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ros2cpp/navigationlaunchpy_20.txt
executable='waypoint_follower', name='waypoint_follower', output='screen', respawn=use_respawn, respawn_delay=2.0, parameters=[configured_params], arguments=['--ros-args', '--log-level', log_level], ...
ros2cpp/navigationlaunchpy_19.txt
load_nodes = GroupAction( condition=IfCondition(PythonExpression(['not ', use_composition])), actions=[ SetParameter('use_sim_time', use_sim_time), Node( package='nav2_controller', executable='controller_server', output='screen'...
robotics-0/extraction_1.txt
#### Steps to reproduce issue Start a `nav2_util::lifecycle_node` with a namespace set ``` Node( package='nav2_controller', executable='controller_server', namespace='/my_ns' output='screen', respawn=use_respawn, respawn_delay=2.0, parameters=[configured_params], arguments=['--ros-args', '--log-level', log_level], rema...
robotics-0/extraction_2.txt
### Namespacing To prevent ROS specific command line flags from colliding with user-defined ones, the former are scoped using the `--ros-args` flag and a trailing double dash token ( `--`): ``` ros2 run some_package some_node [<user-defined-arg-0>...<user-defined-arg-N>] \ --ros-args [<ros-specific-arg-0>...] -- [<user...
robotics-0/extraction_3.txt
## Logger level configuration: externally  ROS 2 nodes have services available to configure the logging level externally at runtime. These services are disabled by default. The following code shows how to enable the logger service while creating the node. C++Python ``` // Create a node with logger service enabled auto...
relative_path/PackagesClientLibrar_6.txt
# Python In Python, you can use the ` RosPack ` class in the [ rospkg ](http://docs.ros.org/independent/api/rospkg/html/) library to get information about ROS packages. For example: 1 import rospkg 2 3 # get an instance of RosPack with the default search paths 4 rospack = rospk...
robotics-100/extraction_0.txt
## <rosparam> tag The `<rosparam>` tag enables the use of rosparam YAML files for loading and dumping parameters from the ROS Parameter Server. It can also be used to remove parameters. The `<rosparam>` tag can be put inside of a <node> tag, in which case the parameter is treated like a private name. The `delete` and `...
robotics-100/extraction_1.txt
## <node> tag Contents 1. <node> tag 1. Examples 2. Attributes 3. Elements The `<node>` tag specifies a ROS node that you wish to have launched. This is the most common `roslaunch` tag as it supports the most important features: bringing up and taking down nodes. `roslaunch` does not provide any guarantees about what o...
robotics-100/extraction_2.txt
## Writing a Launchfile 1. The Launchfile format relies on XML along with a special enhanced substitution argument syntax. 2. Launchfiles list nodes to be launched; however, the order in which they start is non-deterministic. 3. Important Launchfile XML elements: - <launch> \- the root element, every launchfile starts ...
robotics-100/extraction_3.txt
# ROS package access ¶ The `RosPack` class provides APIs similar to the `rospack` command-line tool distributed with ROS. Like `rospack`, its provides information about package and stack dependency information, filesystem locations, and manifest access. The Python API is more efficient than shelling out to `rospack` as...
image_process/imageproc_40.txt
Subscribed Topics ` image_raw ` ( [ sensor_msgs/Image ](http://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html) ) * Raw image stream from the camera driver. ` camera_info ` ( [ sensor_msgs/CameraInfo ](http://docs.ros.org/en/api/sensor_msgs/html/msg/CameraInfo.html) ) * Camera metadata.
robotics-10/extraction_0.txt
## Converting ROS image messages to OpenCV images To convert a ROS image message into an `cv::Mat`, module `cv_bridge.CvBridge` provides the following function: Toggle line numbers ``` 1 from cv_bridge import CvBridge 2 bridge = CvBridge() 3 cv_image = bridge.imgmsg_to_cv2(image_message, desired_encoding='passthrough')...
robotics-10/extraction_1.txt
``` | | | | | --- | --- | --- | | !Package symbol | ### cv\_bridge package from vision\_opencv repo<br>cv\_bridge image\_geometry opencv\_tests vision\_opencv | ### ROS Distro humble | API Docs Browse Code - Overview - 0 Assets - 15 Dependencies - >50 Q & A #### Package Summary | | | | --- | --- | | **Tags** | _No cate...
robotics-10/extraction_2.txt
# How to process a Image message with OpenCV from ROS2 Ask Question Asked3 years, 2 months ago Modified 2 years, 7 months ago Viewed 13k times This question shows research effort; it is useful and clear 0 Save this question. Timeline Show activity on this post. i am trying to work a image message with OpenCV from ROS2 ...
