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2018-09-13 03:51:48 -0500 marked best answer How to use YDLIDAR X4 in Nav2D

Hi guys

I'm back into ROS and Nav2d world :) During my study I was using the robot from university where I implemented ROS and Nav2d into the robot. I'm so glad to use Nav2d that now I want to build my own SLAM robot.

I have bought Lidar sensor YDLIDAR X4 which is support with ROS package.

image description

First of all I want to implement the Lidar by running Tutorial2.launch. How can I do that, if it is possible ?

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2018-08-30 07:10:09 -0500 asked a question How to use YDLIDAR X4 in Nav2D

How to use YDLIDAR X4 in Nav2D Hi guys I'm back into ROS and Nav2d world :) During my study I was using the robot from

2018-07-09 14:07:05 -0500 marked best answer How to use ROS in Eclipse when make eclipse-project did not worked ?

Hi I want to run the beginner_tutorials in Eclipse. I have installed Eclipse for c++ and ROS is working fin, but I can not make the eclipse project! I have copied my beginner tutorial from catkin_ws and past it in Eclipse's workspace then when I try to make it (by following this side ) I get this message: ~/workspace/beginner_tutorials$ make eclipse-project make: *** No rule to make targeteclipse-project'. Stop.`

How can I fix this problem ?

Edit: thanks @ahendrix and @emersonfs for guidance. But unfortunately I did not have success. It mention that "Now you can import your project as existing project into workspace" !

  1. Should I copy the beginner_tutorials folder from /catkin_ws/build and past it in Eclipse Workspace, open Eclipse and import the beginner_tutorials project ? Or
  2. Should I open Eclipse and then import the project from the /catkin_ws/build ?
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2017-09-13 18:06:35 -0500 marked best answer How to setup the yaml files for a modified map?

Hi all I'm using Nav2d where the part of simulator is replaced with my own physical robot. The map in simulator has larger dimension size than my map which is only 5x3 meters. Since the map size is changed then I understand that costmap.yaml, operator.yaml and navigator.yaml has to be changed, where I have set them to :


global_frame: odom
robot_base_frame: base_link
update_frequency: 10.0
publish_frequency: 2.0
publish_voxel_map: true
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
map_type: costmap
track_unknown_space: true
transform_tolerance: 0.3
obstacle_range: 2.0
min_obstacle_height: 0.0
max_obstacle_height: 2.0
raytrace_range: 4.5
robot_radius: 0.4
inflation_radius: 0.75
cost_scaling_factor: 2.0
lethal_cost_threshold: 100
observation_sources: scan
scan: {data_type: LaserScan, expected_update_rate: 0.6,
  observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}


max_velocity: 0.2
publish_route: true
max_free_space: 2.0
safety_decay: 0.50
distance_weight: 1
safety_weight: 2
conformance_weight: 1 
continue_weight: 0


map_inflation_radius: 1.0
robot_radius: 0.5
navigation_goal_distance: 0.10
navigation_goal_angle: 1.0
navigation_homing_distance: 0.30
exploration_goal_distance: 1.0
min_target_area_size: 1.0
visualize_frontiers: true

I understand the parameters in navigator when I change them, and it make good since but the reaction of robot is randomly each time when I change parameters in costmap and operator.

image description

My question is, am I hitting some limitations in these two files since robot stops after 20 cm moving or just make a turn ? Is there other files I also must change when map size is changed ?

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2017-08-02 16:30:37 -0500 marked best answer How to initialize robot's position in RVIZ ?

I'm using Nav2d simulator where in RVIZ the robot's position is set to X=0 and Y=0 I want to initialize the position to other coordinate for each time when I start the launch file.

I have been looking in tutorial2.rviz file and changed some of parameters but it didn't changed the position. I'm wondering if the robots position is not set in the tutorial2.rviz file then, the program start the position by it self in x=0, y=0.

So my question is where can I find the "parameter name" for x and y position of robot where I can add in tutorial2.rviz file?

I'm appreciating help since it will solve many of my problems.

