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2023-02-19 07:24:09 -0500 edited question How to use tf2 in ros1 to calculate dead reackoning

How to calculate dead reackoning using tf2 PS: The twist of the robot has 3 degrees of freedom. lin.x, lin.y and ang.z

2023-02-17 11:47:16 -0500 edited question How to use tf2 in ros1 to calculate dead reackoning

How to calculate dead reackoning using tf2 PS: The twist of the robot has 3 degrees of freedom. lin.x, lin.y and ang.z

2023-02-17 11:46:04 -0500 edited question How to use tf2 in ros1 to calculate dead reackoning

How to calculate dead reackoning using tf2 PS: The twist of the robot has 3 degrees of freedom. lin.x, lin.y and ang.z

2023-02-17 11:45:37 -0500 edited question How to use tf2 in ros1 to calculate dead reackoning

How to calculate dead reackoning using tf2 // given // - from sensor data calculated "twist" [geometry_msgs::Twist]

2023-02-17 11:44:50 -0500 edited question How to use tf2 in ros1 to calculate dead reackoning

How to calculate dead reackoning using tf2 // given // - from sensor data calculated "twist" [geometry_msgs::Twist]

2023-02-17 11:41:22 -0500 asked a question How to use tf2 in ros1 to calculate dead reackoning

How to calculate dead reackoning using tf2 // given // - from sensor data calculated "twist" [geometry_msgs::Twist] //

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2022-12-01 15:26:19 -0500 answered a question Moveit2 install missing "release" file

You probably missed this step from https://moveit.picknik.ai/humble/doc/tutorials/getting_started/getting_started.html#d

2022-08-25 08:49:50 -0500 marked best answer How to define transmissions with ros2 control

From my current understanding, if you want to use ROS2 Control with gazebo, you have to use one ros2_control tag with type systemfor all joints. (See https://github.com/ros-simulation/gaz...)

My question now: How do you define your transmissions?

I found this components_architecture_and_urdf_examples, but I can't find anything there.

Robot Description: I have 3 wheels that control the movement of the robot. Each of them has its own actuator. All of them have the same transmission ratio.

I would like to define three SimpleTansmissions, but how do I specify the corresponding joints? All examples I found define the transmission inside of <ros2_control name="..." type="actuator"> and not <ros2_control name="..." type="system">.

The only system transmission I could find, looks like this:

<transmission name="transmission1">
  <plugin>transmission_interface/SomeComplex2by2Transmission</plugin>
  <param name="joints">{joint1, joint2}</param>
  <param name="output">{output2, output2}</param>
  <param name="joint1_output1">1.5</param>
  <param name="joint1_output2">3.2</param>
  <param name="joint2_output1">3.1</param>
  <param name="joint2_output2">1.4</param>
</transmission>

And as far as I know, this is only a prototype. There is no SomeComplex2by2Transmission plugin.

Currently, I see two possible solutions:

  1. It is somehow possible to use type="actuator" with gazebo_ros2_control.
  2. There is some way to define simple transmissions in a system.
  3. I have to write my own transmission plugin.

I would prefer the first option, because this is way easier to maintain with xacro.

Some links:

My current ros2_control tag:

  <!-- ROS Control for the rims -->
  <ros2_control name="cassiopeia_rim_control" type="system">
    <xacro:if value="$(arg use_sim)">
      <hardware>
        <plugin>gazebo_ros2_control/GazeboSystem</plugin>
      </hardware>
    </xacro:if>
    <xacro:unless value="$(arg use_sim)">
      <hardware>
        <xacro:if value="$(arg use_fake_hardware)">
          <plugin>fake_components/GenericSystem</plugin>
          <param name="fake_sensor_commands">$(arg fake_sensor_commands)</param>
          <param name="state_following_offset">0.0</param>
        </xacro:if>
        <xacro:unless value="$(arg use_fake_hardware)">
          <!-- TODO: If we want this feature, we have to write an
                     hardware controller plugin in C++ for ROS2 Control.
            -->
        </xacro:unless>
      </hardware>
    </xacro:unless>

    <joint name="a_rim_joint">
      <command_interface name="velocity">
        <param name="min">-1</param>
        <param name="max">1</param>
      </command_interface>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
    <joint name="b_rim_joint">
      <command_interface name="velocity">
        <param name="min">-1</param>
        <param name="max">1</param>
      </command_interface>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
    <joint name="c_rim_joint">
      <command_interface name="velocity">
        <param name="min">-1</param>
        <param name="max">1</param>
      </command_interface>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
  </ros2_control>

  <gazebo>
    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
      <parameters>$(find pkg_name)/config/controllers.yaml</parameters>
    </plugin>
  </gazebo>
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2021-12-05 08:18:48 -0500 commented answer How to use multiple laser scanners for slam and navigation