robotics-10/extraction_3.txt
### Create the Detect\_Pump Image-Processing Node ¶ The next node will subscribe to the `image` topic and execute a series of processing steps to identify the pump’s orientation relative to the horizontal image axis. 01. As before, create a basic ROS python node ( `detect_pump.py`) and set its executable permissions: `...
robotics-10/extraction_4.txt
## Displays A display is something that draws something in the 3D world, and likely has some options available in the displays list. An example is a point cloud, the robot state, etc. ### Adding a new display To add a display, click the Add button at the bottom: !../../../../_images/add-button.png This will pop up the ...
robotics-10/extraction_8.txt
# ROS Vision Messages ## Introduction This package defines a set of messages to unify computer vision and object detection efforts in ROS. ## Overview The messages in this package are to define a common outward-facing interface for vision-based pipelines. The set of messages here are meant to enable 2 primary types of ...
robotics-11/extraction_0.txt
### 2 Write the publisher node  Download the example talker code by entering the following command: LinuxmacOSWindows ``` $ wget -O publisher_lambda_function.cpp https://raw.githubusercontent.com/ros2/examples/jazzy/rclcpp/topics/minimal_publisher/lambda.cpp ``` Copy to clipboard Now there will be a new file named `pu...
robotics-11/extraction_1.txt
You can find a specific example in the ros2 examples repo: https://github.com/ros2/examples/blob/rolling/rclcpp/topics/minimal\_subscriber/lambda.cpp It can be done even shorter: ````hljs cpp #include <memory> #include "rclcpp/rclcpp.hpp" #include "std_msgs/msg/string.hpp" class MinimalSubscriber : public rclcpp::Node ...
robotics-11/extraction_3.txt
### 3 Write the subscriber node  Return to `ros2_ws/src/cpp_pubsub/src` to create the next node. Enter the following code in your terminal: LinuxmacOSWindows ``` wget -O subscriber_member_function.cpp https://raw.githubusercontent.com/ros2/examples/foxy/rclcpp/topics/minimal_subscriber/member_function.cpp ``` Copy to ...
robotics-11/extraction_4.txt
## Description !@HovorunB HovorunB opened on Feb 20, 2024 Issue body actions ## Bug report **Required Info:** - Operating System: - Ubuntu 22.04 - Installation type: - from source - Version or commit hash: - rolling - DDS implementation: - Fast-RTPS - Client library (if applicable): - rclcpp #### Steps to reproduce iss...
number_commands/differentupdaterates_10.txt
> hardware_interface::SystemInterface::on_init(info) != > hardware_interface::CallbackReturn::SUCCESS) > { > return hardware_interface::CallbackReturn::ERROR; > } > > // declaration in *.hpp file --> unsigned int > main_loop_update_rate_, desired_hw_update_rate_ = 100 ; > ...
number_commands/differentupdaterates_12.txt
By measuring elapsed time  Another way to decide if hardware communication should be executed in the ` read(const rclcpp::Time & time, const rclcpp::Duration & period) ` and/or ` write(const rclcpp::Time & time, const rclcpp::Duration & period) ` implementations is to measure elapsed time since last pa...
robotics-12/extraction_0.txt
By using ROS Humble, Moveit2, and ros2\_control, I am trying to accomplish manipulation tasks with the CRX-10iA/L Fanuc robot. Currently, I am implementing ros2\_control hardware\_interface part. Inside the default **write** function I am sending motion commands to robot. I have two motion command options from the prov...
robotics-12/extraction_1.txt
# Controller Manager  Controller Manager is the main component in the ros2\_control framework. It manages lifecycle of controllers, access to the hardware interfaces and offers services to the ROS-world. ## Parameters  <controller\_name>.type Name of a plugin exported using `pluginlib` for a controller. This is a cla...
robotics-12/extraction_2.txt
# joint\_trajectory\_controller  Controller for executing joint-space trajectories on a group of joints. The controller interpolates in time between the points so that their distance can be arbitrary. Even trajectories with only one point are accepted. Trajectories are specified as a set of waypoints to be reached at ...
robotics-12/extraction_3.txt
# Writing a new controller  In this framework controllers are libraries, dynamically loaded by the controller manager using the pluginlib interface. The following is a step-by-step guide to create source files, basic tests, and compile rules for a new controller. 1. **Preparing package** If the package for the control...
