id stringlengths 15 54 | text stringlengths 3 133k | title stringclasses 1
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webots_plugin/20231126_53.txt |
nano hello_webots/resource/my_robot.urdf
<?xml version="1.0" ?>
<robot name="My robot">
<webots>
<plugin type="hello_webots.my_webot_driver.MyRobotDriver" />
</webots>
</robot>
| |
webots_plugin/Ros2RangeFindercpp_14.txt | if (mCameraInfoPublisher->get_subscription_count() > 0)
mCameraInfoPublisher->publish(mCameraInfoMessage); | |
webots_plugin/Ros2RangeFindercpp_13.txt | if (mIsEnabled) {
publishImage();
publishPointCloud();
} | |
webots_plugin/20231126_83.txt | def main(args=None):
rclpy.init(args=args)
avoider = ObstacleAvoider()
rclpy.spin(avoider)
# Destroy the node explicitly
# (optional - otherwise it will be done automatically
# when the garbage collector destroys the node object)
avoider.destroy_node()
... | |
webots_plugin/InstallationUbuntuht_26.txt | Alternatively, you can also let ` webots_ros2 ` download and install Webots
automatically. This option appears when you launch an example of the package
and no Webots installation is found. | |
webots_plugin/20231126_77.txt | In ` my_robot.urdf ` replace the whole contents with: | |
webots_plugin/InstallationUbuntuht_36.txt | Install ` webots_ros2 ` distributed package Install ` webots_ros2 ` from
sources | |
webots_plugin/20231126_91.txt | This will add an entry point for the ` obstacle_avoider ` node. | |
webots_plugin/20231126_31.txt |  | |
webots_plugin/20231126_86.txt | The node sends a message to the ` /cmd_vel ` topic when a measurement from the
right sensor is received. The ` command_message ` will register at least a
forward speed in ` linear.x ` in order to make the robot move when no obstacle
is detected. If any of the two sensors detect an obstacle, ` command_message `
will als... | |
webots_plugin/InstallationUbuntuht_15.txt | * Background | |
webots_plugin/20231126_64.txt | ### Test Run | |
webots_plugin/InstallationUbuntuht_44.txt |
cd ~/ros2_ws
git clone --recurse-submodules https://github.com/cyberbotics/webots_ros2.git src/webots_ros2
| |
webots_plugin/20231126_92.txt | Go to the file ` robot_launch.py ` and add the obstacle avoider to `
generate_launch_description() ` with: | |
webots_plugin/20231126_43.txt | Open ` hello_webots/hello_webots/my_webot_driver.py ` and replace its contents
with the following: | |
webots_plugin/Ros2RangeFindercpp_10.txt | // Point cloud publisher
mPointCloudPublisher = mNode->create_publisher<sensor_msgs::msg::PointCloud2>(mTopicName + mPointCloudSuffix,
rclcpp::SensorDataQoS().reliable());
mPointCloudMessage.header.frame_id = mFrameName;
m... | |
webots_plugin/20231126_14.txt |  | |
webots_plugin/20231126_58.txt | The ` WebotsLauncher ` object is a custom action that allows you to start a
Webots simulation instance. You have to specify in the constructor which world
file the simulator will open. | |
webots_plugin/Ros2RangeFindercpp_5.txt | mCameraInfoSuffix = parameters.count("cameraInfoSuffix") ? parameters["cameraInfoSuffix"] : "/camera_info";
mImageSuffix = parameters.count("imageSuffix") ? parameters["imageSuffix"] : "/image";
mPointCloudSuffix = parameters.count("pointCloudSuffix") ? parameters["pointCloudSuffix"] : "/point_cloud"; | |
webots_plugin/InstallationUbuntuht_4.txt | * [ Setting up a robot simulation (Basic) ](Setting-Up-Simulation-Webots-Basic.html)
* [ Setting up a robot simulation (Advanced) ](Setting-Up-Simulation-Webots-Advanced.html)
* [ Gazebo ](../Gazebo/Simulation-Gazebo.html)
* [ Setting up a robot simulation (Gazebo) ](../Gazebo/Gaze... | |
webots_plugin/20231126_109.txt | * Installation
* Robot Simulation and Control
* Create the Package Structure
* Edit the Driver Plugin
* Declare the Plugin
* Create the Launch File
* Add added Files to Plugin Setup
* Test Run
* Integrating Sensors
* Updating the Plugin Declaration
* Creating a ROS Sensor... | |
webots_plugin/20231126_30.txt |
ros2 launch webots_ros2_universal_robot multirobot_launch.py
| |
webots_plugin/InstallationUbuntuht_56.txt |
export WEBOTS_HOME=/usr/local/webots
| |
webots_plugin/20231126_87.txt |
def __right_sensor_callback(self, message):
self.__right_sensor_value = message.range
command_message = Twist()
command_message.linear.x = 0.1
if self.__left_sensor_value < 0.9 * MAX_RANGE or self.__right_sensor_value < 0.9 * MAX_RANGE:
command_me... | |
webots_plugin/Ros2RangeFindercpp_0.txt | // Copyright 1996-2023 Cyberbotics Ltd.
