ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

tsdk00's profile - activity

2023-06-18 12:36:54 -0500 received badge  Famous Question (source)
2023-06-18 12:36:54 -0500 received badge  Popular Question (source)
2023-06-18 12:36:54 -0500 received badge  Notable Question (source)
2022-02-02 09:38:30 -0500 received badge  Famous Question (source)
2022-01-27 12:36:30 -0500 marked best answer tf for mutiple Aruco markers

Hi, I'm able to get the tf for one Aruco marker .Here is my code snippet

br = tf.TransformBroadcaster()


br.sendTransform((msg.pose.position.x,msg.pose.position.y,msg.pose.position.z),
                     (msg.pose.orientation.x,msg.pose.orientation.y,msg.pose.orientation.z,msg.pose.orientation.w),
                     rospy.Time.now(),
                     msg.child_frame_id,
                     "/camera_link")

So, if i have multiple markers how to add frames for each of the detected marker`?

2021-06-08 17:01:54 -0500 received badge  Nice Answer (source)
2021-01-28 06:49:57 -0500 received badge  Popular Question (source)
2021-01-28 06:49:57 -0500 received badge  Notable Question (source)
2020-12-28 00:52:13 -0500 marked best answer Rotate a 2d LiDAR to build 3D map

Hi, I'm using a husky robot for my navigation which already has 2d LMS Lidar and I'm able to implement 2D SLAM algorithm on that. Now, instead of having two 2d Lidar, I wanted to rotate 2d lidar and get the 3d point cloud so that I can use Cartographer to build 3d maps. But before that, I need to set up the rotating joint and then attach the lidar to the rotating joint in the URDF of the robot. Does anyone know how to set up the rotating platform in the URDF and then attach the lidar to it?

2020-12-16 14:17:39 -0500 received badge  Famous Question (source)
2020-07-06 06:27:42 -0500 received badge  Famous Question (source)
2020-06-03 02:32:42 -0500 received badge  Famous Question (source)
2020-06-03 02:32:42 -0500 received badge  Notable Question (source)
2020-06-03 02:32:42 -0500 received badge  Popular Question (source)
2020-05-29 06:38:41 -0500 received badge  Famous Question (source)
2020-04-02 14:42:28 -0500 received badge  Famous Question (source)
2020-04-02 14:42:28 -0500 received badge  Notable Question (source)
2020-04-02 14:42:28 -0500 received badge  Popular Question (source)
2020-03-31 04:56:45 -0500 received badge  Notable Question (source)
2020-03-31 04:56:45 -0500 received badge  Famous Question (source)
2020-03-22 07:59:55 -0500 received badge  Necromancer (source)
2020-03-04 09:56:43 -0500 received badge  Famous Question (source)
2019-12-04 11:18:46 -0500 received badge  Famous Question (source)
2019-11-08 00:55:29 -0500 received badge  Famous Question (source)
2019-11-04 10:04:25 -0500 edited answer Arduino rosserial - Unable to sync with device

Hi, Initialize the ros handle with the same baud rate in your Arduino code nh.getHardware()->setBaud(BAUD) Something

2019-11-04 10:03:50 -0500 answered a question Arduino rosserial - Unable to sync with device

Hi, Initialize the ros handle with the same baud rate in your Arduino code nh.getHardware()->setBaud(BAUD) Something

2019-11-03 07:10:30 -0500 received badge  Famous Question (source)
2019-10-21 06:58:11 -0500 answered a question How Cartographer publishes Map to base_link transform?

Hi, I would suggest you keep the tracking frame as base_link i.e. tracking_frame = "base_link" When you launch the Carto

2019-10-15 19:17:27 -0500 received badge  Notable Question (source)
2019-10-06 10:45:38 -0500 received badge  Notable Question (source)
2019-10-04 07:46:51 -0500 received badge  Popular Question (source)
2019-10-03 07:18:36 -0500 asked a question Is it to get pose of the robot from rtabmap using monocular camera?

Is it to get pose of the robot from rtabmap using monocular camera? Hi, I wanted to plot the robot x-y position using a

2019-09-06 04:29:36 -0500 received badge  Notable Question (source)
2019-08-28 06:07:58 -0500 marked best answer Launching laser_scan_matcher and gmapping

Hi, So I have a simple question. When I'm building a map by launching gmapping node, so during the simulation (map building ongoing-process), is it possible to run laser_scan matcher node? What I want to do is correct the wheel odometry when the lidar sees a feature in the environment. For example, if running the robot in a narrow corridor, I want to use gmapping as a standalone package. So there will be error accumulated in the odometry due to the wheel slippage while running in the narrow corridor and once it has to turn at the end of the corridor, I want to correct the error in odometry by using laser_scan_matcher. Is it possible to do so?

