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hardware_control/1240_4.txt | demos repository the _example_1_ ](https://github.com/ros-
controls/ros2_control_demos/pull/396) has been adapted to showcase the changes
and test the approach.
## Idea
The idea is that the creation of the ` Command-/StateInterface ` is no longer
handled by the HW (user) but instead by the Framework. The user doesn't ... | |
robotics-20/extraction_0.txt | ## Writing a hardware interface In ros2\_control, hardware system components are integrated via user defined driver plugins that conform to the `HardwareInterface` public interface. Hardware plugins specified in the URDF are dynamically loaded during initialization using the pluginlib interface. In order to run the `... | |
robotics-20/extraction_1.txt | ## ros2_control overview ros2\_control introduces `state_interfaces` and `command_interfaces` to abstract hardware interfacing. The `state_interfaces` are read only data handles that generally represent sensors readings, e.g. joint encoder. The `command_interfaces` are read and write data handles that hardware comman... | |
robotics-20/extraction_5.txt | I would like to write a controller that needs all joint states to update a single joint. My idea was to create a class MyStateInterface which inherits from hardware_interface::StateInterface and stores all information for each joint. Then, I would like to export this class inside the hardware interface to pass the join... | |
robotics-20/extraction_6.txt | ### Important from Aug. 12th 2024 This PR is split in multiple parts which can be merged step by step. 1. 🥳 Preparation of Handles for Variant Support #1678 2. 🥳 Introduce Creation of Handles with InterfaceDescription (variant support) #1679 3. 🥳 Rename `get_state` and `set_state` Functions to `get/set_lifecylce_sta... | |
robotics-21/extraction_1.txt | ``` # Octomap and Projected Octomap not lining up Ask Question Asked1 year, 6 months ago Modified 1 year, 6 months ago Viewed 46 times This question shows research effort; it is useful and clear 1 Save this question. Timeline Show activity on this post. I am trying to use a projected Octomap as an occupancy grid to pas... | |
robotics-21/extraction_4.txt | ## Documentation This package provides roscpp and rospy bindings for tf2. Here is a list of the common method that should be used when interacting with tf2 function within ROS. ### Broadcasting Transforms noetic - `tf2_ros::TransformBroadcaster()`, constructor - `tf2_ros::TransformBroadcaster::sendTransform` to send tr... | |
robotics-21/extraction_5.txt | ## Creating a Static Transform ¶ A static transform is an invariant coordinate transformation and describes the relationship between two frames. A definition can be done through launch files by using the _static\_transform\_publisher_ node, which contains a publisher to the _/tf\_static_ topic. Provide the following ar... | |
robotics-21/extraction_6.txt | ``` 00042 OctomapServer::OctomapServer(ros::NodeHandle private_nh_) 00043 : m_nh(), 00044 m_pointCloudSub(NULL), 00045 m_tfPointCloudSub(NULL), 00046 m_reconfigureServer(m_config_mutex), 00047 m_octree(NULL), 00048 m_maxRange(-1.0), 00049 m_worldFrameId("/map"), m_baseFrameId("base_footprint"), 00050 m_useHeightMap(tru... | |
robotics-22/extraction_0.txt | | [](https://a.pololu-files.com/picture/0J2998.1200.jpg?d89638c7ccf447653089349ebb4b946b) | | AA batteries. | - A typical **alkaline** or **NiMH** battery in the standard “AA” size has about 2000 to 3000 mAh (or 2 to 3 Ah). With a cell voltage of 1.2 V to 1.5V, this corresponds to 2 to 4 Wh per cell. When multiple cell... | |
robotics-22/extraction_1.txt | The nine-volt battery, or 9-volt battery, is an electric battery that supplies a nominal voltage of 9 volts. Actual voltage measures 7.2 to 9.6 volts, depending on battery chemistry. Batteries of various sizes and capacities are manufactured; a very common size is known as **PP3**, introduced for early transistor radio... | |
robotics-22/extraction_2.txt | ## Buck Converters (Step-Down Converter) ## Introduction and Principle of Operation The buck converter, also referred to as a step-down converter, is a popular topology in power electronics that converts a higher input voltage to a lower output voltage. It is crucial in various applications, from portable devices to au... | |
robotics-22/extraction_3.txt | ## Applications Voltage dividers have tons of applications, they are among the most common of circuits electrical engineers use. Here are just a few of the many places you'll find voltage dividers. ### Potentiometers A potentiometer is a variable resistor which can be used to create an adjustable voltage divider. !A va... | |
