zrahman's profile - activity

Difference between camera_link and camera_optical_link I see most of the sensors have two frames like a camera has camer

Husky robot freezes when recording pointcloud msg I am running a Gazebo simulation of a Husky robot equipped with a Velo

I installed ROS noetic on my ubuntu machine using apt command. It uses root python installation (python3.8) like /usr/bin/python3. All ROS related python modules like rospkg, rospy, cv_bridge have been installed for this interpretor. Now, as I work on other big projects, I need to install many python modules and even different python versions. So, I use conda or python venv environment for that. How can I run those projects in ROS since it uses the root installation interpretor? If I activate a virtual env, the ROS node does not run and shows error like

ModuleNotFoundError: No module named "rospkg"

What is the best way to handle different python environments along with ROS?

ROS with python virtual environment I installed ROS noetic on my ubuntu machine using apt command. It uses root python i

get absolute orientation from angular velocity and linear acceleration data My IMU does not publish absolute orientation

Ok, But it is changing even when the robot is not moving.

odom frame keeps moving in GPS robot_localization I am using two instances of robot_localization package to get the loca

@Mike Scheutzow Thanks for your answer. Which one of my configurations is correct? I think the second one is correct. I

Best way to create outdoor map I would like to create a map of the roads of a small region. The car has imu, gps, accura

I think you have what is required. The parent is the odom, then the base_link and then base_scan. I do not understand yo

Integrate GPS properly in robot_localization How do I properly integrate the gps data for the global pose estimation in

I want to add a camera frame with x on the right, y up, and z forward. I am using the following command:

rosrun tf2_ros static_transform_publisher x y z yaw pitch roll map camera

First I tried to set up yaw, pitch, and roll manually by changing those three values. But there was always one axis that needed to be inverted which I could not do since if I change one of the three values, two axes change, not one. So, I ended up having a frame with x on the right, y up and z backward. Then I calculated a rotation matrix between those two coordinate frames. I found

     0 0 1
R = -1 0 0
     0 1 0

Then from the rotation matrix to yaw, pitch, and roll (-1.57, -0, 1.57). But the result is the same. How can I flip only one axis keeping the other two unchanged?

@Mike Scheutzow 1. I could not test that. But it is an RTK GNSS receiver. 2. IMU is not mounted on base_link. That's why

Your pub.publish(speed) is inside the else condition. Most probably, else condition is not being satisfied. Bring it out

Integrate GPS properly in robot_localization How do I properly integrate the gps data for the global pose estimation in

Odometry msg from wheel speed for Ackerman steering We have a real car in our lab for autonomous car research. I used th

@Mike Scheutzow Where can I find equations for the Ackerman steering?

Odometry msg from wheel speed for Ackerman steering We have a real car in our lab for autonomous car research. I used th

@Ijaniec I checked those answers. It seems, ROS tf uses right-handed rules and there is no way I can get the frame I wan

@Mike Scheutzow The coordinate system I want should have x pointing to the right, y upward, and z forward.