robotics-12/extraction_4.txt
### ur\_controllers/PassthroughTrajectoryController  This controller uses a `control_msgs/FollowJointTrajectory` action but instead of interpolating the trajectory on the ROS pc it forwards the complete trajectory to the robot controller for interpolation and execution. This way, the realtime requirements for the cont...
robotics-12/extraction_7.txt
`update_rate (int)` The frequency of controller manager’s real-time update loop. This loop reads states from hardware, updates controllers and writes commands to hardware. Read only: True Default: 100 diagnostics.threshold.controllers.periodicity The `periodicity` diagnostics will be published for the asynchronous cont...
robotics-12/extraction_8.txt
# Different update rates for Hardware Components  The `ros2_control` framework allows to run different hardware components at different update rates. This is useful when some of the hardware components needs to run at a different frequency than the traditional control loop frequency which is same as the one of the `co...
robotics-12/extraction_9.txt
# Fanuc\_CRX\_ROS2\_Driver This repository implements a ros2 hardware interface for the CRX family Fanuc robots. The code was tested on real hardware on Fanuc CRX-10iA/L, CRX-20iA/L, and CRX-25iA with R30iB Mini Plus controller. Additional information regarding implementation and performances evaluation can be found he...
robotics-12/extraction_10.txt
## I Introduction Report issue for preceding element The Robot Operating System (ROS) eco-system is the de-facto standard to control robots in the research field and is growing interest from the industrial world. ROS and ROS2 allow for seamless integration of state-of-the-art motion planning, vision, and control algori...
ros_launch/whatistheuseofsymlin_35.txt
with symlink-install if you change code in your source code, it will take effect, you don't have to compile it again (ony with python, not c++)
robotics-13/extraction_0.txt
# `build` \- Build Packages  The `build` verb is building a set of packages. It is provided by the `colcon-core` package. ## Command line arguments  These common arguments can be used: - executor arguments - event handler arguments - discovery arguments - package selection arguments - mixin arguments Additionally, th...
robotics-13/extraction_1.txt
## Basics  A ROS workspace is a directory with a particular structure. Commonly there is a `src` subdirectory. Inside that subdirectory is where the source code of ROS packages will be located. Typically the directory starts otherwise empty. colcon does out of source builds. By default it will create the following dir...
robotics-13/extraction_2.txt
In ROS1 we could modify XML launchfile and roslaunch them directly without catkin_make rebuilding, in ROS2 it seems if I modify python launchfile, I need to rebuild the package otherwise ``` ros2 launch <package_name> <launchfile_name> ``` runs the old launchfile. Do I need to rebuild the package after each modificatio...
robotics-13/extraction_3.txt
# Integrating launch files into ROS 2 packages  **Goal:** Add a launch file to a ROS 2 package **Tutorial level:** Intermediate **Time:** 10 minutes ## Prerequisites  You should have gone through the tutorial on how to create a ROS 2 package. As always, don’t forget to source ROS 2 in every new terminal you open. ## ...
odometry_trajectory/PlotJuggler_78.txt
PlotJuggler 3.9 PlotJuggler is a tool to visualize time series that is **fast** , **powerful** and **intuitive** . Noteworthy features: * Simple Drag & Drop user interface. * Load **data from file** . * Connect to live **streaming** of data. * Save the visualization layout and configurations to re-use t...
odometry_trajectory/PlotJuggler_79.txt
Data sources (file and streaming) * Load CSV files. * Load [ ULog ](https://dev.px4.io/v1.9.0/en/log/ulog_file_format.html) (PX4). * Subscribe to many different streaming sources: MQTT, WebSockets, ZeroMQ, UDP, etc. * Understand data formats such as JSON, CBOR, BSON, Message Pack, etc. * Well integrate...
odometry_trajectory/PlotJuggler_80.txt
Transform and analyze your data PlotJuggler makes it easy to visualize data but also to analyze it. You can manipulate your time series using a simple and extendable Transform Editor. [ ![](/facontidavide/PlotJuggler/raw/main/docs/function_editor.png) ](/facontidavide/PlotJuggler/blob/main/docs/function_editor.png)...
odometry_trajectory/PlotJuggler_84.txt
Snap (recommended in Ubuntu, to ROS users too) The snap contains a version of PlotJuggler that can work with either ROS1 or ROS2. [ ![Get it from the Snap Store](https://camo.githubusercontent.com/46aa03c94aa80f6545e01f2ce3966a1d7ae73552495f177b9b71f411408ce325/68747470733a2f2f736e617063726166742e696f2f737461746963...