robotics-22/extraction_4.txt | # Powering Alternatives for Arduino Boards Learn more about the power pins and connectors of Arduino® boards in this article, their main characteristics, and how to use them correctly. Author José Bagur, Taddy Chung, Karl Söderby Last revision 04/16/2024 Arduino boards can be powered in several ways; we can use dedicat... | |
robotics-22/extraction_5.txt | ### Warnings The Arduino Uno has a resettable polyfuse that protects your computer's USB ports from shorts and overcurrent. Although most computers provide their own internal protection, the fuse provides an extra layer of protection. If more than 500 mA is applied to the USB port, the fuse will automatically break the... | |
robotics-22/extraction_6.txt | # Is stall current generally equal to inrush current? Asked3 years, 4 months ago Modified 2 years, 1 month ago Viewed 2k times This question shows research effort; it is useful and clear 4 Save this question. Timeline Show activity on this post. I haven't been able to find a clear or definitive answer on this, and I've... | |
robotics-22/extraction_7.txt | #### Power Considerations The Pololu Simple Motor Controllers can be powered either from USB using a USB A to mini-B cable or from a power supply, such as a battery pack, connected to the large **VIN** and **GND** pads. When the VIN supply is not present, the controller can use USB power to perform all of its functions... | |
robotics-22/extraction_8.txt | TB6612FNG is a driver IC for DC motor with output transistor in LD MOS structure with low ON-resistor. Two input signals, IN1 and IN2, can choose one of four modes such as CW, CCW, short brake, and stop mode. # Features Power supply voltage $\\mathrm { V M } { = } 1 5 \\mathrm { V }$ Max. Output current Iout=1.2A(ave) ... | |
robotics-22/extraction_9.txt | # Selecting the Right Motor Driver Before we get started, let’s talk about how to find a motor driver for your needs. The first step is to figure out what type of motors you are using and to research their specifications. Picking a motor driver for a motor that is not powerful enough isn’t helpful. Also, keep in mind t... | |
robotics-22/extraction_10.txt | MarkT Apr 2021 post #4 And you need proper wiring for the high current paths - logic hook-up wires may only be rated at 100mA or so (its very hard to know without cutting one in half and stripping the end to see how thick the copper is - best to use higher current wires for the motor supply wiring and motor wiring. [](... | |
subscriber_interface/topicbasedsystemcppL_3.txt | }
return default_value;
};
// Add random ID to prevent warnings about multiple publishers within the same node
rclcpp::NodeOptions options;
options.arguments({ "--ros-args", "-r", "__node:=topic_based_ros2_control_" + info_.name });
node_ = rclcpp::Node::make_shared("_", options);
if (auto it = info... | |
robotics-23/extraction_0.txt | 02. Implement `on_init` method. Here, you should initialize all member variables and process the parameters from the `info` argument. In the first line usually the parents `on_init` is called to process standard values, like name. This is done using: `hardware_interface::(Actuator|Sensor|System)Interface::on_init(info)... | |
robotics-23/extraction_1.txt | ## ros2\_control publish/subscribe topic & action? good or bad? Situation: I implemented a ros2\_control hardware interface and custom controller for my mecanum wheeled robot. This all works fine for driving the wheeled robot, but what would be best practice for implementing "actions" like emergency brake or sending se... | |
robotics-23/extraction_2.txt | ### 3. Adding declarations into header file (.hpp) 1. Take care that you use header guards. ROS 2-style is using `#ifndef` and `#define` preprocessor directives. (For more information on this, a search engine is your friend :) ). 2. include `"controller_interface/controller_interface.hpp"`. 3. Define a unique namespace... | |
robotics-23/extraction_3.txt | ```cpp // Copyright 2022 PickNik Inc. // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions are met: // // \* Redistributions of source code must retain the above copyright // notice, this list of conditions and the following discl... | |
robotics-23/extraction_4.txt | ## ros2\_control publish/subscribe topic & action? good or bad? Situation: I implemented a ros2\_control hardware interface and custom controller for my mecanum wheeled robot. This all works fine for driving the wheeled robot, but what would be best practice for implementing "actions" like emergency brake or sending se... | |
robot_stop/usingcollisionmonito_526.txt | Configuring Collision Monitor ¶
The Collision Monitor node has its own ` collision_monitor_node.launch.py `
