yanaing's profile - activity

This might be one of the solutions, and also using IMU. The problem also having is that the robot itself could not go st

Odometry drift and how to fix Asking for advice on how should I fix the odometry drifting of the wheel. I detail of my p

I am developing a robot and I wrote some programs for that robot. In the robot's motor driving node, I subscribed the topic from /cmd_vel topic. What the current issue is that when the motor is running and if I terminate the motor driving node with ctrl-C, the motor is still running.

Is there any way to put the motor values with 0 before terminating the program? I am using ROS melodic with python as the following.

#!/usr/bin/env python
import ........

class main():
    def __init__(self):
         rospy.init_node("robot", anonymous=False)
         rospy.Subscriber(..........)
         self.pub=rospy.Publisher(..........)

         rospy.Timer(rospy.Duration(0.2), self.main_callback)
         while not rospy.is_shutdown():
              rospy.sleep(0.2)
              print("-----------------")

     def main_callback(self, event):
           ......................
           motor_1 = 50
           ....end.....

if __name__="__main__":
          try: main()
          except rospy.ROSInterruptException: pass

As with this example, some way to set the value motor_1=0 before terminating the node.

Thanks... It work.! I finalize my motor node as follwoing. #!/usr/bin/env python import ........ class main(): def

Catch ctrl-C and Set value I am developing a robot and I wrote some programs for that robot. In the robot's motor drivin

Hi, I am trying to move a robot through the map in the RVIZ. I have a robot URDF file and also a map. Is it possible to publish a transform between robot base link and map?

By assuming that it is possible, I am trying to is that,

  <launch>
    <arg name="model" default="$(find robot_description)/urdf/description.urdf"/>
    <arg name="gui" default="true" />
    <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" />

    <param name="use_sim_time" value="false"/>
    <param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
    <param name="use_gui" value="$(arg gui)" />

    <node pkg="map_server" type="map_server" name="map_server" args="$(find lidar_simulation)/map/z_map_canteen_28_03_test1.yaml">
      <param name="frame_id" value="map" />
    </node>

    <node pkg="tf" type="static_transform_publisher" name="base_map" args="0 0 0 0 0 0 /odom /map 100" />
    <node pkg="tf" type="static_transform_publisher" name="base_link_odom" args="0 0 0 1.571 0 0 /map /base_link 100" />

    <node if="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
    <node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />

  </launch>

The above is the launch file. When I launch it, the RVIZ opens and can also visualize the robot and the map. example

To move the robot along with the map, I use topic_tools/transform package and publishing the topic with the following commands.

rosrun topic_tools transform /tf /tf tf2_msgs/TFMessage '[std_msgs.msgeader(0, rospy.Time.now(), "/map"), "/base_link", geometry_msgs.msg.Transform(geometry_msgs.msg.Vector3(1,1,0), geometry_msgs.msg.Quaternion(1.571,0,0,1))]' --import rospy std_msgs geometry_msgs

rosrun topic_tools transform /tf /tf tf2_msgs/TFMessage 'geometry_msgs.msg.TransformStamped [std_msgs.msg.Header(0, rospy.Time.now(), "/map"), "/base_link", geometry_msgs.msg.Transform(geometry_msgs.msg.Vector3(1,1,0), geometry_msgs.msg.Quaternion(1.571,0,0,1))]' --import rospy std_msgs geometry_msgs

Since, the /tf topic uses tf2_msgs/TFMessage and, the rosmsg types and details

But this not working by showing the error TypeError: Invalid number of arguments, args should be ['transforms'] args are( ) . Is there any way to move the robot along with the map or also do my currently trying ways correct?

Thanks for your attention.

It works. But the node I have used it tf and therefor I used rosrun tf static_transform_publisher 1 1 0 1.571 0 0 map ba

Ho to publish a transform between base_link and map Hi, I am trying to move a robot through the map in the RVIZ. I have

Ho to publish a transform between base_link and map Hi, I am trying to move a robot through the map in the RVIZ. I have

Ho to publish a transform between base_link and map Hi, I am trying to move a robot through the map in the RVIZ. I have

According to your instruction, I set the parameter to PAUSE, I spawn above the ground with the value of -z. If PAUSE val

URDF spawn error, robot float on the ground plane Hi, I build a robot model in the URDF file and also tested with t