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2021-11-12 18:04:27 -0500 | marked best answer | Groovy Python node cannot find move_base_msgs module Hello, My setup: Latest Groovy debs on Ubuntu 12.04LTS. I have a simple Python node in a catkin package that needs to import MoveBaseAction and MoveBaseGoal from move_base_msgs. My import line looks like this: which worked fine in Fuerte. My package.xml file includes the line: And my Groovy debian installation has the move_base_msgs package installed: But when I try to run the node I get the error: Other message imports work fine; for example, I can import the Odometry message type from nav_msgs.msg using: with the following line in my package.xml file: What am I doing wrong? Thanks! |
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2020-11-01 21:49:58 -0500 | marked best answer | Filtering spikes from range data Hello, Is it possible to use the filters package to remove spikes from real-time range data returned from sonar or IR sensors? I have a small robot running ROS that uses a number of sonar and IR sensors to detect obstacles. Every once in awhile the sensors will return a spurious value that can cause the robot to think there is an obstacle when there isn't. I don't want to use a mean filter because this slows down the robot's response to an obstacle that really is there. I just want to remove the spikes. I can easily code this myself but I was wondering if the existing ROS filters can be used for the task? Thanks!
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2020-06-25 06:00:36 -0500 | marked best answer | catkin package cannot find own message type (python) Hello, I have a package called skeleton_markers that I am in the process of converting from rosbuild to catkin. The package builds fine and I remembered to do a 'source devel/setup.bash' after compiling. But when I try to run a Python node (in the same package) that imports a message type defined in my package, I get the error: When I run rosmsg on the message type, I get back the correct response: So I'm guessing I'm missing a key ingredient that allows a Python node to import my message type. Here are my package.xml and CMakeLists.txt files. The Python node I am trying to run is skeleton_markers.py. My package.xml file: My CMakeLists.txt file: Thanks! UPDATE ... (more) |
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2020-03-22 08:46:03 -0500 | marked best answer | Why so much spinning in place with move_base? Hello, I'm trying to tune move_base under fairly ideal circumstances so I did not think it would be this hard. I am using the arbotix_python base controller in "fake" mode which basically just moves the simulated robot exactly as it's told on /cmd_vel. So I am treating it as an "ideal" test case with no physics. I then have a Python script that moves a simulated TurtleBot to the four corners of a 1 meter square on a blank map using the simple move_base action server. I've run through the Navigation Tuning Guide and spent many hours of trial and error tweaking the various parameters using dynamic_reconfigure but I still can't figure out why the robot has such a tendency to spin in place before it gets to a goal even when there are no obstacles and I have the recovery and clearing behaviors disabled. The problem gets worse as I make the goal tolerances smaller--for example, setting the xy_goal_tolerance to 0.05 tends to guarantee spinning and often timing out before getting to the goal. I'm wondering if others have figured out any secrets behind this spinning behavior. I'm also wondering if not having any real or simulated observation sources could be causing it? I get the same results whether I use the latest Electric or Fuerte debian install under Ubuntu 11.10. EDIT 1: My navigation config files can be found here. And the script that moves the robot in a square can be found here. Thanks!
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2020-03-08 10:17:59 -0500 | marked best answer | How to check xacro syntax like check_urdf? Hello! I would like to do a command line syntax check of an Xacro robot model similar to the one used for non-xacro files which is: $ rosrun urdf check_urdf model.urdf I know I can generate a temporary URDF file from my Xacro file using: $ rosrun xacro xacro.py model.urdf.xacro > tmp.urdf and then run 'rosrun urdf check_urdf' on that file. But for some reason I can't figure out how to simply pipe the two commands together into one command. Can it be done? Thanks! patrick |
2019-11-24 14:52:17 -0500 | marked best answer | Kobuki 12V 1.5A connector? According to this page describing the Kobuki power connectors, the 12V 1.5A connector is similar to Molex PN : 5566-02B2. The connector on the robot is single-row 1-circuit but all I can find is a two-row version. Is it possible there is a different Molex part number that matches? Thanks! |