launch-file and preset parameters in the ` collision_monitor_params.yaml `
file for demonstration, though its trivial to add this to Nav2’s main launch
file if being used in practice. For the demonstration,... | |
robot_stop/usingcollisionmonito_533.txt | Configuring Collision Monitor with VelocityPolygon ¶
[
](../../_images/dexory_velocity_polygon.gif)
For this part of tutorial, we will set up the Collision Monitor with `
VelocityPolygon ` type for a ` stop ` action. ` Veloci... | |
robot_stop/usingcollisionmonito_541.txt | Demo Execution ¶
Once Collision Monitor node has been tuned and ` cmd_vel ` topics adjusted,
Collision Monitor node is ready to run. For that, run Nav2 stack as written in
[ Getting Started ](../../getting_started/index.html | |
robot_stop/usingcollisionmonito_537.txt | is not covered by any of the other sub-polygons
stopped:
points: "[[0.25, 0.25], [0.25, -0.25], [-0.25, -0.25], [-0.25, 0.25]]"
linear_min: -1.0
linear_max: 1.0
theta_min: -1.0
theta_max: 1.0
Note
It is recommended to include a ` stopped ` sub polygon as the last e... | |
robot_stop/usingcollisionmonito_534.txt | VelocityPolygonStop:
type: "velocity_polygon"
action_type: "stop"
min_points: 6
visualize: True
enabled: True
polygon_pub_topic: "velocity_polygon_stop"
velocity_polygons: ["rotation", "translation_forward", "translation_backward", "stopped"]
holonomic: false
ro... | |
robot_stop/usingcollisionmonito_529.txt | configuring-
collision-monitor) configuration guide.
Note
Both polygon shapes in the tutorial were set statically. However, there is an
ability to dynamically adjust them over time using topic messages containing
vertices points for polygons or footprints. For more information, please refer
to the configuration guide... | |
robot_stop/usingcollisionmonito_523.txt | Overview ¶
This tutorial shows how to use a Collision Monitor with Nav2 stack. Based on
this tutorial, you can setup it for your environment and needs.
| |
robot_stop/usingcollisionmonito_540.txt |
If you have changed Collision Monitor’s default ` cmd_vel_in_topic ` and `
cmd_vel_out_topic ` configuration, make sure Velocity Smoother’s default
output topic ` cmd_vel_smoothed ` should match to the input velocity `
cmd_vel_in_topic ` parameter value of the Collision Monitor node, and the
output velocity ` cmd_... | |
robot_stop/usingcollisionmonito_542.txt | getting-started) :
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False
In parallel console, launch Collision Monitor node by using its launch-file:
ros2 launch nav2_collision_monitor collision_monitor_node.launch.py
Since both ` PolygonStop ` and ` PolygonSlow `... | |
robot_stop/usingcollisionmonito_539.txt | Preparing Nav2 stack ¶
The Collision Monitor is designed to operate below Nav2 as an independent
safety node. It acts as a filter for the ` cmd_vel ` messages from the
controller to avoid potential collisions. If no such zone is triggered, then
the ` cmd_vel ` message is used. Else, it is scaled or set to stop as... | |
robotics-24/extraction_0.txt | ## Configuring Collision Monitor The Collision Monitor node has its own `collision_monitor_node.launch.py` launch-file and preset parameters in the `collision_monitor_params.yaml` file for demonstration, though its trivial to add this to Nav2’s main launch file if being used in practice. For the demonstration, two sh... | |
robotics-24/extraction_3.txt | ## Configuring Collision Monitor The Collision Monitor node has its own `collision_monitor_node.launch.py` launch-file and preset parameters in the `collision_monitor_params.yaml` file for demonstration, though its trivial to add this to Nav2’s main launch file if being used in practice. For the demonstration, two sh... | |
robotics-24/extraction_4.txt | # Collision Monitor Node The Collision Monitor is a node providing an additional level of robot safety. It performs several collision avoidance related tasks using incoming data from the sensors, bypassing the costmap and trajectory planners, to monitor for and prevent potential collisions at the emergency-stop level... | |
robotics-24/extraction_5.txt | ## Nav2 Collision Monitor The Collision Monitor is a node providing an additional level of robot safety. It performs several collision avoidance related tasks using incoming data from the sensors, bypassing the costmap and trajectory planners, to monitor for and prevent potential collisions at the emergency-stop leve... | |
robotics-25/extraction_9.txt | 5 Most robots have a spherical wrist made of three revolute joints( 0 d 6 = 0 d 3 )with intersecting and orthogonal axes at the wrist point. we can decouple the kinematics of the wrist and manipulator by decomposing the overall forward kinematics transformation matrix 0 T 6 into the wrist orientation and wrist positi... | |
