waspinator's profile - activity

use "arg" instead of "param" to pass arguments into an included launch file. Names and values must all be strings in quo

How would you pass arguments / parameters to an included launch file? The following doesn't work and gives the following error: Unexpected key(s) found in 'include': {'param'}

launch:

- include:
    file: "$(find-pkg-share test)/launch/test.launch.py"
    param:
    -
      name: "color"
      value: "red"

use "arg" instead of "param" to pass arguments into a included launch file launch: - include: file: "$(find-pkg-sh

pass agruments/parameters to included launch file in yaml How would you pass arguments / parameters to an included launc

did you end up finding a solution to publishing ndarrays without converting to a list?

I'm not sure if this is strictly a Rolling issue. I see the same error on Humble.

ROS2 rosbag2 read bag file I recorded data using ros2 bag record --all --output test.bag in ROS2 Foxy. In ROS1 I could r

ROS2 read bag file I recorded data using ros2 bag record --all --output test.bag in ROS2 Foxy. In ROS1 I could read the

ROS2 read bag file I recorded data using ros2 bag record --all --output test.bag in ROS2 Foxy. In ROS1 I could read the

using cv_bridge with python 3.6 on ubunut 16.04 I need to use python 3.6 in a kinetic ROS package that manipulates image

using cv_bridge with python 3.6 on ubunut 16.04 I need to use python 3.6 in a kinetic ROS package that manipulates image

still get an error when trying to return. Do I have to modify the Test.srv definition? service cannot process request: h

defining a service message with no return value I want to create a service that doesn't return anything, but returning N

defining a service message with no return value I want to create a service that doesn't return anything, but returning N

When would you use a Publisher + Service Node vs an Action Node? As far as I can tell they seem equivalent, besides the fact that anything can subscribe to the publisher, while only the client gets data back from an Action server.

I often find that my nodes try to start before master is ready, which breaks the system. How do I make sure that the nodes wait for master to be ready (or continually retry)? Using Docker's depends_on isn't guaranteed to work, since Docker only knows when the container is up, but not when ROS master is up.

docker-compose.ymal

version: '2'

services:

  robot-core:
    build:
      context: .
      dockerfile: robot_core.dockerfile
    volumes:
      - ../data/logs/robot_core:/root/.ros/

  robot-plan:
    build:
      context: .
      dockerfile: robot_plan.dockerfile
    environment:
      - "ROS_HOSTNAME=robot-plan"
      - "ROS_MASTER_URI=http://robot-core:11311"
    volumes:
      - ../data/logs/robot_plan:/root/.ros/

  resolvable:
    image: mgood/resolvable
    volumes:
      - /var/run/docker.sock:/tmp/docker.sock
      - /etc/resolv.conf:/tmp/resolv.conf

robot-core.dockerfile (ros master node)

FROM ros:kinetic

RUN apt-get update \
    && apt-get install ros-kinetic-rosbridge-server --yes

RUN ln -snf /bin/bash /bin/sh
RUN mkdir -p /ros_workspace/src/robot_core
WORKDIR /ros_workspace
COPY ["robot_core", "/ros_workspace/src/robot_core"]
RUN source /opt/ros/kinetic/setup.bash; catkin_make

EXPOSE 9090 11311 33690

CMD source devel/setup.bash; roslaunch robot_core robot_core.launch

robot-core launch file

<launch>
  <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" >
     <arg name="port" value="9090"/>
  </include>
</launch>

robot-plan.dockerfile (ROS slave node)

FROM ros:kinetic

RUN ln -snf /bin/bash /bin/sh
RUN mkdir -p /ros_workspace/src/robot_msgs
RUN mkdir -p /ros_workspace/src/robot_plan
WORKDIR /ros_workspace
COPY ["robot_msgs", "/ros_workspace/src/robot_msgs"]
COPY ["robot_plan", "/ros_workspace/src/robot_plan"]
RUN source /opt/ros/kinetic/setup.bash; catkin_make

EXPOSE 9090 11311 33690

CMD source devel/setup.bash; roslaunch robot_plan robot_plan.launch

robot-plan launch file

<launch>
    <node name="robot_plan" pkg="robot_plan" type="plan_server.py" output="screen" respawn="true">
        <rosparam command="load" file="$(find robot_plan)/config/config.yaml" />
    </node>
</launch>

reference: https://github.com/osrf/docker_images...

I'm trying to control both position and velocity of a wheeled robot using ROS. Are there packages that are designed to do motion planning for this use case? Is there an example in ROS of using multiple PIDs to do something like this instead?

Is there a way to define a ROS message or service with arbitrary python objects? Is the only option to use a string and use json.dumps / json.loads?