//
// 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 law or agr... | |
costmap_subscript/nav2costmap2d2Fplugi_12.txt | RCLCPP_INFO(
logger_,
"Subscribing to the map topic (%s) with %s durability",
map_topic_.c_str(),
map_subscribe_transient_local_ ? "transient local" : "volatile"); | |
costmap_subscript/3017_544.txt | 7 tasks | |
costmap_subscript/3017_145.txt | Sorry, something went wrong. | |
costmap_subscript/3017_452.txt | edited | |
costmap_subscript/3017_102.txt | Member | |
costmap_subscript/indexhtml_35.txt | This state will allow the node to process information and be fully setup to
run. The configuration stage, triggering the ` on_configure() ` method, will
setup all parameters, ROS networking interfaces, and for safety systems, all
dynamically allocated memory. The activation stage, triggering the `
on_activate() ` met... | |
costmap_subscript/3017_261.txt | [
](/SteveMacenski) | |
costmap_subscript/indexhtml_4.txt | * [ Common Sensor Messages ](../setup_guides/sensors/setup_sensors.html#common-sensor-messages)
* [ Simulating Sensors using Gazebo ](../setup_guides/sensors/setup_sensors.html#simulating-sensors-using-gazebo)
* [ Adding Gazebo Plugins to a URDF ](../setup_guides/sensors/setup_sensors.html#adding-... | |
costmap_subscript/3017_294.txt | Sorry, something went wrong. | |
costmap_subscript/nav2costmap2d2Fplugi_54.txt | if (!layered_costmap_->isRolling()) {
// if not rolling, the layered costmap (master_grid) has same coordinates as this layer
if (!use_maximum_) {
updateWithTrueOverwrite(master_grid, min_i, min_j, max_i, max_j);
} else {
updateWithMax(master_grid, min_i, min_j, max_i, max_j);
}
} else {... | |
costmap_subscript/3017_159.txt | 1. some mostly static object, like an obstacle zone, which is set once and then stays. Here, the node that configures the obstacle zone wants a confirmation that it was actually set.
2. moving objects, such as other robots, that constantly change. Here, we need to verify that the information about their footprint ... | |
costmap_subscript/3613_30.txt | # Saved searches | |
costmap_subscript/3613_153.txt | 2 participants | |
costmap_subscript/3017_388.txt | [
](/AlexeyMerzlyakov) | |
costmap_subscript/addingsubscribertocu_61.txt | [ about ](/about/) | [ faq ](/faq/) | [ help ](/help/ "help") | [ privacy
policy ](/privacy/) | [ terms of service ](/terms/) | |
costmap_subscript/3017_278.txt | > I suppose we could support both services and topics, though not my ideal
> outcome. I would want clear warnings to users informing them that topics are
> not recommended, but may be useful in certain circumstances. | |
costmap_subscript/3613_40.txt | [ ros-planning ](/ros-planning) / **[ navigation2 ](/ros-
planning/navigation2) ** Public | |
costmap_subscript/indexhtml_118.txt | © Copyright 2020. | |
costmap_subscript/indexhtml_56.txt | The task of a planner is to compute a path to complete some objective
function. The path can also be known as a route, depending on the nomenclature
and algorithm selected. Two canonical examples are computing a plan to a goal
(e.g. from current position to a goal) or complete coverage (e.g. plan to
cover all free spac... | |
costmap_subscript/3017_80.txt | **[ SteveMacenski ](/SteveMacenski) ** commented Jun 15, 2022 • | |
costmap_subscript/3017_214.txt | **[ SteveMacenski ](/SteveMacenski) ** commented Oct 5, 2022 • | |
costmap_subscript/indexhtml_102.txt | Various costmap layers are implemented as pluginlib plugins to buffer
information into the costmap. This includes information from LIDAR, RADAR,
sonar, depth, images, etc. It may be wise to process sensor data before
inputting it into the costmap layer, but that is up to the developer. | |
costmap_subscript/3017_355.txt | * Proc1. Best performance for this kind of task
