id stringlengths 15 54 | text stringlengths 3 133k | title stringclasses 1
value |
|---|---|---|
teb_controller/30054_15.txt | I would be inundated with messages regarding TEB if I did not address it here.
While TEB is quite a fantastic piece of software, the maintainer has since
moved on from his academic career into a position where it is not possible to
maintain it into the future. As such, its largely unmaintained and represents
techniques... | |
robotics-67/extraction_1.txt | ## Description !@doisyg doisyg opened on Jul 11, 2022 Issue body actions Hello TEB users, I did not come here for a long time, but it seems that the `noetic` branch have seen lots of activity ( @corot , @kenomo , @siferati ). I believe there is a sync that needs to be done with the `ros2-master` branch, and also the `r... | |
robotics-67/extraction_2.txt | ## Expanded Planner Benchmark Tests PR 3218 adds launch files and updated scripts for performing objective random planning tests across the planners in Nav2 for benchmarking and metric computation. ## Smac Planner Path Tolerances PR 3219 adds path tolerances to Hybrid-A\* and State Lattice planners to return approx... | |
robotics-67/extraction_3.txt | # nav2\_mppi\_controller nav2\_mppi\_controller - Links - Rosindex - Repository - C++ API - Class Hierarchy - File Hierarchy - Full C++ API - Standard Documents - README - LICENSE - PACKAGE # README ## Model Predictive Path Integral Controller ### Overview This is a predictive controller (local trajectory plann... | |
robotics-67/extraction_4.txt | ## Finding and using the Nav2 teb controller Hello, I might have overlooked something, but I'm currently in search of the TEB controller within the nav2 stack, specifically in the 'humble' release. According to the documentation of nav2, it suggests the presence of TEB. However, I've been unable to locate the correspon... | |
robotics-67/extraction_5.txt | # Model Predictive Path Integral Controller Source code on Github. !MPPI on Turtlebot3 demo The MPPI Controller implements a Model Predictive Path Integral Controller. The new Nav2 MPPI Controller is a predictive controller - a successor to TEB and pure path tracking MPC controllers. It uses a sampling based approach... | |
ros2_camera/ros2imagepipelinetut_10.txt |
Follow the same calibration steps above until the “Calibrate” button is lit
up. You should be left with two ` CameraInfo ` messages (for left and right).
Take a look at the ` projection ` section and verify the right camera does not
contain all zeros:
left camera:
projection
856.167319 0.000000 1... | |
ros2_camera/ros2imagepipelinetut_6.txt | using my phone and later a laptop as I don’t have a printer. This seemed to
work fine for unblocking the project but I would also like to revisit a more
“correct” way to calibrate the camera with a larger checkerboard.
After moving your checkerboard around (X, Y, depth (Z), skew), the “calibrate”
button will light up ... | |
ros2_camera/ros2imagepipelinetut_7.txt | $ ros2 topic list
/camera_info
/image_raw
/parameter_events
/rosout$ ros2 topic info /camera_info
Type: sensor_msgs/msg/CameraInfo
Publisher count: 1
Subscription count: 0$ ros2 topic echo /camera_info
header:
stamp:
sec: 1610066349
nanose... | |
ros2_camera/ros2imagepipelinetut_11.txt | Create a Disparity Map (DisparityImage)
Make sure to update both of your Camera nodes to use the ` --param
--camera_info_path:={left|right}-camera.ini ` .