This would be great. I'll have a look at that branch as soon as possible. Unfortunately, there are currently other proje

2021-11-24 12:15:04 -0500 commented answer How to use multiple laser scanners for slam and navigation

Yes, I know that this package exists. I've included ira_laser_tools already in my question and yes, I know that this uno

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2021-11-23 17:30:32 -0500 edited question How to use multiple laser scanners for slam and navigation

How to use multiple laser scanners for slam and navigation Hi, we have multiple Robots on ROS2 Foxy and we would like to

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2021-11-23 17:07:05 -0500 commented answer How to use multiple laser scanners for slam and navigation

It's trivial for a best fit solution, but it is not possible to merge two LaserScan messages from different frames into

2021-11-23 17:05:06 -0500 commented answer How to use multiple laser scanners for slam and navigation

It's trivial for a best fit solution, but it is not possible to merge two LaserScan messages from different frames into

2021-11-23 17:04:17 -0500 commented answer How to use multiple laser scanners for slam and navigation

It's trivial for a best fit solution, but it is not possible to merge two LaserScan messages from different frames into

2021-11-23 16:47:51 -0500 edited question How to use multiple laser scanners for slam and navigation

How to use multiple laser scanners for slam and navigation Hi, we have multiple Robots on ROS2 Foxy and we would like to

2021-11-23 16:06:46 -0500 edited question How to use multiple laser scanners for slam and navigation

How to use multiple laser scanners for slam and navigation Hi, we have multiple Robots on ROS2 Foxy and we would like to

2021-11-23 16:04:38 -0500 edited question How to use multiple laser scanners for slam and navigation

multi laser slam toolbox Hi, we have multiple Robots on ROS2 Foxy and we would like to use Navigation2 with the slam_too

2021-11-23 16:04:36 -0500 edited question How to use multiple laser scanners for slam and navigation

multi laser slam toolbox Hi, we have multiple Robots on ROS2 Foxy and we would like to use Navigation2 with the slam_too

2021-11-23 16:00:18 -0500 asked a question How to use multiple laser scanners for slam and navigation

multi laser slam toolbox Hi, we have multiple Robots on ROS2 Foxy and we would like to use Navigation2 with the slam_too

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2021-10-18 14:41:29 -0500 marked best answer ROS2 Message generation in python package

Hi, I have a python package with multiple nodes and I need to send a message from one node to another. Currently the message type is from std_msgs.msg import Int16MultiArray, but I need to add a header to this message. The message contains the encoder values from 3 wheels and are transferred from the hardware driver node to the odom node. This message should have the frame id base_link and must contain the time. So I need a Int16MultiArrayStamped or I would call it EncoderStamped or something like that.

Now I would like to generate a custom message, but I can't find documentation on how this should work inside a python package. I mean I can just create a new CMake package which just contains the new message type with message generation, but I want this to be self contained, because this belongs to this package.

So my question is: Is it possible to have custom message generation in a python package in ROS2 Foxy?

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2021-10-16 07:41:17 -0500 asked a question ROS2 Message generation in python package

ROS2 Message generation in python package Hi, I have a python package with multiple nodes and I need to send a message f

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2021-10-02 08:31:32 -0500 marked best answer ROS2 list publishers and subscribers

When you do rostopic info /some/topic in ROS1 it lists all the nodes that publish or subscribe to this topic.

ROS2 does the same, except it only output how many publisher or subscribers are on this topic. Is it somehow possible to get the full list of all publishers and subscribers?

$ ros2 topic info /odom
Type: nav_msgs/msg/Odometry
Publisher count: 0
Subscription count: 1

I mean it is possible to use ros2 node info on all nodes an see if they are subscribed, but this is tedious if you have a large number of nodes.

2021-10-02 08:31:27 -0500 answered a question ROS2 list publishers and subscribers

Just found the solution. Use --verbose like this: $ ros2 topic info --verbose /odom Type: nav_msgs/msg/Odometry Publi

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2021-10-02 08:27:08 -0500 edited question ROS2 list publishers and subscribers

ROS2 list publishers and subscribers When you do rostopic info /some/topic in ROS1 it lists all the nodes that publish o

2021-10-02 08:26:07 -0500 edited question ROS2 list publishers and subscribers

ROS2 list publishers and subscribers When you do rostopic info /some/topic in ROS1 it lists all the nodes that publish o

2021-10-02 08:24:59 -0500 asked a question ROS2 list publishers and subscribers

ROS2 list publishers and subscribers When you do rostopic info /some/topic in ROS1 it lists all the nodes that publish o

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2021-08-25 04:18:59 -0500 edited answer Problem on understand the ros2_control demo code

My problem is I find the log code for example like below, but none of the log show in terminal, there any setup