AidanK's profile - activity

Added link to log files. Currently looking through as well.

Slam_toolbox no map received I know this question has been asked multiple times, but there are no good answers. It seems

Slam_toolbox no map received I know this question has been asked multiple times, but there are no good answers. It seems

Slam_toolbox no map received I know this question has been asked multiple times, but there are no good answers. It seems

Slam_toolbox no map received I know this question has been asked multiple times, but there are no good answers. It seems

Thank you, I managed to wire my motor controller so that my navigation works as expected.

How to specify motor/wheel orientation? I'm building a 4-wheel drive mobile robot, and having some basic issues with con

According to the paper (https://joss.theoj.org/papers/10.21105/joss.02783), the localization mode does continue to updat

I managed to 'resolve' the issue by flipping the wiring of the encoder that was giving the opposite readings. This is no

Thank you! I see exactly what you mean now, that clarified several areas of confusion for me. That's a good starting poi

Closing this question out. I haven't solved the issue, but I now understand that it's an odometry issue with the diff_dr

I'm new to ROS, and picked up a robot that used to be able to perform SLAM with gmapping. I'm working on getting it up and running after years of sitting in a lab, but I can't get the robot to map or localize in it's surroundings.

With teleoperation, I noticed that driving in a straight line causes the Velodyne point cloud readings to rotate. For example, it takes about 15 or 20 feet to complete a full rotation. Driving straight shouldn't cause any rotation at all, so this is clearly wrong. Can anyone point me in the right direction? Is there some small setup mistake I'm making, am I misinterpreting rviz, is there a checkbox I'm missing in rviz, etc.? I suspect it's an odometry related issue, simply because the map rotates when my wheels rotate, but I'm also not really sure how to tackle that yet.

I also have half a dozen deprecation warning when launching the move_base node, but I assume those will be easier to sort out once I see the Velodyne point cloud readings function as expected. Right now if I set a 2d goal, the robot just moves back and forth a few feet for a couple of seconds before aborting because a controller couldn't be found. I assume the primary culprit at this point is because of the rotation of the Velodyne point cloud.

EDIT: After playing around, I've found the problem is entirely within my odometry. The odometry frame relative to the base frame rotates when driving straight, and moves linearly when rotating. I believe it's a hardware issue, but still looking into it.

Thanks in advance!

Thank you! I see exactly what you mean now, that clarified several areas of confusion for me. That's a good starting poi

I'm confident that somewhere along the way one of the readings is inverted from how it should be, but I'm not sure if it

Odom frame rotates when driving linearly in RVIZ, encoder issue? I believe I have an encoder issue, where one of my enco

Odom frame rotates when driving linearly in RVIZ, encoder issue? I believe I have an encoder issue, where one of my enco

Odom frame rotates when driving linearly in RVIZ, encoder issue? I believe I have an encoder issue, where one of my enco

Odom frame rotates when driving linearly in RVIZ, encoder issue? I believe I have an encoder issue, where one of my enco

Odom frame rotates when driving linearly in RVIZ, encoder issue? I believe I have an encoder issue, where one of my enco

Yes, I cannot attached, but I've pasted the code in. Working to try and get it formatted but can't get it working yet

Odom frame rotates when driving linearly in RVIZ, encoder issue? I believe I have an encoder issue, where one of my enco

Odom frame rotates when driving linearly in RVIZ, encoder issue? I believe I have an encoder issue, where one of my enco

Odom frame rotates when driving linearly in RVIZ, encoder issue? I believe I have an encoder issue, where one of my enco

Yes, will attach

trog_joint_publisher: type: "joint_state_controller/JointStateController" publish_rate: 50 trog_velocity_co

trog_joint_publisher: type: "joint_state_controller/JointStateController" publish_rate: 50 trog_velocity_co

Odom frame rotates when driving linearly in RVIZ, encoder issue? I believe I have an encoder issue, where one of my enco

Odom frame rotates when driving linearly in RVIZ, encoder issue? I believe I have an encoder issue, where one of my enco

Odom frame rotates when driving linearly in RVIZ, encoder issue? I believe I have an encoder issue, where one of my enco

Odom frame rotates when driving linearly in RVIZ, encoder issue? I believe I have an encoder issue, where one of my enco

Closing this question out. I haven't solved the issue, but I now understand that it's an odometry issue with the diff_dr

I am, what is a good way to directly check the wheel encoder values? When using rviz and checking the TF, it appears t