After updating the camera info settings, run the disparity node which will
create ` DisparityImage ` on the ` /disparity ` topic. I created a yaml file
to store ... | |
ros2_camera/ros2imagepipelinetut_9.txt | Stereo Vision Calibration
To begin, start two of the ` opencv_cam ` nodes:
$ ros2 run opencv_cam opencv_cam_main \
--ros-args --param index:=4 \
--remap __ns:=/left \
--remap /left/image_raw:=/left/image_rect$ ros2 run opencv_cam opencv_cam_main \
--ros-args --param ind... | |
ros2_camera/ros2imagepipelinetut_5.txt | You should have seen some errors in the above ` opencv_cam ` node:
[ERROR] [1610062920.136820591] [camera_calibration_parsers]: Failed to detect content in .ini file
[ERROR] [1610062920.136830394] [opencv_cam]: cannot get camera info, will not publish
Cameras in ROS can have some “metadata” that d... | |
robotics-68/extraction_0.txt | # Configuration ## Overview The `stereo_image_proc.launch.py` launch file provides a full example and performs rectification and de-mosaicing of raw stereo camera image pairs. It also perform stereo processing to generate disparity images and point clouds. In topic names below, left and right are remapped using the... | |
robotics-68/extraction_1.txt | # This message defines meta information for a camera. It should be in a # camera namespace on topic "camera_info" and accompanied by up to five # image topics named: # # image_raw - raw data from the camera driver, possibly Bayer encoded # image - monochrome, distorted # image_color - color, distorted # image_rect - mo... | |
robotics-68/extraction_2.txt | # Start the Calibration To start the calibration you will need to remap the image topics that will be calibrated: ``` $ ros2 run camera_calibration cameracalibrator --approximate 0.1 --size 8x6 --square 0.108 right:=/stereo/right/image_raw left:=/stereo/left/image_raw right_camera:=/stereo/right left_camera:=/stereo/... | |
robotics-68/extraction_3.txt | # opencv\_cam Permalink: opencv_cam A simple ROS2 camera driver based on OpenCV. Supports ROS2 intra-process comms. Requires ROS2 and `ros-$ROS_DISTRO-camera-calibration-parsers`. Builds for ROS2 Foxy, Galactic, Humble and Iron. ## Install and build Permalink: Install and build ``` mkdir ~/ros2/opencv_cam_ws/src cd ~/r... | |
robotics-68/extraction_4.txt | # gscam2 !ROS2 CI Permalink: gscam2 ROS2 port of gscam. Supports ROS2 intra-process comms. > Update 15-Jun-22: gscam has been released for ROS2. It does not support IPC. > Update 16-Mar-21: the package name has been updated to match the repository name (gscam2) ## Install and build Permalink: Install and build Tested o... | |
robotics-68/extraction_5.txt | ### Launching the Node The package provides a standalone node executable: ``` ros2 run camera_ros camera_node ``` a composable node ( `camera::CameraNode`): ``` ros2 component standalone camera_ros camera::CameraNode ``` and an example launch file for the composable node: ``` ros2 launch camera_ros camera.launch.py `... | |
robotics-68/extraction_6.txt | ## API ### Usage ``` ros2 launch isaac_ros_argus_camera isaac_ros_argus_camera_mono.launch.py ``` Copy to clipboard ``` ros2 launch isaac_ros_argus_camera isaac_ros_argus_camera_stereo.launch.py ``` Copy to clipboard ### Argus Camera Mono Node #### ROS Parameters | ROS Parameter | Type | Default | Description |... | |
joint_controller_velocity/558_16.txt | testing the old version of JTC. Could you give it a try with [ this manual
cherrypick
](https://github.com/christophfroehlich/ros2_controllers/tree/backport558)
please?