2017-06-06 06:13:56 -0500 marked best answer Understanding launch file from nav2d tutorial

I have a node that I want to subscribe two topics from nav2d, I'm interested to use the /base_scan and /odom topics. When I look in launch files then I can see <!-- Start the Operator to control the simulated robot --> <node name="Operator" pkg="nav2d_operator" type="operator" > <remap from="scan" to="base_scan"/> <rosparam file="$(find nav2d_tutorials)/param/operator.yaml"/> <rosparam file="$(find nav2d_tutorials)/param/costmap.yaml" ns="local_map" /> </node>

I know that "scan" in stage that is remapped to the "base_scan" topic. But what is the remap name for /odom or /base_pose_ground_truth topic ? Or where can I find it ?

Can I for example name /odom topic as <remap from="odometry" to="odom"/> ?

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2017-04-20 14:12:18 -0500 marked best answer nav2d installation

When I run the command line: roslaunch nav2d_tutorials tutorial1.launch I get a lot of line that I don't understand where should I look at or how to fix the problem:

ResourceNotFound: p2os_urdf
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/opt/ros/indigo/share
ROS path [2]=/opt/ros/indigo/stacks
2017-04-20 14:12:01 -0500 marked best answer How to install nav2d packages

I have installed the nav2d from by using: sudo apt-get install ros-indigo-nav2d and then I have to install additional packages, but it dos not work! I use for example: sudo apt-get install stage_ros but get this output:

Reading package lists... Done Building dependency tree
Reading state information... Done E: Unable to locate package stage_ros

Can anyone help to how can I install these packages ?

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2016-11-24 23:46:32 -0500 marked best answer [rospack] Error: package 'beginner_tutorials' not found

Hi I'm trying to learn the ROS tutorial --> Writing a Simple Publisher and Subscriber (C++) In terminal it can find: rosrun turtlesim turtlesim_node but not: rosrun beginner_tutorials talker It give the message: [rospack] Error: package 'beginner_tutorials' not found

I have tried to find a solution in this side but I'm not sure what should I set in .bashrc, this is what I have in my file:

source /opt/ros/indigo/setup.bash
export ROS_ROOT=/opt/ros
export PATH=$ROS_ROOT/bin:$PATH
export ROS_MASTER_URI=http://mypc:11311/
export PYTHONPATH=$PYTHONPATH:$ROS_ROOT/opt/ros/indigo/lib/python2.7/dist-packages/roslib
#export PYTHONPATH=$PYTHONPATH:$ROS_ROOT/core/roslib/src
export PATH=$PATH:/usr/local/smr/bin
export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/usr/local/smr/lib"
# vim editor
export EDITOR='nano -w'
#export EDITOR='emacs -nw'
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2016-07-12 03:03:42 -0500 commented answer What is meaning of Operator's topics ?

Thanks a lot for all the help during my semester Sebastian :) My exam is over now and in future I will see if I can buy or make a robot, then can run with ROS then it will be fun to implement nav2d :D

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2016-06-30 10:29:23 -0500 commented answer What is meaning of Operator's topics ?

From /cmd topic, turn has only one parameter, but /Operator/desired shows x and y. Is it because operator node convert the value of turns into locations in x and y ?

2016-06-30 06:51:33 -0500 asked a question What is meaning of Operator's topics ?

What does the blue and the green line means in Rviz while using tutorial2 for autonomous not manually (joystick) ?

According to The blue line is the input command. The input command /cmd has messeage content of (Velocity, Turn, and Mode), But /Operator/desired message is complete different !?

2016-06-30 04:54:50 -0500 asked a question Robot's pose in Nav2d

I have been working mostly with Self-Loacalizer node and my question is, does other nodes know about robot's position at the beginning, where in coordinate robot is located ? Or does non of the nodes know about robot's pose and when robot is running through in map the robot's pose is estimated from Self-Localizer ?

2016-06-30 03:16:40 -0500 asked a question Flow chart of localizer node

Hi Can any one confirm whether my flowchart of Localizer node is correct or does it miss something ? image description

And why does Localizer node requests map from MapServer node via service call? Couldn't it get information from /map topic that is published from MapServer ?

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2016-06-17 11:52:01 -0500 marked best answer Does Selflocalizer get map via service call from MapServer ?

It is not shown in rqt_graph the service call connection for SelfLocalizer node to where ? From rosnode info SelfLocalizer it shows

* /SelfLocalizer/get_loggers
 * /SelfLocalizer/set_logger_level

Are they from MapServer node ? And what does MapServer node do, because is is not in Nav2d package ?