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2018-10-12 03:49:12 -0500 | commented answer | Costmap2D failing to mark laser scan data as obstacles on one side Thanks for the help, I found the problem and posted the solution |
2018-10-12 03:48:57 -0500 | marked best answer | Costmap2D failing to mark laser scan data as obstacles on one side My obstacle layer is only marking obstacles on one half of the robot. The raw laser scan data is correct and it is correctly visualised in RVIZ and you can see. The unmarked obstacles are always on the right-side of the robot (0 to -pi), even as it turns in the costmap. If it was an issue with the costmap itself, I would expect the error to be independent of the robot, however this is not the case. Does this look familiar or have any suggestions? local_costmap_params.yaml: common_costmap_params.yaml: TF publisher from /base_link to /scan: EDIT 1 warning message on move_base bringup: EDIT 2 Local Costmap is centered on the robot: result from echo on /scan (more) |
2018-10-12 03:48:47 -0500 | answered a question | Costmap2D failing to mark laser scan data as obstacles on one side The problem was in the TF transform from odom -> base_link. I am using robot_localization to fuse IMU and wheel odome |
2018-10-12 03:18:23 -0500 | commented answer | Costmap2D failing to mark laser scan data as obstacles on one side Reset everything back to default but no difference. However it's my robot_localization node at fault! The transform it's |
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2018-10-11 05:07:01 -0500 | commented answer | Costmap2D failing to mark laser scan data as obstacles on one side I'm using RPLidar A2M8. I have done exactly what you said and set the expected rate to twice as fast as it's publishing. |
2018-10-11 03:26:40 -0500 | edited question | Costmap2D failing to mark laser scan data as obstacles on one side Costmap2D failing to mark laser scan data as obstacles on one side My obstacle layer is only marking obstacles on one ha |
2018-10-11 03:15:25 -0500 | commented answer | Costmap2D failing to mark laser scan data as obstacles on one side The local Costmap is centered around the robot, I've added a picture to show this. Also using rqt_reconfigure the size o |
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2018-10-11 01:34:33 -0500 | edited question | Ultrasonic sensor with range_sensor_layer not forming cone obstacles Ultrasonic sensor with range_sensor_layer not forming cone obstacles Hi, I am able to form a costmap using my Lidar dat |
2018-10-11 01:31:43 -0500 | commented answer | Ultrasonic sensor with range_sensor_layer not forming cone obstacles The main issue - not forming cone obstacles - is still an issue. Will update question |
2018-10-11 01:31:38 -0500 | commented answer | Ultrasonic sensor with range_sensor_layer not forming cone obstacles The main issue - not forming cone obstacles - is still an issue. Will update questions |
2018-10-11 01:25:22 -0500 | commented answer | Costmap2D failing to mark laser scan data as obstacles on one side In local_costmap_params.yaml, I have commented out the sonar_layer (range_sensor_layer) so it shouldn't have any effect |
2018-10-11 01:22:46 -0500 | edited question | Costmap2D failing to mark laser scan data as obstacles on one side Costmap2D failing to mark laser scan data as obstacles on one side My obstacle layer is only marking obstacles on one ha |
2018-10-11 01:17:30 -0500 | commented answer | Costmap2D failing to mark laser scan data as obstacles on one side @rike93 - As you can see in local_costmap_params.yaml, I have commented out the sonar_layer (range_sensor_layer) so it s |
2018-10-10 10:24:58 -0500 | edited question | Costmap2D failing to mark laser scan data as obstacles on one side Costmap2D failing to mark laser scan data as obstacles 360 degrees My obstacle layer is only marking obstacles on one ha |
2018-10-10 10:24:37 -0500 | asked a question | Costmap2D failing to mark laser scan data as obstacles on one side Costmap2D failing to mark laser scan data as obstacles 360 degrees My obstacle layer is only marking obstacles on one ha |
2018-10-10 08:57:22 -0500 | commented answer | Ultrasonic sensor with range_sensor_layer not forming cone obstacles Cheers, realised that I didn't understand how Costmap2D worked really with the layers as plugins and such. Still haven't |
2018-10-10 08:56:19 -0500 | marked best answer | Ultrasonic sensor with range_sensor_layer not forming cone obstacles Hi, I am able to form a costmap using my Lidar data and move_base through the ROS Navigation stack. However when I try to integrate an ultrasonic sensor to the costmap using range_sensor_layer there are 2 problems:
