id stringlengths 15 54 | text stringlengths 3 133k | title stringclasses 1
value |
|---|---|---|
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/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.
[ : - `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... | |
robotics-15/extraction_3.txt | ## Update package dependencies \# The turtlebot 3 package depends on `gazebo_ros_pkgs`, which is the package that provides launch files, plugins, and other utilities for using Gazebo classic with ROS 2. The equivalent for the new Gazebo is `ros_gz`, but `ros_gz` is actually a meta-package that contains a few packages. ... | |
nv_planner/230715236pdf_4.txt | from the goal cell to the start using a Von Neumann neighborhood. The potential field is calculated using a quadratic
kernel function rather than distances to the goal (NF1) to
create a smoother potential field, and thus smoother output
paths [11]. The kernel at a cell is found based on the cell’s
cost and the value of... | |
nv_planner/230715236pdf_9.txt | exploration rovers, legged robots; or differential-drive inplace rotations and omnidirectional lateral motions [17].
Thus, it is a generalized class of planner for any robot drivetrain type when matched with a complimentary minimum
control set - making it a powerful addition to Nav22
.
The State Lattice planner in Nav2... | |
nv_planner/230715236pdf_10.txt | 2The provided control set generator yields curvature minimizing trajectories with optional in-place rotations and lateral motions to support
Ackermann, Legged, Diff., Omni. robots.
base’s motor controller. This completes the Hybrid Planning
schema introduced in Sec. II, in that global planners find an
acceptable route ... | |
nv_planner/230715236pdf_3.txt | large-scale environments.
Thus, Nav2 provides primarily search-based global planning methods. The furnished algorithms cover the full
spanning set of both circular and arbitrarily-shaped robot
models, including differential-drive, holonomic, Ackermann,
and legged robot platforms. Namely, these are Navigation
Function, ... | |
nv_planner/230715236pdf_14.txt | collision-free space, known as “bubbles,” are overlaid on the
path and overlap in such a way as to guarantee collisionfree movement between them. The path is then deformed
by subjecting the bubbles to repulsive forces that represent
distances from obstacles and contracting forces that eliminate
excess slack in the path... | |
nv_planner/230715236pdf_15.txt | differential-drive platform being used, while also adhering to
the original global plan.
The package is highly configurable. As with other methods
described, tuning these weighting parameters to produce
optimal behavior for a given application can be time consuming. Furthermore, as with all numerical soft-constraint
op... | |
nv_planner/230715236pdf_13.txt | customized.
However, the method suffers from numerous, highly interrelated parameters that must be tuned to achieve such performance (e.g. choice of critic functions and their relative
weightings). This process can be complex and poorly tuned
DWB configurations can create extremely suboptimal behaviors. This tuning com... | |
nv_planner/230715236pdf_12.txt | Each arc is scored against a set of critic functions and the best
weighted average velocity is selected for a planning iteration.
The critic functions are mathematical operations which score
the candidate trajectories based on various criteria optimizing
for desired behavior (e.g. tracking the path and avoiding
obstacl... | |
nv_planner/230715236pdf_7.txt | each other (Table I), where 2D-A* is the shortest largely
attributable to the lack of non-holonomic constraints.
