BlueBird's profile - activity

Need a theoretical explanation about the Cartographer's file submap_painter.cc, especially the function CairoPaintSubmap

I have tried the service cartographer_ros_msgs/FinishTrajectory. The cartographer seems to stop the charting work. Then,

How can I start to build a new map and clean the old one in Cartographer? I am using the cartographer_node to build the

I have posted an issue on GitHub; however, no one responds to it. So I start to wonder if it is my own mistake. It begins from one day when I transform a piece of ROS foxy code into the Humble environment.

rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_handle = this->get_node_topics_interface();

std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_ = nullptr;

tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(node_topics_handle);

It will give you an error. "passed non-default qos overriding options without providing a parameters interface."

You may wonder why you want to write it like this. Why not use 'this' directly. It is because by using node_topics_handle, I can isolate different functions in different classes without passing the shared printer node everywhere.

Please, tell me how to publish dynamic TF with node_topics_handle.

Thanks.

Operating System: Ubuntu 22.04.2 LTS Installation type: binaries Version or commit hash: ROS humble DDS implementation: Fast-RTPS Client library (if applicable): rclcpp

I got an answer from the Url. It should be written as tf_broadcaster_ = std::make_unique<tf2_ros::transformbroad

Publish dynamic TF with this->get_node_topics_interface() works in foxy but not in humble. (passed non-default qos ov

I notice that the slam_toolbox for ROS2 foxy does not publish the topic pose (https://github.com/SteveMacenski/slam...). I have confirmed it on my own virtual machine with the apt-get package. As far as I know, SLAM means mapping and localization. Where does the robot pose goes if the toolbox doesn't publish it? Can I get it from the TF?
May I use the pose map->Odom->base_link? Is it the same pose published on the pose topic for ROS galactic, humble and rolling?

A similar question can be found on this.

Thank you very much. That helps a lot.

I also try to use the pose map->Odom->base_link? Is it the same pose published on the pose topic for ROS galactic,

The slam_toolbox for ROS2 foxy does not publish the topic pose. I notice that the slam_toolbox for ROS2 foxy does not pu

The nodes in NAV2 are very fragile. Take the controller server as an example. If I use the debugger to pause it, it exis

I used the temporary patch, and it seems to work. it seems to work

If I give a goal for the robot, it will bump into the obstacle. I am using Humble and NAV2.

global_costmap: global_costmap:

ros__parameters: update_frequency: 2.0

publish_frequency: 2.0 global_frame:

map robot_base_frame: base_link

use_sim_time: True robot_radius: 0.1

resolution: 0.05 track_unknown_space:

true plugins: [“static_layer”, “obstacle_layer”, “inflation_layer”]

static_layer: enabled: True plugin: “nav2_costmap_2d::StaticLayer”

map_subscribe_transient_local: True

obstacle_layer: plugin: “nav2_costmap_2d::ObstacleLayer”

enabled: True

observation_sources:

scan scan: topic: /scan

sensor_frame: “base_scan”

max_obstacle_height: 2.0

clearing: True marking: True

data_type: “LaserScan”

expected_update_rate: 1.0

raytrace_max_range: 3.0

raytrace_min_range: 0.0

obstacle_max_range: 2.5

obstacle_min_range: 0.0

inflation_layer: plugin: “nav2_costmap_2d::InflationLayer”

cost_scaling_factor: 1.0

inflation_radius: 0.55

always_send_full_costmap: True

global_costmap_client:

ros__parameters:

use_sim_time: True

global_costmap_rclcpp_node:

ros__parameters:

use_sim_time: True

local_costmap:

local_costmap:

ros__parameters: update_frequency: 5.0

publish_frequency: 5.0 global_frame: odom

robot_base_frame: base_link

use_sim_time: True

rolling_window: true

width: 3

height: 3

resolution: 0.05

robot_radius: 0.1

always_send_full_costmap: True

plugins: [“obstacle_layer”, “inflation_layer”]

obstacle_layer:

plugin:

“nav2_costmap_2d::ObstacleLayer”

enabled: True

observation_sources: scan

scan: topic: /scan

max_obstacle_height: 2.0

clearing: True

marking: True

data_type: “LaserScan”

expected_update_rate: 1.0

inflation_layer:

plugin: “nav2_costmap_2d::InflationLayer”

cost_scaling_factor: 3.0

inflation_radius: 1.0

always_send_full_costmap: True

local_costmap_client:

ros__parameters:

use_sim_time: True

local_costmap_rclcpp_node:

ros__parameters: use_sim_time: True

The obstacle is not on my cost map. If I give a goal for the robot, it will bump into the obstacle. I am using Humble an

My process reminds me that the following codes seem run only once. import os from launch import LaunchDescription impor

The function IncludeLaunchDescription in ROS Humble run launch file twice! Required Info: Operating System: Ubuntu Ub

Questions related to currently usage of AMCL’s parameters in NAV2 As a new user, I don't think I can understand every pa

Yep! Good idea.

The deep understanding about the config file of cartographer ROS. Please check my understanding about the 'cartographer.

My timing accuracy is related to the number of spin_once. I try to call service 'compute_rectangle_area' at a constant r