eric_cartman's profile - activity

I am using logitech c920(about 12ft above ground) to detect an aruco marker using the aruco_ros library. The resolution is set to 640x480 but at this resolution the aruco marker is not being detected if anything slightly comes in front of the marker. I wanted to see if i increase the resolution to 720p the aruco marker detection becomes more stable.

I tried to change it in the (edit:usb_cam-stream)launch file but that did not help. It gives this error - "No jpeg data found in image. Error while decoding frame."

I tried to change the pixel format to yuyv from mjpeg but it was giving some other error. "VIDIOC_DQBUF error 19, No such device"

I also tried to change the resolution using v4l2-ctl but there wasn't an option to change it.

Anyone know of a different way to increase the resolution or know of a different aruco library that does more stable detection? Also is there a camera that does aruco detection better that is not too expensive? The goal is to detect the markers well about 10-15ft away and also not completely lose the marker when there is a small obstacle(eg: 3in diameter ball).

Thanks in advance

@oswinium were you able to figure out a good way to do this?

I am using wheel encoders and visual odometry(rtabmap) to perform ekf localization. This is the tf tree of rtabmap in localization mode. map->odom->camera_link(->other camera frames) I am trying to inculcate my wheel encoders and use ekf for better localization as rtabmap drifts a lot. How do i set my frames for wheel encoder odometry publisher and broadcaster? Also, what goes in the base_link_frame in ekf_localization_node param file?

Thank you

Great. I understand it better now. Thank you

@Tom Moore also, the camera_link frame is not at the center of the robot. Lets say i publish a static transform from cam

@Tom-Moore also, the camera_link frame is not at the center of the robot. Lets say i publish a static transform from cam

what about the parent frame id of wheel odometry as "odom" is already being used by rtabmap?

setting frame ids for ekf localization I am using wheel encoders and visual odometry(rtabmap) to perform ekf localizatio

My system currently has

1. Wheel encoders that give encoder counter and rpm
2. Lidar which publishes /laserscan
3. QR code based pose detection using a high fps camera

I am trying to localize the robot as accurately as possible and use the lidar to avoid obstacles. I have some questions on this.

1. Is wheel odometry and qr based pose good enough or do i need an imu and additional sensors to localize the robot better?
2. What is the simplest way to perform obstacle avoidance using a lidar?

Thanks in advance

@KothariA Yes.I need a way to determine command velocities given a set of waypoints. i realize that to give a curved pat

Yes. I want a way to determine command velocities given a set of waypoints. After looking at topics published by the nav

@smac I am already using the base local planner package(dwa) in the navigation stack

I am already using the base local planner package(dwa) in the navigation stack

@gvdhoorn Yes. I can give the correct linear velocity and angular velocity and it would go in a circle or any curved pat

@gvdhoorn Yes. I can give the correct linear velocity and angular velocity and it would go in a circle or any curved pat

how to make a differential drive mobile robot follow a curved path My current setup is a mobile base and i'm using aruco

@billy Thanks. I'm not entirely sure what you mean by this-"control system that implements electronic gearing or careful

@billy I have to do the same thing for a 4 wheel differential drive robot. I was planning on using the average of front-

The goal is to build a webpage with 3 image topics[AKA web streams] and 2 client nodes(AKA inputs for the user accessing the webpage) of a ros system.

1. Is this even possible?
2. If yes, what exactly do i do? I have no experience in web stuff.

Thanks in advance

RobotWebTools

Localization and obstacle avoidance My system currently has Wheel encoders that give encoder counter and rpm Lidar wh

@zinkcious were you able to solve this issue?

I got the Nav2DWidget tutorial to work fine but my objective is to have a simple mobile base in the place of pr2. I see that the system uses a move-base action but I am not sure how to re-purpose it to work it with a simple mobile base.

Thanks in advance.

Running Nav2DWidget without pr2/gazebo/rviz I got the Nav2DWidget tutorial to work fine but my objective is to have a si

Running Nav2DWidget without pr2 I got the Nav2DWidget tutorial to work fine but my objective is to have a simple mobile

Running Nav2DWidget without pr2 I got the Nav2DWidget tutorial to work fine but my objective is to have a simple mobile

Did you happen to find a solution to this?

Seems like ros web tools should be a good enough system for now. Thanks for you help @gvdhoorn