---
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**[ BarisYazici ](/BarisYazici) ** commented Aug 24, 2023 •
edited
I think the problem is set_hold_position() is never get... | |
joint_controller_velocity/558_15.txt |
---
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](/firesurfer) [ firesurfer ](/firesurfer) mentioned this pull request Aug
29, 2023
[ [JTC] set_hold_position results into not exactly reaching desired target
#759 ](/ros-controls/ros2_con... | |
joint_controller_velocity/558_3.txt | ](/ros-controls/ros2_controllers/tree/master "ros-
controls/ros2_controllers:master") from [ christophfroehlich :
jtc_hold_position
](/christophfroehlich/ros2_controllers/tree/jtc_hold_position
"christophfroehlich/ros2_controllers:jtc_hold_position") Aug 15, 2023
[ Conversation 50 ](/ros-controls/ros2_controllers/p... | |
joint_controller_velocity/558_4.txt | * ` set_hold_position ` means
* position command interface: set the current position as command
* velocity (open loop), acceleration command interface: set command to zero
* command interface velocity + effort in closed loop: position control on current position
* Deactivation:
* position comma... | |
robotics-69/extraction_0.txt | ### !@christophfroehlich**christophfroehlich** commented Mar 31, 2023• edited Loading Using velocity or effort command interface: After canceling a goal (tolerances or manually by cancelling the action) the movement is not stopped, see #514. Thanks to @c-rizz for proposing a solution fixing #514 **Edit:** The behavior ... | |
robotics-69/extraction_2.txt | ### !@christophfroehlich**christophfroehlich** commented Mar 31, 2023• edited Loading Using velocity or effort command interface: After canceling a goal (tolerances or manually by cancelling the action) the movement is not stopped, see #514. Thanks to @c-rizz for proposing a solution fixing #514 **Edit:** The behavior ... | |
launch_moveit/b634e96c2f080ab38780_5.txt | [ View file ](/ros-
planning/moveit2/blob/b634e96c2f080ab38780668e85e974351978106d/moveit_configs_utils/moveit_configs_utils/launches.py)
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launch_moveit/b634e96c2f080ab38780_4.txt | 
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: 191 ld = LaunchDescription() 192 193 ld.add_action( DeclareBooleanLaunchArg("debug", default_value=False)) 194 ld.add_action( 195 DeclareBooleanLaunchArg("allow_trajectory_execution", default_value=True) 196 ) 197 ld.add_action( 198 DeclareBooleanLaunchArg("publish_moni... | |
robotics-6/extraction_1.txt | ## Description !@aagiser aagiser opened on Mar 10, 2024 · edited by aagiser Edits Issue body actions ### Description I have a problem with launcher. This problem is in source build installation, not binary. When I use binary, it works correctly. But when I install MoveIt 2 from source, it doesn't work. Note, tutorials ... | |
robotics-6/extraction_2.txt | Hi I am using ROS2 humble with moveit2. I created a configuration with setup\_assistant of moveit2. However, when I try to launch the demo launch file created by it. It gaves me the error: \[ERROR\] \[launch\]: Caught exception in launch (see debug for traceback): 'capabilities' I could not find anything related to cap... | |
robotics-6/extraction_3.txt | ```python import os from launch import LaunchDescription from launch.actions import ( DeclareLaunchArgument, IncludeLaunchDescription, ) from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration from launch_... | |
robotics-6/extraction_4.txt | ### 2.13.1 (2025-04-15) - Update ompl\_defaults.yaml to not have an invalid AnytimePathShortening configuration ( #3374) - Contributors: Stephanie Eng ### 2.13.0 (2025-02-15) ### 2.12.0 (2024-11-29) - Added joint limits to rviz launch file. ( #3091) - Switch to get for Dict lookup to prevent KeyError ( #3043) - f... | |
robotics-6/extraction_5.txt | Along the way, I had to fix a few bugs: - Add missing dependencies to MSA config - More missing dependencies when CHOMP config was added - There was a bug in loading the MSA-generated configs \- currently in `main` and `humble` branches, but not merged for `iron`. - Parameter names are incorrect for the gripper plugin ... | |
camera_plugin/posepublishersdf_6.txt | </cylinder>
</geometry>
</collision>
</link>
<!-- pin joint for upper link, at origin of upper link -->
<joint name="upper_joint" type="revolute">
<parent>base</parent>
<child>upper_link</child>
<axis>
<xyz>1.0 0 0</xyz>
</axis>
... | |
robotics-70/extraction_0.txt | A Gazebo Sim system plugin can only be attached to a `<world>`, a `<model>` or a `<sensor>`, not to a `<link>`. You should be getting an error message for this in the log output, I think even without verbose output enabled. In any case: for testing purposes it is advisable to enable verbose output ( `-v 4`), e.g.: ``` ... | |