The 2D-A* planner is most useful when being deployed in
heterogeneous fleets of robots, whereas the non-holonomic
or large robots are using other planners within the Smac
Planner framework. This enables all ... | |
nv_planner/230715236pdf_11.txt | planning to ensure obstacle avoidance which is reactive
to changes in the local environment, which may be more
fine grained, up-to-date, or information rich than that used
in global planning. This knowledge may include sensory
information in addition to map or occupancy information,
though not definitionally. In Nav2, ... | |
robotics-16/extraction_0.txt | # Smac Planner Source code and `README` with design, explanations, and metrics can be found on Github. A brief explanation can be found below, but the `README` contains the most detailed overview of the framework and planner implementations. The Smac Planner plugin implements three A\* based planning algorithms: 2D A... | |
robotics-16/extraction_1.txt | ### Introduction The `nav2_smac_planner` package contains an optimized templated A\* search algorithm used to create multiple A\*-based planners for multiple types of robot platforms. It was built by Steve Macenski while at Samsung Research. We support **circular** differential-drive and omni-directional drive robots... | |
robotics-16/extraction_7.txt | ## Selecting the Algorithm Plugins In this section, we discuss some of the available algorithm plugins for the planner and controller servers. We also discuss the purpose of each algorithm, and for which type of robot they are recommended to be used. Lastly, we show some sample yaml configuration that specifies the p... | |
robotics-16/extraction_8.txt | # Navigation Plugins There are a number of plugin interfaces for users to create their own custom applications or algorithms with. Namely, the costmap layer, planner, controller, behavior tree, and behavior plugins. A list of all known plugins are listed here below for ROS 2 Navigation. If you know of a plugin, or yo... | |
robotics-16/extraction_9.txt | # Planner Plugin Selection Nav2 provides a number of planning plugins out of the box. For a first-time setup, see Setting Up Navigation Plugins for a more verbose breakdown of algorithm styles within Nav2, and Navigation Plugins for a full accounting of the current list of plugins available (which may be updated over... | |
ros2humble/UbuntuDevelopmentSet_7.txt | * Next steps after installing
* Using the ROS 1 bridge
* Additional RMW implementations (optional)
* Alternate compilers
* Clang
* Stay up to date
* Troubleshooting
* Uninstall
## System requirements ï
The current Debian-based target platforms for Humble Hawksbill are:
* Tier 1: Ubuntu L... | |
robotics-17/extraction_0.txt | * * * **You're reading the documentation for an older, but still supported, version of ROS 2.** **For information on the latest version, please have a look at Kilted.** # Ubuntu (deb packages) Deb packages for ROS 2 Humble Hawksbill are currently available for Ubuntu Jammy (22.04). The target platforms are defined in... | |
robotics-17/extraction_1.txt | ## Targeted Platforms Since regular Ubuntu releases are only supported for 9 months ROS 2 will not target those. A single ROS 2 distribution will only have full Tier 1 support for a **single** Ubuntu LTS. The rationale is that fully supporting two LTS versions - which means 2-year-different versions of upstream depende... | |
robotics-17/extraction_2.txt | # Ubuntu (deb packages) Deb packages for ROS 2 Humble Hawksbill are currently available for Ubuntu Jammy (22.04). The target platforms are defined in REP 2000. ## Resources - Status Page: - ROS 2 Humble (Ubuntu Jammy): amd64, arm64 - Jenkins Instance - Repositories ## Set locale Make sure you have a locale which ... | |
robotics-17/extraction_3.txt | # Ubuntu (source) ## System requirements The current Debian-based target platforms for Humble Hawksbill are: - Tier 1: Ubuntu Linux - Jammy (22.04) 64-bit - Tier 3: Ubuntu Linux - Focal (20.04) 64-bit - Tier 3: Debian Linux - Bullseye (11) 64-bit Other Linux platforms with varying support levels include: - Arch Lin... | |
robotics-17/extraction_4.txt | # Running ROS 2 nodes in Docker \[community-contributed\] ## Run two nodes in a single docker container Pull the ROS docker image with tag “humble-desktop”. ``` $ docker pull osrf/ros:humble-desktop ``` Copy to clipboard Run the image in a container in interactive mode. ``` $ docker run -it osrf/ros:humble-desktop ... | |
hardware_communicate/ethercatdriverros2_42.txt | About
[ EtherCAT ](https://www.ethercat.org/default.htm) provides applications with