robotics-25/extraction_10.txt | The ZYX Euler angles can be shown in the three degrees of freedom (DOFs) robotic wrist mechanism (the 3-DOF orienting mechanism) as follows: !three-dof-orienting-mechnism-robotic-wrist-3 The orientation of the end-effector of the wrist depicted in this figure can be found by the rotation matrix corresponding to the ZYX... | |
robotics-25/extraction_11.txt | This is a condition known as singularity, and it occurs in any three-angle sequence representation of an orientation. It occurs for roll/pitch/yaw angles, it occurs for Euler angles. It always occurs when the middle angle takes on a particular value, and for roll/pitch /yaw angles the pitch angle is equal to pi/2, lead... | |
robotics-25/extraction_12.txt | Representations of rigid body orientation ----------------------------------------- If a rigid body in three-dimensions undergoes translation and rotation then the new pose (position and orientation) of any point on that body can be described by, | | | | --- | --- | | y\=Rx+v\_ | 5 | Where _y_ are points measured in po... | |
robotics-25/extraction_13.txt | #### Detailed definition of Euler angles By far the most common way to communicate an orientation in space to a user, or to allow a user to define an orientation, in a CAD software or in a robot controller, is the use of _Euler angles_. Because the term Euler angles is often misused, we have prepared this interactive t... | |
diffdrive/userdochtml_4.txt | >
> ros2 control list_hardware_components
>
>
> now should give you
>
>
> Hardware Component 1
> name: DiffBot
> type: system
> plugin name: mock_components/GenericSystem
> state: id=3 label=active
> command interfaces
> left_wheel_joint/velocity [... | |
robotics-26/extraction_0.txt | ``` Add ros2_control tag to a URDF or SDF ### Simple setup To use _ros2\_control_ with your robot, you need to add some additional elements to your URDF or SDF. You should include the tag `<ros2_control>` to access and control the robot interfaces. We should include: - a specific `<plugin>` for our robot - `<joint>... | |
robotics-26/extraction_1.txt | ### Parameters This controller uses the generate\_parameter\_library to handle its parameters. The parameter definition file located in the src folder contains descriptions for all the parameters used by the controller. left\_wheel\_names (string\_array) Names of the left side wheels’ joints Default: {} Constraints: ... | |
robotics-26/extraction_2.txt | # mecanum\_drive\_controller Library with shared functionalities for mobile robot controllers with mecanum drive (four mecanum wheels). The library implements generic odometry and update methods and defines the main interfaces. ## Execution logic of the controller The controller uses velocity input, i.e., stamped T... | |
robotics-26/extraction_3.txt | ## ROS 2 Control Joint Definitions For every non-fixed joint, we need to add information about the joint in the `ros2_control` tag which tells it what interfaces are supported. Let’s start with the head joint. Modify the joint tag in your URDF to be the following: ``` <joint name="head_swivel"> <command_interface nam... | |
robotics-26/extraction_4.txt | # Example 9: Simulation with RRBot With _example\_9_, we demonstrate the interaction of simulators with ros2\_control. More specifically, gazebo is used for this purpose. Note Follow the installation instructions on Installation how to install all dependencies, gazebo should be automatically installed. For details on... | |
robotics-26/extraction_5.txt | # What is the difference between the gazebo differential drive plugin and a differential drive controller spawned by controller\_spawner? Ask Question Asked10 years, 3 months ago Modified 10 years, 3 months ago Viewed 58 times This question shows research effort; it is useful and clear 0 Save this question. Timeline Sh... | |
robotics-26/extraction_6.txt | ``` # Problem with Controller_manager waiting for service /controller_manager/list_controllers to become available.... failed Asked11 months ago Modified 1 month ago Viewed 997 times This question shows research effort; it is useful and clear 0 Save this question. Timeline Show activity on this post. i got a problem wi... | |
robotics-26/extraction_7.txt | I'm not really an expert on this and I myself struggled the last two weeks with ROS2, Gazebo and ROS2_Control, but I think you should be able to use ROS2_Control for that. Here some useful links: - ROS2 Control Documentation: https://ros-controls.github.io/control.ros.org/getting\_started.html# - ROS2 Control Demo: htt... | |
