Unanswered Questions
3,485 questions with no upvoted or accepted answers
7
votes
2
answers
697
views
Reward Function for q learning on a robot
I have 2 wheeled differential drive robot which I use pid for low level control to follow line. I implemented q learning which uses samples for 16 iterations then uses them to decide the best position ...
CommunityBot
- 1
6
votes
0
answers
439
views
Likelihood field sensor model (Probabilistic Robotics, Thrun et al., p.169-174)
I am currently working on the "likelihood field" sensor model (aka "endpoint model") by Thrun et al. (book: Probabilistic Robotics, Thrun et al., p.169-174)
In this context I have ...
Ben♦
- 5,915
5
votes
2
answers
419
views
Inferring joint orientation on multi-joint arm
Not a robotics question in the strictest sense, I guess, but related closely enough, I hope:
I have an arm-like articulated two(-plus-one)-joint appliance that I want to use as a 3D input device. It ...
CommunityBot
- 1
4
votes
0
answers
22
views
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 ...
- 41
4
votes
1
answer
88
views
How to add a custom sensor in urdf xacro file
I have created new custom sensor plugin for gazebo harmonic. Following https://github.com/gazebosim/gz-sensors/blob/gz-sensors8/examples/custom_sensor/Odometer.cc. I tested that sensor using this sdf ...
CommunityBot
- 1
4
votes
0
answers
701
views
How to fuse IMU with encoders in EKF
Background
I have a car-like mobile robot (4 wheels, where the forward ones are steering wheels) and I want to estimate its pose and velocity assuming 2D planar motion. I'm trying to solve this ...
- 1,700
4
votes
1
answer
378
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Motion planning with Gaussian Process Regression
I was recently introduced to Gaussian Process Regression (GPR). I read multiple papers regarding use cases of GPR in robotics, however, they were more or less very limited.
Use case from the ...
CommunityBot
- 1
4
votes
0
answers
501
views
How does marginalization of variables effect least squares SLAM energy function?
Consider a simple example of Bundle Adjustment where I have robot and landmark poses $x = \left[ x_p \text{ } x_m\right]^T$ and measurements given by $z$, such that a simple factor graph can be ...
- 163
4
votes
0
answers
606
views
How does one implement a third order complementary filter for estimating altitude using data from an accelerometer and a barometer?
I am working with the CJMCU build of cleanflight on a small drone. As of now, the algorithm for altitude hold uses a first order complementary filter to combine data from the barometer and the ...
- 101
3
votes
1
answer
46
views
What are LifeCycle Nodes and Composable nodes for?
I am currently working on a system that has a bunch of nodes that are managed by a single master node. We use a simple statemachine that has a couple of states like ...
- 53
3
votes
0
answers
61
views
Why is there no "ament_python_simple" package that would simplify ament_python packages?
The current minimal ament_python package looks quite cumbersome and for novice users, it might look like a lot of stuff they don't understand.
Just to list a few:
the need for creating an empty file <...
- 691
3
votes
0
answers
102
views
How to achieve stable lane-following for a large non-holonomic vehicle in Nav2 without late path adherence?
I am working with a large, non-holonomic robot (a truck-sized vehicle, approximately 12 meters long by 5 meters wide) using ROS2 Navigation2 (Nav2). My goal is to have it follow lane-like paths ...
- 274
3
votes
0
answers
69
views
How to monitor sensor reliability in ROS2?
I'm building a mobile robot with multiple standard sensors (camera, imu, etc.) and have a general question about how to monitor the sensors' reliability.
More specifically, I am using a camera along ...
- 31
3
votes
0
answers
106
views
RViz2 Text Markers Spacing Issue
I am trying to publish a Text Marker to RViz2 (ROS2 Humble). No matter which settings I choose, the text markers always seem to have inappropriate spacing (usually too big).
See image below. Notice ...
- 31
3
votes
0
answers
400
views
Extern Controller, Cannot connect to Webots instance
I installed ROS2 on WSL2, Ubuntu22.04, and follow the tutorial in this link, which helped me install webots on Win11.
But when I execute this command ...
