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2023-06-26 13:43:13 -0500 marked best answer VSCode ROS2 setup

I should preface my comments by saying I am fairly new to ROS2 and I haven't done any projects in ROS1. I am using a binary install of Eloquent on Ubuntu 18.04. I installed VSCode along with the Extension for ROS on Ubuntu 18.04.

First, I wanted to open up my ROS2 workspace(currently just a clone of turtlesim) in VSCode. I traversed to the workspace and started VSCode ('code .') and VSCode opens it as a VSCode workspace and seems to recognize it as a ROS2 eloquent workspace. Good so far.

Next, I wanted to make sure Intellisense worked. I found two options that worked. One option was to manually add /opt/ros/eqloquent/include to the includePath in c_cpp_properties.json of the VSCode workspace. The other option, which is probably better, was to point the compileCommands in c_cpp_properties.json to the compile_commands.json generated from a colcon build with cmake arg of -DCMAKE_EXPORT_COMPILE_COMMANDS=ON. Is this the best way to enable Intellisense? Ideally, I wouldn't have to do this and VSCode ROS extension would "determine" the paths automatically.

Next, I ran the VSCode build task(Ctrl-Shift-B) and it offered me 'colcon build' as the option. However, it doesn't let me pass any options e.g. if I want to do a clean first. Is there any way to do a clean from VSCode without typing it in a terminal? Also is there any way to just build a single package?

Next, I opened ROS terminal by running the command 'ROS: Create Terminal'. However, it doesn't seem to run the eloquent underlay setup.bash or the overlay setup.bash of my workspace. At least, that's what it seems like since it doesn't tab-complete after 'ros2'. It does seem to have the ROS environment variables defined e.g. ROS_DISTRO. Am I doing this wrong or do I have to always manually run the underlay and overlay setup.bash scripts?

Also, I was hoping that the 'ROS: Run a ROS executable(rosrun)' command (it does call 'ros2 run' even though it says rosrun) would let me run my workspace nodes but it offers me only the underlay nodes as options. Again, is there there anything additional step I need to do to make my ROS2 workspace visible?

Finally, I was attempting to debug the executable but I tried to attach, it gave me the message which I answered affirmatively: Superuser access is required to attach to a process. Attaching as superuser can potentially harm your computer. Do you want to continue? [y/N]. Is there any way to eliminate this query?

All things considered, the ROS extension for ROS2 is very useful and I was able to debug my executable with it. So, great job.

2023-06-02 15:31:25 -0500 marked best answer Multiple conditions for IfCondition in ros2 launch script

I need to launch a node in a ros2 launch script that requires multiple conditions i.e. a logical 'and' expression

DeclareLaunchArgument("input_arg", default_value="arg1")
DeclareLaunchArgument("bool_arg", default_value="false")

input_arg = LaunchConfiguration("input_arg")
bool_arg = LaunchConfiguration("bool_arg")

my_node = Node(
        package="my_pkg",
        executable="my_node",
        # condition=IfCondition(input_arg == arg2 and not bool_arg)
    )

I only want to launch the above node if the input_arg launch argument equals a specific value and the bool_arg argument is false. It easy enough to do one or the other condition e.g. with LaunchConfigurationEquals for the input_arg, but how do combine both these into one IfCondition. I'm guessing it has something with using PythonExpression but I can't get anything to work.

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2023-05-30 15:48:39 -0500 commented answer ros2 tf2 get latest transform not working as expected

Yes, startup synchronization is a problem that we have experienced and have had to address. As you say, when you create

2023-05-27 19:49:01 -0500 commented answer ros2 tf2 get latest transform not working as expected

Good thought. But both publisher and subscriber are on same machine

2023-05-27 12:28:01 -0500 commented answer ros2 tf2 get latest transform not working as expected

I realize that. And maybe I didn't state it correctly. The dynamic transform I am publishing at a high rate is highly un

2023-05-26 13:09:00 -0500 asked a question ros2 tf2 get latest transform not working as expected

ros2 tf2 get latest transform not working as expected I am using tf2::canTransform() and tf2::lookupTransform() with tim

2023-05-08 00:45:51 -0500 asked a question How to enable logger service for ComposableNode?