2019-08-06 13:06:30 -0500 marked best answer Unable to build RTAB map using 2d rotating LiDAR

Hi,

I'm using a rotating 2d lidar and then using laser assembler package to get 3d point cloud. Video

I can see the point cloud but when I used in RTAB no map frame is generated neither it is able to map the data. Here is my launch file

    <?xml version="1.0" encoding="UTF-8"?>
    <launch>
      <!-- Mapping -->
      <group ns="rtabmap">

    <node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
       <param name="subscribe_depth"      type="bool"   value="false"/>
       <param name="subscribe_rgb"        type="bool"   value="false"/>
       <param name="subscribe_scan_cloud" type="bool"   value="true"/>

       <remap from="scan_cloud" to="/laser_pointcloud"/> <!-- sensor_msgs/PointCloud2 -->
       <remap from="odom"       to="/odom"/> <!-- odometry from wheel encoders + IMU fusion -->

      <!-- output -->
   <remap from="grid_map" to="/map"/>

    </node>
 <!-- <node name="rviz" pkg="rviz" type="rviz"  args="-d $(find rtabmap_ros)/launch/config/turtlebot_navigation.rviz"/> -->    
  </group>
</launch>

I'm not sure if it is because of the rotating laser transform to the base link is being received properly or not. You can see the tf tree as no map frame is published Frames

Can anyone help me? Warning

[Updated] image description image description

2019-08-06 13:06:30 -0500 received badge  Scholar (source)
2019-08-05 13:48:18 -0500 commented question Launching laser_scan_matcher and gmapping

@Humpelstilzchen @billy So, what I was thinking is when u put minimumScore value to 'x', so the laser scan matcher measu

2019-08-03 02:46:29 -0500 received badge  Notable Question (source)
2019-07-31 02:41:01 -0500 asked a question Does Gmapping uses ICP scan matching technique?

Does Gmapping uses ICP scan matching technique? Hi, I have a simple question. So, when we run the gmapping node, which s

2019-07-30 09:57:01 -0500 commented answer Bad maps produced by gmapping in simulation with feature-poor environments

@zsaigol But what if you want to keep minimumScore to a high value at some point and low at some other point. For exampl

2019-07-30 09:46:02 -0500 received badge  Notable Question (source)
2019-07-29 01:31:42 -0500 commented question Launching laser_scan_matcher and gmapping

@Humpelstilzchen So if I'm using Gmapping node first, it will take as usual the odometry generated by wheels whenever sc

2019-07-28 16:03:04 -0500 commented question Launching laser_scan_matcher and gmapping

@billy Thanks alot. The thing is I was testing in a long straight pipe which is featureless just like moving in a narrow

2019-07-28 14:42:15 -0500 commented question Launching laser_scan_matcher and gmapping

@Humpelstilzchen If I fuse the odometry data from laser_scan_matcher with wheel odometry or imu, it will give bad result

2019-07-28 14:41:38 -0500 commented question Launching laser_scan_matcher and gmapping

@Humpelstilzchen If I fuse the odometry data from laser_scan_matcher with wheel odometry or imu, it will give bad result

2019-07-28 14:41:29 -0500 received badge  Popular Question (source)
2019-07-28 14:40:35 -0500 commented question Launching laser_scan_matcher and gmapping

@Humplestilzchen If I fuse the odometry data from laser_scan_matcher with wheel odometry or imu, it will give bad result

2019-07-28 14:36:58 -0500 commented question Launching laser_scan_matcher and gmapping

@billy Thanks for your reply. That's true since it is dead reckoning. But what I want to do is switching between wheel o

2019-07-28 08:46:32 -0500 edited question Launching laser_scan_matcher and gmapping

Launching laser_scan-matcher and gmapping Hi, So I have a simple question. When I'm building a map by launching gmapping

2019-07-28 08:26:52 -0500 asked a question Launching laser_scan_matcher and gmapping

Launching laser_scan-matcher and gmapping Hi, So I have a simple question. When I'm building a map by launching gmapping