robotics-14/extraction_0.txt
Python package for the evaluation of odometry and SLAM This package provides executables and a small library for handling, evaluating and comparing the trajectory output of odometry and SLAM algorithms. Supported trajectory formats: - 'TUM' trajectory files - 'KITTI' pose files - 'EuRoC MAV' (.csv groundtruth and TUM t...
robotics-14/extraction_1.txt
### `bag` & `bag2` - ROS1/ROS2 bagfile Permalink: bag & bag2 - ROS1/ROS2 bagfile Currently, bagfiles with topics that contain `geometry_msgs/PoseStamped`, `geometry_msgs/TransformStamped`, `geometry_msgs/PoseWithCovarianceStamped`, `geometry_msgs/PointStamped` and `nav_msgs/Odometry` messages are supported. evo only re...
robotics-14/extraction_2.txt
`evo_traj` is the main tool to do house-keeping stuff with multiple trajectories, such as: - displaying some infos - plotting - verifying that the data is valid - exporting to other formats - applying transformations etc. ## Basics Permalink: Basics `evo_traj` can open as many trajectories as you want. In case of a tex...
robotics-14/extraction_3.txt
These built-in command line apps let you evaluate estimated trajectories against a reference (ground truth): - `evo_ape` - `evo_rpe` Conceptually, the command syntax is as follows: ``` command format reference-trajectory estimated-trajectory [options] ``` where `format` indicates one of the supported trajectory formats...
robotics-14/extraction_4.txt
# IV. TRAJECTORY ERROR METRICS To calculate the estimation error from the groundtruth $\\mathbf { X } \_ { \\mathrm { g t } }$ and the aligned estimation $\\hat { \\mathbf { X } } ^ { \\prime }$ , two commonly used error metrics are the absolute trajectory error (ATE) and the relative error (RE). In this section, we wi...
spawn_entity/migratinggazeboclass_35.txt
Spawn model In this step, we will modify turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py. Again, we need to change gazebo_ros to ros_gz_sim. We'll also need to change spawn_entity.py to create, which is the node in ros_gz_sim that provides model spawning functionality. From the argument list, -entity needs to be re...
robotics-15/extraction_0.txt
### Spawn entities  The `create` executable can be used to spawn SDF or URDF entities from: - A file on disk or from Gazebo Fuel - A ROS parameter For example, start Gazebo Sim: ``` ros2 launch ros_gz_sim gz_sim.launch.py ``` then spawn a model: ``` ros2 run ros_gz_sim create -world default -file 'https://fuel.ignitio...
robotics-15/extraction_1.txt
# Spawn a Gazebo model from ROS 2 \# Gazebo will spawn all the models included in the provided world file at startup. Additionally, it’s possible to spawn new models at any time. To do so using ROS we have provided the following mechanisms: ## Spawn a model using the launch file included in `ros_gz_sim`. \# The package...
robotics-15/extraction_2.txt
# Spawn URDF \# This tutorial will cover how to spawn a URDF model in Gazebo Sim. URDF files are often used in ROS to represent robot models. While SDF can describe a world with multiple robot models, URDF can only describe one robot model. More information about URDF can be found at https://wiki.ros.org/urdf. ## Obtai...
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BrightProRoboticsRetrieval

An MTEB dataset
Massive Text Embedding Benchmark

Part of the BRIGHT-Pro benchmark for reasoning-intensive retrieval in agentic search settings. Robotics StackExchange queries are paired with multi-aspect gold evidence drawn from a long-form reference answer covering several reasoning aspects.

Task category Retrieval (text-to-text)
Domains Non-fiction, Written
Reference Rethinking Reasoning-Intensive Retrieval: Evaluating and Advancing Retrievers in Agentic Search Systems

Source datasets:

How to evaluate on this task

You can evaluate an embedding model on this dataset using the following code:

import mteb

task = mteb.get_task("BrightProRoboticsRetrieval")
model = mteb.get_model(YOUR_MODEL)
mteb.evaluate(model, task)

To learn more about how to run models on mteb task check out the GitHub repository.

Citation

If you use this dataset, please cite the dataset as well as mteb, as this dataset likely includes additional processing as a part of the MMTEB Contribution.