underwater_simulation/uuvplumesimulatorros_6.txt |
## Repository files navigation
* README
* License
## This is the ROS2 Port of the uuv_plume_simulator package.
It currently works with ROS2 Humble. Main Branch is compatible with Gazebo
Garden.
### Current Status:
* Particle Plume is working in ROS2
* Ocean Current from Gazebo is considered in the simu... | |
underwater_simulation/uuvplumesimulatorros_7.txt | ros2 service call /create_passive_scalar_turbulent_plume uuv_plume_msgs/srv/CreatePassiveScalarTurbulentPlume "turbulent_diffusion_coefficients: {x: 0.05, y: 0.05, z: 0.05}
source: {x: 0.0, y: 0.0, z: -40.0}
buoyancy_flux: 0.05
stability_param: 0.001
n_points: 100000
max_particles_per_ite... | |
robotics-27/extraction_0.txt | ## This is the ROS2 Port of the uuv_plume_simulator package. Permalink: This is the ROS2 Port of the uuv_plume_simulator package. It currently works with ROS2 Humble. Main Branch is compatible with Gazebo Garden. ### Current Status: Permalink: Current Status: - Particle Plume is working in ROS2 - Ocean Current from Gaz... | |
robotics-27/extraction_1.txt | The Gazebo maritime simulation community has grown significantly in the past year, and we’ve added a number of new features to address their specific simulation needs. In terms of physics simulation we’ve upgraded our hydrodynamics simulation capabilities to include fluid added mass. This physics plugin helps maritime ... | |
robotics-27/extraction_3.txt | ## Detailed Description Sensor for reading environmental data loaded from outside world. To use, add this system to the world file, then instantiate sensors of custom type with gz:type="environmental\_sensor/{field\_name}", where field\_name refers to the type of data you would like to output. Alternatively, if you wou... | |
robotics-27/extraction_4.txt | ## Project DAVE !💡 Callout icon This is the documentation for ros2 branch (based on ROS 2 Jazzy and Gazebo Harmonic). For legacy source code ( master branch of dave) which uses ROS 1 Noetic and Gazebo Classic, move to Project DAVEHome DAVE Aquatic Virtual Environment(DAVE) is a simulation environment initiated by Na... | |
robotics-28/extraction_0.txt | I am running `ros_gz_bridge` to read some data from Gazebo, in particular I have run: ``` ros2 run ros_gz_bridge parameter_bridge /model/x500_vision_0/odometry@nav_msgs/msg/Odometry[gz.msgs.Odometry [INFO] [1706113773.667589591] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/x500_vision_0/odometry (gz.msgs.Odometry)... | |
robotics-28/extraction_1.txt | #### Gazebo Packages for Ubuntu \# The easiest way of installing Gazebo on Ubuntu is to use binary packages. There are two main repositories that host Gazebo simulator and Gazebo libraries: one is `packages.ros.org` and the other is the Gazebo repository known as `packages.osrfoundation.org`. At the time of writing the... | |
robotics-28/extraction_2.txt | ## Install Permalink: Install This branch supports ROS Rolling. See above for other ROS versions. ### Binaries Permalink: Binaries Rolling binaries are available for Fortress. They are hosted at https://packages.ros.org. 1. Add https://packages.ros.org ``` sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http:... | |
robotics-28/extraction_3.txt | ## ros_gz_bridge \# `ros_gz_bridge` provides a network bridge which enables the exchange of messages between ROS 2 and Ignition Transport. Its support is limited to only certain message types. Please, check this README to verify if your message type is supported by the bridge. Example uses of the bridge can be found in... | |
robotics-28/extraction_4.txt | The following message types can be bridged for topics: | ROS type | Gazebo Transport Type | | --- | --- | | actuator\_msgs/msg/Actuators | gz.msgs.Actuators | | builtin\_interfaces/msg/Time | gz.msgs.Time | | geometry\_msgs/msg/Point | gz.msgs.Vector3d | | geometry\_msgs/msg/Pose | gz.msgs.Pose | | geometry\_msgs/msg/P... | |