* Proc2. Feature intention clarity and simplicity
* Cons. Can not cover OccupancyGrid maps | |
costmap_subscript/addingsubscribertocu_46.txt | Asked: ** 2023-04-10 14:45:27 -0500 ** | |
costmap_subscript/addingsubscribertocu_43.txt | Follow | |
costmap_subscript/3017_401.txt | > I think this was miscategorized. That's a con for D2. D1 is far more simple
> conceptually and enables re-use of existing costmap filters just with the
> input being from the vector object server, not the map file. | |
costmap_subscript/3613_130.txt | **[ dharanish-nh ](/dharanish-nh) ** commented Jun 12, 2023 | |
costmap_subscript/3613_117.txt | Sorry, something went wrong. | |
costmap_subscript/3017_247.txt | [
](/SteveMacenski) | |
costmap_subscript/3017_46.txt | **Have a question about this project?** Sign up for a free GitHub account to
open an issue and contact its maintainers and the community. | |
costmap_subscript/3017_108.txt | Great to hear it and look forward to hearing about it!
---
👍 1 GMahmoud reacted with thumbs up emoji | |
costmap_subscript/3613_81.txt | [planner_server-6] [INFO] [1686316127.923998800] [planner_server]: Planner Server has GridBased planners available.
[lifecycle_manager-11] [INFO] [1686316127.932865559] [lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-7] [INFO] [1686316127.933067396] [behavior_server]: Configuri... | |
costmap_subscript/3017_351.txt | * * * | |
costmap_subscript/indexhtml_104.txt | ### Costmap Filters ¶ | |
costmap_subscript/3017_160.txt | In case 2), the sender (robot B) constantly produces new information. So, over
the (unstable) network I don't think there's a need for retransmitting, as new
information will be available soon anyway.
Now, the "up-to-date verification" needs to be on the receiver side (robot A).
I think it makes sense to do it in a s... | |
costmap_subscript/3017_441.txt | How would you communicate to the client which shape should be used for which
application to interpret the costs? | |
costmap_subscript/3613_74.txt | I am using a custom costmap plugin for creating high costs around the
people(gazebo actor model). I am using the social layer [ github_repo
](https://github.com/robotics-upo/nav2_social_costmap_plugin) .
However, this code was built for ros2 foxy and I am using ros2 humble. I made
some changes to updatecosts and upda... | |
costmap_subscript/3613_105.txt | Member | |
costmap_subscript/3017_286.txt | In this case we to utilize only polygons, the design will be really simple,
and we do not need to have that universal ` Shape.msg ` . Pretty good option,
if nobody minds. | |
costmap_subscript/addingsubscribertocu_54.txt | [ service call without blocking other callbacks ](/question/379465/service-
call-without-blocking-other-callbacks/) | |
costmap_subscript/addingsubscribertocu_17.txt | * [ 1.ros2 ](/questions/scope:all/sort:activity-desc/tags:1.ros2/page:1/) | |
costmap_subscript/nav2costmap2d2Fplugi_42.txt | unsigned int di = 0;
for (unsigned int y = 0; y < update->height; y++) {
unsigned int index_base = (update->y + y) * size_x_;
for (unsigned int x = 0; x < update->width; x++) {
unsigned int index = index_base + x + update->x;
costmap_[index] = interpretValue(update->data[di++]);
}
} | |
costmap_subscript/3017_347.txt | Collaborator | |
costmap_subscript/3017_72.txt | [ @GMahmoud ](https://github.com/GMahmoud) FYI
---
The text was updated successfully, but these errors were encountered: | |
costmap_subscript/3613_11.txt | By Solution | |
costmap_subscript/3017_126.txt | For this, robot A would publish the received footprint of robot B on a topic,
and this new plugin would then add it to the costmap. I think services would
add too much latency here, in case robot B is moving.