the capacity of reliable, real-time communication between systems and is
therefore a common industrial standard. In order to simplify the
development/deployment of new application using EtherCAT modules, the `
ethercat_driver ` allow... | |
hardware_communicate/ethercatdriverros2_41.txt | ethercat_driver_ros2
[
](https://opensource.org/licenses/Apache-2.0) [
 abstracts physical hardware and its drivers (called _hardware components_) for the ros2\_control framework. The RM loads the components using `pluginlib`-library, manages their lifecycle and components’ state and command interfaces. This abstraction provided by RM enables... | |
robotics-18/extraction_1.txt | # Example 7: Full tutorial with a 6DOF robot ## Writing a URDF The URDF file is a standard XML based file used to describe characteristic of a robot. It can represent any robot with a tree structure, except those with cycles. Each link must have only one parent. For ros2\_control, there are three primary tags: `lin... | |
robotics-18/extraction_2.txt | Hardware Interface for EtherCAT module integration with ros2\_control icube-robotics.github.io/ethercat\_driver\_ros2/ ### License Apache-2.0 license 217\\ stars 71\\ forks Branches Tags Activity Star Notifications You must be signed in to change notification settings # ICube-Robotics/ethercat\_driver\_ros2 main **14**... | |
robotics-18/extraction_3.txt | ### Description This repository provides an example of how to use Synapticon drives (SOMANET Node, SOMANET Circulo and SOMANET Integro) in CSP (Cyclic Sync Position), CSV (Cyclic Sync Velocity), and CST (Cyclic Sync Torque) modes using the ROS2 package. It utilizes `SOEM Ethercat Master`. The ROS 2 package was origin... | |
robotics-18/extraction_4.txt | # Writing a Hardware Component In ros2\_control hardware system components 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 hardware interface. 1. **Preparing package** If t... | |
robotics-18/extraction_5.txt | # `ros2_control` hardware interface types The `ros2_control` framework provides a set of hardware interface types that can be used to implement a hardware component for a specific robot or device. The following sections describe the different hardware interface types and their usage. ## Joints `<joint>`-tag groups ... | |
robotics-18/extraction_8.txt | You're reading the documentation for a version of ROS 2 that has reached its EOL (end-of-life), and is no longer officially supported. If you want up-to-date information, please have a look at Jazzy. # Welcome to the ros2\_control documentation - Foxy! The ros2\_control is a framework for (real-time) control of robot... | |
robotics-18/extraction_9.txt | I am learning ros2_control with the real hardware. I need some help writing hardware interface for the current setup. I do not have experience writing on the communication side of the real hardware. setup: I have Jetson nano, drives, motors, and sensors communicating via EtherCAT and using ros2 foxy and SOEM_ROS2 packa... | |
ros_regular/componentparserhpp_0.txt | // Copyright 2020 ros2_control Development Team
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable la... | |
robotics-19/extraction_0.txt | # Using Xacro to clean up your code **Goal:** Learn some tricks to reduce the amount of code in a URDF file using Xacro **Tutorial level:** Intermediate **Time:** 20 minutes By now, if you’re following all these steps at home with your own robot design, you might be sick of doing all sorts of math to get very simple ... | |
robotics-19/extraction_1.txt | ## Loading the URDF and SRDF All the components of MoveIt that use the RobotModel need to have access to the URDF and SRDF to function properly. In ROS 1, this was accomplished by loading the XML of each into a string parameter ( `/robot_description` and `/robot_description_semantic` respectively) into the global par... | |
robotics-19/extraction_2.txt | 📦 TL;DR - `robot_description` is a **parameter** (not a topic or service). - It contains the **entire URDF or xacro-generated robot model** as an XML string. - It’s passed to nodes at startup via **launch files**, usually using the `xacro` command. - Nodes like `robot_state_publisher` read this parameter to understand... | |
robotics-19/extraction_3.txt | ``` ## Classes | struct | ActuatorInfo | | | Contains semantic info about a given actuator loaded from URDF for a transmission. More... | | | | class | ActuatorInterface | | | Virtual Class to implement when integrating a 1 DoF actuator into ros2\_control. More... | | | | class | AsyncComponentThread | | | | class | Co... | |