robotics-70/extraction_2.txt | ## Bridge communication between ROS and Gazebo This package provides a network bridge which enables the exchange of messages between ROS and Gazebo Transport. The following message types can be bridged for topics: | ROS type | Gazebo type | | --- | --- | | builtin\_interfaces/msg/Time | ignition::msgs::Time | | std\_... | |
robotics-70/extraction_3.txt | In this tutorial we will learn how to use ROS 2 to communicate with Gazebo. This can help in many aspects; we can receive data (like joint states, TFs) or commands from ROS and apply it to Gazebo and vice versa. This can also help to enable RViz to visualize a robot model simulatenously simulated by a Gazebo world. ## ... | |
robotics-70/extraction_4.txt | In this tutorial we will learn how to use ROS 2 to communicate with Gazebo. This can help in many aspects; we can receive data (like joint states, TFs) or commands from ROS and apply it to Gazebo and vice versa. This can also help to enable RViz to visualize a robot model simulatenously simulated by a Gazebo world. ## ... | |
robotics-70/extraction_6.txt | ## Bridge communication between ROS and Gazebo Transport This package provides a network bridge which enables the exchange of messages between ROS and Gazebo Transport. The following message types can be bridged for topics: | ROS type | Gazebo type | | --- | --- | | builtin\_interfaces/msg/Time | ignition::msgs::Time... | |
robotics-71/extraction_1.txt | # joint\_state\_broadcaster The broadcaster reads all state interfaces and reports them on `/joint_states` and `/dynamic_joint_states`. ## Commands Broadcasters are not real controllers, and therefore take no commands. ## Hardware interface type By default, all available _joint state interfaces_ are used, unless ... | |
robotics-71/extraction_2.txt | ### 1 Updating `my_robot.urdf` As mentioned in Setting up a robot simulation (Basic), `webots_ros2_driver` contains plugins to interface most of Webots devices with ROS 2 directly. These plugins can be loaded using the `<device>` tag in the URDF file of the robot. The `reference` attribute should match the Webots dev... | |
robotics-71/extraction_4.txt | I've installed webots 2023b and after I saw that a world with and inverted pendulum has been already shipped in the default installation directory, I decided to use that world for my project. Basically I followed this tutorial and this tutorial to be able to publish sensor data directly from the urdf file itself. That ... | |
crazyswarm/usagehtmlcrazyfliesy_4.txt | cf21_mocap_deck:
motion_capture:
enabled: true
# only if enabled; see motion_capture.yaml
marker: mocap_deck
dynamics: default
big_quad: false
battery:
voltage_warning: 3.8 # V
vo... | |
crazyswarm/usagehtmlcrazyfliesy_5.txt | of the crazyflie ](https://www.bitcraze.io/documentation/repository/crazyflie-
firmware/master/api/logs//) . Moreover, it also contains the firmware_params
field, where parameters can be set at startup. Also see the [ parameter list
of the crazyflie ](https://www.bitcraze.io/documentation/repository/crazyflie-
firmware... | |
crazyswarm/usagehtmlcrazyfliesy_3.txt | # crazyflies.yaml
Each crazyflie should have an unique URI which can [ be changed in Bitcraze’s
CFclient ](https://www.bitcraze.io/documentation/repository/crazyflie-clients-
python/master/userguides/userguide_client/#firmware-configuration/) . They can
also be enabled in case you don’t want the server to connect ... | |
robotics-72/extraction_0.txt | ## 2023.02 22 Feb 09:59 !@github-actionsgithub-actions 2023.02 `0f2f0f0` This commit was created on GitHub.com and signed with GitHub’s **verified signature**. The key has expired. GPG key ID: 4AEE18F83AFDEB23 Expired Verified Learn about vigilant mode. Compare Loading 2023.02 ## New functionality - Out of tree support... | |
robotics-72/extraction_1.txt | Warning Do not forget to source your ROS 2 workspace in each terminal you would like to use it ``` . install/local_setup.bash ``` Warning If you work in a shared network (lab, classroom) or similar, you might want to avoid controlling other robots. This is in particular true for simulation. In this case, you can use ``... | |
robotics-72/extraction_2.txt | ## Configuration All configuration files are in crazyflie/config. - crazyflies.yaml : setting up everything related to the robots. - server.yaml : setting up everything related to the server. - motion\_capture.yaml : configs for the motion capture package. - teleop.yaml : configs for remote controls. ### crazyflies.y... | |
visual_marker/visualservoingingaze_8.txt | This has already been done in our example world. If we start ` world.launch `
and list the available services, we are also going to see those offered by the
plugin.