@article{Zhao2026RethinkingRR,
  author = {Yilun Zhao and Jinbiao Wei and Tingyu Song and Siyue Zhang and Chen Zhao and Arman Cohan},
  journal = {arXiv preprint arXiv:2605.04018},
  title = {Rethinking Reasoning-Intensive Retrieval: Evaluating and Advancing Retrievers in Agentic Search Systems},
  year = {2026},
}


@article{enevoldsen2025mmtebmassivemultilingualtext,
  title={MMTEB: Massive Multilingual Text Embedding Benchmark},
  author={Kenneth Enevoldsen and Isaac Chung and Imene Kerboua and Márton Kardos and Ashwin Mathur and David Stap and Jay Gala and Wissam Siblini and Dominik Krzemiński and Genta Indra Winata and Saba Sturua and Saiteja Utpala and Mathieu Ciancone and Marion Schaeffer and Gabriel Sequeira and Diganta Misra and Shreeya Dhakal and Jonathan Rystrøm and Roman Solomatin and Ömer Çağatan and Akash Kundu and Martin Bernstorff and Shitao Xiao and Akshita Sukhlecha and Bhavish Pahwa and Rafał Poświata and Kranthi Kiran GV and Shawon Ashraf and Daniel Auras and Björn Plüster and Jan Philipp Harries and Loïc Magne and Isabelle Mohr and Mariya Hendriksen and Dawei Zhu and Hippolyte Gisserot-Boukhlef and Tom Aarsen and Jan Kostkan and Konrad Wojtasik and Taemin Lee and Marek Šuppa and Crystina Zhang and Roberta Rocca and Mohammed Hamdy and Andrianos Michail and John Yang and Manuel Faysse and Aleksei Vatolin and Nandan Thakur and Manan Dey and Dipam Vasani and Pranjal Chitale and Simone Tedeschi and Nguyen Tai and Artem Snegirev and Michael Günther and Mengzhou Xia and Weijia Shi and Xing Han Lù and Jordan Clive and Gayatri Krishnakumar and Anna Maksimova and Silvan Wehrli and Maria Tikhonova and Henil Panchal and Aleksandr Abramov and Malte Ostendorff and Zheng Liu and Simon Clematide and Lester James Miranda and Alena Fenogenova and Guangyu Song and Ruqiya Bin Safi and Wen-Ding Li and Alessia Borghini and Federico Cassano and Hongjin Su and Jimmy Lin and Howard Yen and Lasse Hansen and Sara Hooker and Chenghao Xiao and Vaibhav Adlakha and Orion Weller and Siva Reddy and Niklas Muennighoff},
  publisher = {arXiv},
  journal={arXiv preprint arXiv:2502.13595},
  year={2025},
  url={https://arxiv.org/abs/2502.13595},
  doi = {10.48550/arXiv.2502.13595},
}

@article{muennighoff2022mteb,
  author = {Muennighoff, Niklas and Tazi, Nouamane and Magne, Loïc and Reimers, Nils},
  title = {MTEB: Massive Text Embedding Benchmark},
  publisher = {arXiv},
  journal={arXiv preprint arXiv:2210.07316},
  year = {2022}
  url = {https://arxiv.org/abs/2210.07316},
  doi = {10.48550/ARXIV.2210.07316},
}

Dataset Statistics

Dataset Statistics

The following code contains the descriptive statistics from the task. These can also be obtained using:

import mteb

task = mteb.get_task("BrightProRoboticsRetrieval")

desc_stats = task.metadata.descriptive_stats
{
    "standard": {
        "num_samples": 64021,
        "num_queries": 101,
        "num_documents": 63920,
        "number_of_characters": 28111838,
        "documents_text_statistics": {
            "total_text_length": 27891703,
            "min_text_length": 1,
            "average_text_length": 436.35330100125157,
            "max_text_length": 132944,
            "unique_texts": 42382
        },
        "documents_image_statistics": null,
        "documents_audio_statistics": null,
        "documents_video_statistics": null,
        "queries_text_statistics": {
            "total_text_length": 220135,
            "min_text_length": 165,
            "average_text_length": 2179.5544554455446,
            "max_text_length": 19341,
            "unique_texts": 101
        },
        "queries_image_statistics": null,
        "queries_audio_statistics": null,
        "queries_video_statistics": null,
        "relevant_docs_statistics": {
            "num_relevant_docs": 623,
            "min_relevant_docs_per_query": 2,
            "average_relevant_docs_per_query": 6.1683168316831685,
            "max_relevant_docs_per_query": 17,
            "unique_relevant_docs": 623
        },
        "top_ranked_statistics": null
    }
}

This dataset card was automatically generated using MTEB

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