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2022-12-20 03:17:11 -0500 edited question Problem reserving CacheChange in reader with different ROS_DOMAIN_IDs

Problem reserving CacheChange in reader with different ROS_DOMAIN_IDs Hi all I am using ROS 2 in an academic context. W

2022-12-20 03:15:58 -0500 asked a question Problem reserving CacheChange in reader with different ROS_DOMAIN_IDs

Problem reserving CacheChange in reader with different ROS_DOMAIN_IDs Hi all I am using ROS 2 in an academic context. W

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2022-12-19 04:29:20 -0500 commented answer Subscribe to remote topic without slowing down the remote machine

Thank you for your suggestion. Yet I hope there is a better solution. For us, the inherent transparent network capabilit

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2022-12-06 13:30:57 -0500 asked a question Subscribe to remote topic without slowing down the remote machine

Subscribe to remote topic without slowing down the remote machine Hi all I am using ROS 2 humble in an academic context

2022-12-06 13:24:03 -0500 commented question ros2 galactic interprocess performance

Not a definitive answer, but a point of data: At the university, we use ROS 2 for exactly this application. Out of the b

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2022-03-08 10:31:38 -0500 edited question pre-allocated message buffers and zero-copy publishing

pre-allocated message buffers and zero-copy publishing Hi all I am trying to implement real zero-copy publishing in a c

2022-03-08 10:27:48 -0500 asked a question pre-allocated message buffers and zero-copy publishing

pre-allocated message buffers and zero-copy publishing Hi all I am trying to implement real zero-copy publishing in a c

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2021-10-11 11:14:02 -0500 commented answer Launch component into container defined by included launch file

Thank you. :) Small hint for the next one looking at this: It needs to be the "fully qualified" name. In my case, a name

2021-10-11 11:11:07 -0500 marked best answer Launch component into container defined by included launch file

Hi

This question can be regarded as an extension of the question https://answers.ros.org/question/3781... and https://answers.ros.org/question/3069....

Situation: I have a "base" launch file which describes a collection of nodes. Some of these nodes are launched in a component container. The base launch file is already fairly complex. I do not want to add to it any further.

Goal: To further expand the project, I want to build upon the base rather than to change it. I want to create a launch file which includes the base launch file and then describes some more nodes to launch. Some of these nodes need to be added to the component container which is described by the included launch file.

This is what I have so far (includes omitted for readability):

base_package_directory = get_package_share_directory('base_package')
base_launch_description = IncludeLaunchDescription(PythonLaunchDescriptionSource(base_package + '/launch/base.py'))
base_container = next(e for e in base_vehicle.get_sub_entities()[0].entities if isinstance(e, ComposableNodeContainer))
additional_node = LoadComposableNodes(
    composable_node_descriptions = [ComposableNode(
        name = 'additional_node',
        package = 'additional_package',
        plugin = 'additional_node',
    )],
    target_container = base_container,
)
return launch.LaunchDescription([base_launch_description, additional_node])

This looks terribly ugly. Also, it results in an error:

RuntimeError: cannot access 'node_name' before executing action

Where node_name is an attribute of the ComposableNodeContainer "base_container".

My guts are telling me "you are doing it wrong" – especially when looking at line 2 and 3. How do I do this right?

Kind regards
Hermann

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2021-10-07 13:56:28 -0500 asked a question Launch component into container defined by included launch file

Launch component into container defined by included launch file Hi This question can be regarded as an extension of the

2021-09-02 05:12:47 -0500 edited answer ros2 megapixel image pub/sub cpu usage is very high

This is still a problem with ROS 2 foxy in 2021. Update: Or so I thought. I am trying to pull 1600 x 1200 pixel RGB ima

2021-09-02 05:10:22 -0500 edited answer ros2 megapixel image pub/sub cpu usage is very high

This is still a problem with ROS 2 foxy in 2021. Update: Or so I thought. I am trying to pull 1600 x 1200 pixel RGB ima

2021-09-02 05:07:06 -0500 commented answer ros2 megapixel image pub/sub cpu usage is very high

I take back my original accusations of ROS2 being slow. I ran some benchmarks and added the results to the answer.

2021-09-02 05:06:17 -0500 edited answer ros2 megapixel image pub/sub cpu usage is very high

This is still a problem with ROS 2 foxy in 2021. Update: Or so I thought. I am trying to pull 1600 x 1200 pixel RGB ima

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2021-04-22 05:23:23 -0500 edited answer ros2 megapixel image pub/sub cpu usage is very high

This is still a problem with ROS 2 foxy in 2021. I am trying to pull 1600 x 1200 pixel RGB images at 45 fps from a came

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2021-04-21 07:48:43 -0500 answered a question ros2 megapixel image pub/sub cpu usage is very high

This is still a problem with ROS 2 foxy in 2021. I am trying to pull 1600 x 1200 pixel RGB images at 45 fps from a came

2021-03-24 06:13:55 -0500 commented answer [ROS2] best practice for composable node publishing data from blocking call

Thank you for the answer. There is an example at https://answers.ros.org/question/322815/ros2-how-to-create-custom-waita

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2021-03-16 09:02:32 -0500 asked a question [ROS2] best practice for composable node publishing data from blocking call

[ROS2] best practice for composable node publishing data from blocking call Hi I am converting a node from ROS1 to ROS2

2021-03-16 07:46:20 -0500 commented question How to read/write topic data from ROS into TwinCat3 program

Have you looked into Beckhoff's TwinCAT SDK? With ROS2 natively usable on Windows, this should be possible.