch file. I want it to run some_launch_file, then run node_a when it's done.
However, you cannot use ...
- 111
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0
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4
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ROS_Geomagic Touch drivers(CAnnot locate node of type in package)
When i am trying to run the command : roslaunch omni_common dual_phantom.launch
I am facing this error: ERROR: cannot launch node of type [omni_common/omni_state]: Cannot locate node of type [...
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1
answer
20
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Can't understand difference between range rate and speed in radar measurement
I am working on a Lidar Radar sensor fusion project using Kalman Filters to estimate the state (position, velocity, and acceleration) of a tracked object in a 2d coordinate system. It's Udacity self ...
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0
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0
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34
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5DOF Robotic Arm Orientation Problem
I have 5 DOF robotic arm and I calculated q1 q2 q3 according to the T0_5 matrix(because it keeps only q1 q2 and q3 at position vector).I need orientation to solving q4 q5 as i know.But every ...
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0
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0
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9
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Import Conda Packages in a ROS2 project
Environment:
Ubuntu 20.04, ROS 2 Foxy Python3.8
My building command:
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2
answers
19
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bt_navigator fails when executing action callback: "send_goal failed"
I'am working with ROS2 Foxy on a Ubuntu 20.04.
I'm having a problem when sending a 2D Goal pose:
...
1
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0
answers
10
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MoveItPy node cannot be initialized
I'm trying to use the MoveItPy library to control a robotic arm using the piper_ros package (https://github.com/agilexrobotics/piper_ros/tree/humble). The package works well with MoveIt's default ...
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0
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1
answer
17
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How can I show the exception which happens in ros2 param list?
I am using ROS2 Humble, and when I try to list the parameters ros2 param list I get
...
- 123
0
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0
answers
10
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MoveIT2 hybrid planning
how to work out the No 3d sensor error? cause i have a YAML file, it works with my Movegroup(static-Planning) but for hybrid plannning, im not aware where to pass this.
can you help me understand?
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