robotics-29/extraction_0.txt | ```cpp template<typename MessageT, typename AllocatorT> struct AnySubscriptionCallbackPossibleTypes { using SubscribedType = typename rclcpp::TypeAdapter<MessageT>::custom_type; using ROSMessageType = typename rclcpp::TypeAdapter<MessageT>::ros_message_type; using SubscribedMessageDeleter = typename MessageDeleterHelpe... | |
robotics-29/extraction_2.txt | There are three possible data-types that can be stored in the buffer: - `MessageT` - `shared_ptr<const MessageT>` - `unique_ptr<MessageT>` The choice of the buffer data-type is controlled through an additional field in the `SubscriptionOptions`. The default value for this option is denominated `CallbackDefault`, which ... | |
robotics-29/extraction_3.txt | ## Background ROS applications typically consist of a composition of individual “nodes” which perform narrow tasks and are decoupled from other parts of the system. This promotes fault isolation, faster development, modularity, and code reuse, but it often comes at the cost of performance. After ROS 1 was initially d... | |
robotics-29/extraction_4.txt | ``` ## 16.0.0 (2022-04-08) - remove things that were deprecated during galactic ( #1913) - Contributors: William Woodall ## 15.4.0 (2022-04-05) - add take_data_by_entity_id API to waitable ( #1892) - add content-filtered-topic interfaces ( #1561) - Contributors: Alberto Soragna, Chen Lihui ## 15.3.0 (2022-03-30) ... | |
robotics-2/extraction_0.txt | # Configuring environment **Goal:** This tutorial will show you how to prepare your ROS 2 environment. **Tutorial level:** Beginner **Time:** 5 minutes ## Background ROS 2 relies on the notion of combining workspaces using the shell environment. “Workspace” is a ROS term for the location on your system where you’re... | |
robotics-2/extraction_1.txt | # Introduction The set of ROS 2 packages for interfacing with Gazebo are contained within a meta package named `gazebo_ros_pkgs`. See ROS 2 Overview for background information before continuing here. The packages support ROS 2 Crystal and later and Gazebo 9 and later, and can be installed from debian packages or from s... | |
robotics-2/extraction_2.txt | Welcome again to a new post about ROS. In order to work properly, ROS uses the **setup.bash** files, but what are those files? In today’s post, we’re going to learn what are setup.bash (or setup.sh) files, where are they located and how to use them. Before we start, if you are new to ROS, I highly recommend you taking ... | |
robotics-2/extraction_3.txt | ## Add the gazebo_ros2_control plugin In addition to the _ros2\_control_ tags, a Gazebo plugin needs to be added to your URDF that actually parses the _ros2\_control_ tags and loads the appropriate hardware interfaces and controller manager. By default the _gazebo\_ros2\_control_ plugin is very simple, though it is a... | |
robotics-30/extraction_0.txt | ```cpp 649 moveit::core::MoveItErrorCode plan( Plan & plan) 650 { 651 if (!move_action_client_ || !move_action_client_->action_server_is_ready()) 652 { 653 RCLCPP_INFO_STREAM(logger_, "MoveGroup action client/server not ready"); 654 return moveit::core::MoveItErrorCode::FAILURE; 655 } 656 RCLCPP_INFO_STREAM(logger_, "M... | |
robotics-30/extraction_2.txt | ```cpp void MoveGroupMoveAction::executeMoveCallback(const std::shared_ptr<MGActionGoal>& goal) { goal_ = goal; RCLCPP_INFO(getLogger(), "executing.."); setMoveState(PLANNING, goal_); // before we start planning, ensure that we have the latest robot state received... auto node = context_->moveit_cpp_->getNode(); contex... | |
robotics-30/extraction_4.txt | ```cpp 251bool PlanningPipeline::generatePlan(const planning\_scene::PlanningSceneConstPtr& planning\_scene, 252const planning\_interface::MotionPlanRequest& req, 253 planning\_interface::MotionPlanResponse& res, 254constbool publish\_received\_requests) const 255{ 256 assert(!planner\_map\_.empty()); 258// Set plannin... | |
robotics-30/extraction_5.txt | 757 MoveItErrorCode planGraspsAndPick(const std::string& object, bool plan\_only = false) 758 { 759if (object.empty()) 760 { 761return planGraspsAndPick(moveit\_msgs::CollisionObject()); 762 } 763 moveit::planning\_interface::PlanningSceneInterface psi; 764 765 std::map<std::string, moveit\_msgs::CollisionObject> objec... | |