robotics-19/extraction_4.txt | # Ros2 control gpio nested parameters !rosROS !rosROS General ros2, ros2_control, urdf You have selected **0** posts. select all cancel selecting Feb 2023 2 / 4 Feb 2023 Mar 2023 [](https://discourse.openrobotics.org/u/nerdking) NerdKing Feb 2023 I am writing a ros2_control interface for a bunch of EthernetIP IO. I was... | |
robotics-19/extraction_5.txt | # `ros2_control` hardware interface types The `ros2_control` framework provides a set of hardware interface types that can be used to implement a hardware component for a specific robot or device. The following sections describe the different hardware interface types and their usage. ## Overview Hardware in ros2\_c... | |
robotics-19/extraction_6.txt | ## Bug report **Required Info:** - Operating System: Ubuntu 20.04 - Installation type: Binaries - Version or commit hash: 0.11.1-1focal.20210106.015448 - DDS implementation: Fast-RTPS #### Steps to reproduce issue A full example is going to take a few files, and the issue is simple enough. I am trying to load a URDF fi... | |
robotics-19/extraction_7.txt | ``` [](https://discourse.articulatedrobotics.xyz/u/Flamethrower) Flamethrower Aug '24 Hello @JoshNewans I have tried to follow the tutorial, but I’ve run into an issue when launching everything: ```hljs python [INFO] [launch]: All log files can be found below /home/flamethrower/.ros/log/2024-08-10-17-38-22-624094-robot... | |
robotics-19/extraction_8.txt | !@jdlangs jdlangs on Oct 21, 2019 I've been thinking about this problem for some time and would have chimed in a while ago if I had caught this thread earlier. I think this is a great opportunity to make some fundamental improvements instead of just trying to get back to exactly how we did things in ROS1. IMO, the core... | |
robotics-19/extraction_9.txt | ``` ## 8 Answers 8 Sorted by: Reset to default Highest score (default) Trending (recent votes count more) Date modified (newest first) Date created (oldest first) This answer is useful 6461 Save this answer. Timeline Show activity on this post. There are ~~5~~ _~~6~~_ _**NINE**_ (or 63\*, depending how you count) diffe... | |
robotics-1/extraction_0.txt | # roi\_detected\_object\_fusion \# ## Purpose \# The `roi_detected_object_fusion` is a package to overwrite labels of detected objects with that of Region Of Interests (ROIs) by a 2D object detector. ## Inner-workings / Algorithms \# In what follows, we describe the algorithm utilized by `roi_detected_object_fusion` (t... | |
robotics-1/extraction_1.txt | # roi\_cluster\_fusion \# ## Purpose \# The `roi_cluster_fusion` is a package for filtering clusters that are less likely to be objects and overwriting labels of clusters with that of Region Of Interests (ROIs) by a 2D object detector. ## Inner-workings / Algorithms \# The clusters are projected onto image planes, and ... | |
robotics-1/extraction_2.txt | # ROS2 Camera-LiDAR Fusion !License!ROS2 Version A ROS2 package for calculating **intrinsic** and **extrinsic calibration** between camera and LiDAR sensors. This repository provides an intuitive workflow to fuse data from these sensors, enabling precise projection of LiDAR points into the camera frame and offering an ... | |
robotics-1/extraction_3.txt | ROS package to find a rigid-body transformation between a LiDAR and a camera #### Additional Links - Website #### Maintainers - Ankit Dhall, Kunal Chelani, Vishnu Radhakrishnan #### Authors _No additional authors._ README.md # LiDAR-Camera Calibration using 3D-3D Point correspondences Ankit Dhall, Kunal Chelani, Vishnu... | |
robotics-1/extraction_5.txt | # Tf2 ## Overview tf2 is the transform library, which lets the user keep track of multiple coordinate frames over time. tf2 maintains the relationship between coordinate frames in a tree structure buffered in time and lets the user transform points, vectors, etc. between any two coordinate frames at any desired poi... | |
robotics-1/extraction_6.txt | # message\_filters::sync::ApproximateTime New in ROS CTurtle ## Overview This is a policy used by `message_filters::sync::Synchronizer` to match messages coming on a set of topics. Contrary to `message_filters::sync::ExactTime`, it can match messages even if they have different time stamps. We call **size** of a **set*... | |
robotics-1/extraction_7.txt | ## 1\. Create a Basic Node with Includes ``` #include "rclcpp/rclcpp.hpp" #include <chrono> #include <functional> #include <memory> #include "message_filters/subscriber.hpp" #include "message_filters/synchronizer.hpp" #include "message_filters/sync_policies/approximate_time.hpp" #include "sensor_msgs/msg/temperature.... |
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