Below: local costmap created from lidar, without the range_sensor_layer plugin. Everything working fine Below: Costmap with range_sensor_layer plugin active. I moved an object towards the ultrasonic sensor starting at about 80cm, moving to 30cm (it doesn't clear objects behind others thus why is forms a line). The robot is located at the center cross facing right in both these images I have tried playing with the parameters discussed in range_sensor_layer but this did not help. Is there some blatant oversight that I'm making? Below are my config files costmap_common_params.yaml local_costmap_params.yaml global_costmap_params.yaml And here is my Ultrasonic message: EDIT 1 The ultrasonic sensors are now marking obstacles after fixing the different layers and plugins in Costmap2D. However the range_sensor_layer package is still only marking dots, instead of arcs on the costmap. Is it even supposed to mark arcs? Maybe my understanding is incorrect. However there are field of view parameters so I would assume it is supposed to mark an arc obstacles at the detected range. |
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2018-09-24 03:23:17 -0500 | edited question | Ultrasonic sensor with range_sensor_layer not forming cone obstacles range_sensor_layer not forming cone obstacles Hi, I am able to form a costmap using my Lidar data and move_base through |
2018-09-24 03:22:08 -0500 | edited question | Ultrasonic sensor with range_sensor_layer not forming cone obstacles range_sensor_layer not forming cone obstacles Hi, I am able to form a costmap using my Lidar data and move_base through |
2018-09-24 03:21:18 -0500 | edited question | Ultrasonic sensor with range_sensor_layer not forming cone obstacles range_sensor_layer not forming cone obstacles Hi, I am able to form a costmap using my Lidar data and move_base through |
2018-09-24 03:21:01 -0500 | edited question | Ultrasonic sensor with range_sensor_layer not forming cone obstacles range_sensor_layer not forming cone obstacles Hi, I am able to form a costmap using my Lidar data and move_base through |
2018-09-24 03:17:10 -0500 | edited question | Ultrasonic sensor with range_sensor_layer not forming cone obstacles range_sensor_layer not forming cone obstacles Hi, I am able to form a costmap using my Lidar data and move_base through |
2018-09-21 09:10:47 -0500 | asked a question | Ultrasonic sensor with range_sensor_layer not forming cone obstacles range_sensor_layer not forming cone obstacles Hi, I am able to form a costmap using my Lidar data and move_base through |
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2018-07-09 14:04:54 -0500 | marked best answer | Arduino Ethernet Driver | Custom hardware publishing on topic via ethernet I have a custom sensor which I am using with an Arduino. My ultimate goal (TL:DR) is to publish these sensor values on a ROS topic via Ethernet. I am using a Ethernet shield and have completed the Arduino Ethernet tutorial which walked through creating a server which 'publishes' the sensor data via HTTP. On my PC browser (on the same network) I can navigate to the server/ethernet shield IP address and view the sensor values. I am familiar with fundamental ROS concepts but just a beginner in Ethernet communication, TCP/IP, etc So what I'm trying to do is write a driver which 'reads' these sensor values, formats them into a custom rosmsg and publishes this rosmsg on a topic. I would appreciate some tips if anyone is familiar with interfacing between custom hardware and ROS via ethernet. How would one go about the above things I mentioned? I guess it's to set up a socket listening to the sensor but have no idea how to start on this. I realise that a many sensor drivers do a similar thing as I'm trying to do. I know some SICK sensors communicate via Ethernet so effectively I'm trying to reproduce the same funtionality with my custom hardware. I did look at some of these drivers however couldn't understand them very well. If anyone has any links to tutorials / guide of something similar that would be great. Also if anyone has any wisdom to impart or tips to offer, that would be great! Cheers |
2018-05-22 02:57:35 -0500 | marked best answer | Poor performance of base_local_planner - advice for parameter tuning? Hi All, I am having some issues with object avoidance when using move_base. As you can see in this video I made the robot doesn't navigate the obstacles in a smooth manner. My suspicion is that my local_planner parameters need tuning. However I've spend hours playing with all the different parameters and am not seeing improved results. I have checked my odometry data and it's very accurate, so that's not the problem. I'll attach my parameter configuration files below. I would really appreciate any tips, particularly from those who have success in tuning their robots to navigate smoothly around obstacles. base_local_planner_params.yaml costmap_common_params.yaml global_costmap_params.yaml local_costmap_params.yaml move_base_params.yaml |