---
All reactions | |
costmap_subscript/3017_101.txt | Copy link | |
costmap_subscript/3613_70.txt | ## Bug report | |
costmap_subscript/nav2costmap2d2Fplugi_3.txt | #include "pluginlib/class_list_macros.hpp"
#include "tf2/convert.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" | |
costmap_subscript/3017_62.txt | Labels | |
costmap_subscript/3017_509.txt | One more thing about the design.
Since one VO-server node is used to be launched per each filter (e.g. if we
are using ` KeepoutFilter ` and ` SpeedFilter ` , we need to have 2 instances
of VO-server running), all vector shapes could be described in one launch-
file, as ROS-parameters' array: | |
costmap_subscript/3017_150.txt | What do you think of having a ` stream ` from the client side for this case ?
We could make available a ` ros action ` for example in addition to ` request-
reply ` for addition and remove of elements.
This action will deal with dynamic elements and client could supervisor the
process by listening to the feedback t... | |
costmap_subscript/indexhtml_66.txt | * Interface with a tool | |
costmap_subscript/3017_541.txt | [
](/AlexeyMerzlyakov) [ AlexeyMerzlyakov ](/AlexeyMerzlyakov) mentioned this
issue Nov 2, 2023 | |
costmap_subscript/3017_250.txt | ### | |
costmap_subscript/nav2costmap2d2Fplugi_16.txt | void
StaticLayer::activate()
{
} | |
costmap_subscript/3017_421.txt | **[ AlexeyMerzlyakov ](/AlexeyMerzlyakov) ** commented Feb 7, 2023 • | |
costmap_subscript/3017_342.txt | All reactions | |
costmap_subscript/3613_112.txt | Copy link | |
costmap_subscript/3017_427.txt | Moving forward, we need to have separate input topic, each one per each type
of shape: Polygon, BrokenLine and Circle. They e.g. could be automatically
generated by user-defined prefix. Something, if we have name of VO-server to
be equal to ` /vo_server ` , name of input topics could be: | |
costmap_subscript/nav2costmap2d2Fplugi_43.txt | has_updated_data_ = true;
} | |
costmap_subscript/3017_256.txt | For circles, I think we'd need some special case for sure. Another question is
about pose of the shape. If we want to set a box of points making up a 1m box,
do I need to transform them to the pose already or can I have a pose of the
center of the shape. I think that's more relevent for the ` add shape `
service than t... | |
costmap_subscript/3613_60.txt | # robot doesn't navigate in custom costmap layer. #3613 | |
costmap_subscript/3017_218.txt | I looked very briefly at the code, there's alot going on there. If you were to
define a ` Polygon ` as a series of connected line segments, I'm not entirely
sure why the difference between convex/concave is important (or using so many
external polygon libraries). Obviously I'm not in the middle of this
development, so ... | |
costmap_subscript/3017_134.txt | Sorry, something went wrong. | |
costmap_subscript/3613_106.txt | ### | |
costmap_subscript/3613_57.txt | Closed | |
costmap_subscript/3017_75.txt | * 🎉 1 reaction | |
costmap_subscript/3017_60.txt | # Feature Request: Custom/Virtual Obstacle Layer #3017 | |
costmap_subscript/3613_98.txt | > [planner_server-6] [INFO] [1686316129.043376579]
> [global_costmap.global_costmap]: Timed out waiting for transform from
> base_link to map to become available, tf error: Lookup would require
> extrapolation into the past. Requested time 5.979000 but the earliest data
> is at time 6.015000, when looking up transform ... | |
costmap_subscript/3017_382.txt | It would likely be stored either way (e.g. in the costmap), so its more about
the transport. | |
costmap_subscript/3017_536.txt | Collaborator | |
costmap_subscript/3017_400.txt | The other question - do we really need these abilities? | |
costmap_subscript/3017_131.txt | **[ GMahmoud ](/GMahmoud) ** commented Jun 17, 2022 | |
costmap_subscript/3017_417.txt | [
](/AlexeyMerzlyakov) |
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