robotics-31/extraction_0.txt | Virtual Class to implement when integrating a complex system into ros2\_control. The common examples for these types of hardware are multi-joint systems with or without sensors such as industrial or humanoid robots. Methods return values have type rclcpp\_lifecycle::node\_interfaces::LifecycleNodeInterface::CallbackRet... | |
robotics-31/extraction_1.txt | # Example 17: RRBot with Hardware Component that publishes diagnostics This example shows how to publish diagnostics from a hardware component using ROS 2 features available within the `ros2_control` framework. It is essentially the same as Example 1, but with a modified hardware interface plugin that demonstrates tw... | |
robotics-31/extraction_2.txt | 01. Include the header file of your hardware interface and add a namespace definition to simplify further development. 02. Implement `on_init` method. Here, you should initialize all member variables and process the parameters from the `info` argument. In the first line usually the parents `on_init` is called to proces... | |
robotics-31/extraction_3.txt | # Welcome to the documentation for realtime\_tools Contains a set of tools that can be used from a hard realtime thread, without breaking the realtime behavior. For more information of the ros2\_control framework see control.ros.org. ## RealtimePublisher The `realtime_tools::RealtimePublisher` allows users that wri... | |
robotics-31/extraction_5.txt | Hi, I am transferring my robot hardware interface to ROS2. In my ROS1 hardware interface, I used a publisher to publish additional information like the current controller temperature, limit switches status etc. However, in ROS2, I could not find a way to access the node from the hardware interface plugin, so creating a... | |
robotics-32/extraction_0.txt | | | | | --- | --- | | ## Public Member Functions | | bool | publishWireframeCuboid (const Eigen::Affine3d &pose, double depth, double width, double height, colors color= BLUE, const std::string &ns="Wireframe Cuboid", std::size\_t id=0) | | | Publish transformed wireframe cuboid. Useful eg to show an oriented bounding ... | |
robotics-32/extraction_1.txt | /** * \brief Display a rectangular cuboid * \param point1 - x,y,z top corner location of box * \param point2 - x,y,z bottom opposite corner location of box * \param color - an enum pre-defined name of a color * \return true on success */ bool publishCuboid(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2, c... | |
robotics-32/extraction_2.txt | The **Markers** display allows programmatic addition of various primitive shapes to the 3D view by sending a visualization\_msgs/Marker or visualization\_msgs/MarkerArray message. The Markers: Basic Shapes tutorial begins a series of tutorials on sending markers. markers display type - YouTube Photo image of ROS ROS 41... | |
robotics-32/extraction_4.txt | # How do I get the orientation from a open3d.geometry.OrientedBoundingBox? Ask Question Asked4 years, 5 months ago Modified 1 year, 3 months ago Viewed 11k times This question shows research effort; it is useful and clear 4 Save this question. Timeline Show activity on this post. I've created a Oriented Bounding Box fr... | |
robotics-32/extraction_5.txt | # Purpose / Use cases Supporting plugins are needed to visualize the output of various packages inside autoware.auto # Design ## BoundingBoxArrayDisplay This class implements `rviz_common::RosTopicDisplay<autoware_auto_msgs::msg::BoundingBoxArray>` to visualize BoundingBoxArray messages. It is a thin wrapper around `rv... | |
robotics-32/extraction_6.txt | # Purpose / Use cases Supporting plugins are needed to visualize the output of various packages inside autoware.auto # Design ## BoundingBoxArrayDisplay This class implements `rviz_common::RosTopicDisplay<autoware_auto_perception_msgs::msg::BoundingBoxArray>` to visualize BoundingBoxArray messages. It is a thin wrapper... | |
turtle_bot4/memberfunctionscpp_0.txt | // Copyright 2019 Open Source Robotics Foundation, Inc.