How to enable logger service for ComposableNode? In the most recent 'rolling' updates and including the Iron release, th

2023-05-07 15:52:27 -0500 asked a question How to access launch_ros_xxx node generated from ComposableNode launch file

How to access launch_ros_xxx node generated from ComposableNode launch file When I create a launch file for a Composable

2023-05-07 14:40:27 -0500 edited question How to not generate launch_ros_xxx node when launch file uses OpaqueFunction

How to not generate launch_ros_xxx node when launch file uses OpaqueFunction I am using OpaqueFunction in my launch file

2023-05-07 14:36:42 -0500 edited question How to not generate launch_ros_xxx node when launch file uses OpaqueFunction

Don't generate launch_ros_xxx node when launch file uses OpaqueFunction I am using OpaqueFunction in my launch file to g

2023-05-07 14:36:25 -0500 edited question How to not generate launch_ros_xxx node when launch file uses OpaqueFunction

Launch file using OpaqueFunction generates launch_ros_xxx node I am using OpaqueFunction in my launch file to generate a

2023-05-07 14:22:32 -0500 asked a question How to not generate launch_ros_xxx node when launch file uses OpaqueFunction

Launch file using OpaqueFunction generates launch_ros_xxx node I am using OpaqueFunction in my launch file to generate a

2023-04-12 07:38:41 -0500 commented answer rclcpp equivalent of 'ros2 run'

Examples for using LaunchDescription at startup with a dynamic set of nodes would be useful. We also launch nodes durin

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2023-03-31 11:05:39 -0500 commented answer rclcpp equivalent of 'ros2 run'

That's good to know. Can you provide a link to some examples of this? I still would like to know if this can be done wit

2023-03-31 11:05:10 -0500 commented answer rclcpp equivalent of 'ros2 run'

That's good to know. Can you provide a link to some examples of this?

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2023-03-31 10:52:54 -0500 commented answer rclcpp equivalent of 'ros2 run'

It is not easy to do that. LaunchDescription objects are good for static configuration and simple use-cases. There are a

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2023-03-31 09:29:30 -0500 commented answer rclcpp equivalent of 'ros2 run'

Yes, this would not suit me because the list of nodes that the project starts is not static. It may vary from run to run

2023-03-31 00:46:56 -0500 asked a question rclcpp equivalent of 'ros2 run'

rclcpp equivalent of 'ros2 run' Is there a ros2 C++ API(rclcpp) equivalent of 'ros2 run <pkg> <executable>'.

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2022-12-08 13:12:59 -0500 edited question Issue with latest FastRTPS/FastDDS rmw from 2022-09-29 rolling sync

Issue with latest FastRTPS/FastDDS rmw from 2022-09-29 rolling sync My ros2 application was working until I updated to t

2022-12-08 13:11:38 -0500 edited question Issue with latest FastRTPS/FastDDS rmw from 2022-09-29 rolling sync

Issue with latest FastRTPS/FastDDS rmw from 2022-09-29 rolling sync My ros2 application was working until I updated to t

2022-12-08 13:11:09 -0500 edited question Issue with latest FastRTPS/FastDDS rmw from 2022-09-29 rolling sync

Issue with latest FastRTPS rmw from 2022-09-29 rolling sync My ros2 application was working until I updated to the recen

2022-11-29 12:41:35 -0500 commented question Issue with latest FastRTPS/FastDDS rmw from 2022-09-29 rolling sync

I still see this issue after updating to the latest rolling sync on 2022-11-16. Is there anyone from eProsima that can c

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2022-10-20 11:22:13 -0500 commented answer ROS2 Docker development practice (volume mounting)

In our case, we do add a new user. But you can try the root user as well.

2022-10-20 09:57:14 -0500 answered a question ROS2 Docker development practice (volume mounting)

We have a docker environment working well for us. As you suggested, we mount volumes from the host into docker with the

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2022-10-20 09:41:42 -0500 answered a question Problem with using subscriber from initialize method.

You need a Node to create a subscriber. See this tutorial for an example.

2022-10-20 09:31:07 -0500 commented answer ROS2 DONT WORK WHEN RECONNECT NETWORK

You might try 'ros2 multicast receive/send' at both endpoints to see if multicast is being passed through when this happ

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2022-10-19 17:08:44 -0500 edited question Issue with latest FastRTPS/FastDDS rmw from 2022-09-29 rolling sync

Issue with latest FastRTPS rmw from 2022-09-29 rolling sync My ros2 application was working until I updated to the recen

2022-10-19 17:08:12 -0500 asked a question Issue with latest FastRTPS/FastDDS rmw from 2022-09-29 rolling sync

Issue with latest FastRTPS rmw from 2022-09-29 rolling sync My ros2 application was working until I updated to the recen

2022-10-19 16:46:54 -0500 commented answer ROS2 DONT WORK WHEN RECONNECT NETWORK

The daemon is not required for ros2 communication to work

2022-10-19 16:45:20 -0500 answered a question DDS to ROS2 messages

So I was also able to get it to work with a custom type. This was for talking to a native Connext application. Here's wh