//
// 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 appli... | |
robotics-33/extraction_1.txt | ### 3 Writing an action client #### 3.1 Writing the action client code Open up `custom_action_cpp/src/fibonacci_action_client.cpp`, and put the following code in: ``` #include <functional> #include <future> #include <memory> #include <string> #include <sstream> #include "custom_action_interfaces/action/fibonacci.hp... | |
robotics-33/extraction_2.txt | ## Detailed Description ### template<typename ActionT> class rclcpp\_action::Client< ActionT > Action Client. This class creates an action client. To create an instance of an action client use `rclcpp_action::create_client()`. Internally, this class is responsible for: - coverting between the C++ action type and generi... | |
robotics-33/extraction_3.txt | # Simple Commander API ## Overview The goal of the Nav2 Simple (Python3) Commander is to provide a “navigation as a library” capability to Python3 users. We provide an API that handles all the ROS 2 and Action Server tasks for you such that you can focus on building an application leveraging the capabilities of Nav... | |
robotics-34/extraction_1.txt | # iRobot® Create® 3 Simulator !Testing!License This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported. Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot. ## Prerequisites Required dependencies: 1. ROS 2 Jazzy 2. ROS 2 de... | |
robotics-34/extraction_2.txt | # iRobot Roomba Open Interface Overview The Roomba Open Interface (OI) is a software interface for controlling and manipulating Roomba’s behavior. The software interface lets you manipulate Roomba’s behavior and read its sensors through a series of commands, including mode commands, actuator commands, song commands, cl... | |
robotics-34/extraction_3.txt | # iRobot Roomba Open Interface Overview The Roomba Open Interface (OI) is a software interface for controlling and manipulating Roomba’s behavior. The software interface lets you manipulate Roomba’s behavior and read its sensors through a series of commands, including mode commands, actuator commands, song commands, cl... | |
robotics-34/extraction_4.txt | # FTDI USB TTL Serial Port Mini Din Connector Cable for iRobot Roomba [Be the first to review this product...] [Ask Or Answer A Question] - FTDI USB TTL Serial Port Mini Din Connector Cable for iRobot Roomba ## Similar Products [Shop All Products] Page 1 of 4 !DIXSG 10 Pack- 11.8 inch PWM Fan Extension Cable PC Fan Ext... | |
robotics-35/extraction_0.txt | Messages are described and defined in `.msg` files in the `msg/` directory of a ROS package. `.msg` files are composed of two parts: fields and constants. ### 2.1 Fields Each field consists of a type and a name, separated by a space, i.e: ``` fieldtype1 fieldname1 fieldtype2 fieldname2 fieldtype3 fieldname3 ``` Copy ... | |
robotics-35/extraction_1.txt | ### Future-proof API Due to the broad domains where ROS is being (and will be) used and their different requirements and constraints we could not identify a single serialization library which matches all of them perfectly well. It is also likely that in the near future more libraries with new advantages (and disadvanta... | |
robotics-35/extraction_2.txt | # Package Summary Released Continuous Integration Documented Rosbridge provides a JSON API to ROS functionality for non-ROS programs. There are a variety of front ends that interface with rosbridge, including a WebSocket server for web browsers to interact with. Rosbridge\_suite is a meta-package containing rosbridge, ... | |
robotics-35/extraction_3.txt | Asked7 years, 9 months ago Modified 7 years, 9 months ago Viewed 669 times This question shows research effort; it is useful and clear 0 Save this question. Timeline Show activity on this post. !Rosanswers logo I am currently working on a task that involves constant intercommunication between a web browser (using rosli... |
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