> rosservice list
/link_attacher_node/attach
/link_attacher_node/detach
...
How the plugin works is, given two links in a ... | |
visual_marker/visualservoingingaze_5.txt | Textures
* * *
We are jumping now to a different topic. We are going to create a model for
the visual marker that our robot will later follow. If we were to do such a
thing in reality, we would probably look for a surface where we would stick
the marker on. We’ll do something similar in gazebo.
Technically, we are... | |
visual_marker/visualservoingingaze_6.txt |
<visual name="visual">
<pose>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.0001 0.15 0.15</size>
</box>
</geometry>
<material>
<script>
<uri>model://aruco_marker/materials/scripts</uri>
<uri>model://aruco_marker/materials/textures</uri... | |
robotics-74/extraction_0.txt | # First micro-ROS Application on FreeRTOS In this tutorial, you’ll learn the use of micro-ROS with FreeRTOS by testing a Ping Pong application. The target hardware for this tutorial is the **Olimex STM32-E407** evaluation board. The following hardware will be used: - Olimex STM32-E407 - Olimex ARM-USB-TINY-H - USB-to-S... | |
robotics-74/extraction_1.txt | I'm trying to set up micro-ROS on Ubuntu 20.04 using this website, and connect ESP32 to ROS 2. However, when executing the command `ros2 run micro_ros_setup create_firmware_ws.sh freertos esp32`, I get the following error: ``` ERROR: the following packages/stacks could not have their rosdep keys resolved to system depe... | |
robotics-74/extraction_2.txt | ## Installing ROS 2 and the micro-ROS build system First of all, install **ROS 2 Humble Hawksbill** on your Ubuntu 22.04 LTS computer. To do so from binaries, via Debian packages, follow the instructions detailed here. _**TIP:** Alternatively, you can use a docker container with a fresh ROS 2 Humble installation. The o... | |
robotics-74/extraction_4.txt | # Supported platforms Permalink: Supported platforms This package provides tools and utils to crosscompile micro-ROS with just the common ROS 2 tools for the following platforms. **Note that this package provides basic support only, intended in particular for ROS developers who are new to microcontrollers. Micro-ROS co... | |
robotics-74/extraction_5.txt | **Dependencies** Permalink: Dependencies This package targets the **ROS 2** installation. ROS 2 supported distributions are: | ROS 2 Distro | State | Branch | | --- | --- | --- | | Crystal | EOL | `crystal` | | Dashing | EOL | `dashing` | | Foxy | EOL | `foxy` | | Galactic | EOL | `galactic` | | Humble | Supported | `h... | |
realtime_ros2/realsenseros_8.txt | # ROS1 and ROS2 Legacy
Intel RealSense ROS1 Wrapper Intel Realsense ROS1 Wrapper is not supported
anymore, since our developers team are focusing on ROS2 distro.
For ROS1 wrapper, go to [ ros1-legacy
](https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy) branch
Moving from [ ros2-legacy ](https://githu... | |
realtime_ros2/realsenseros_9.txt | cd ~/ros2_ws/src/
* Clone the latest ROS2 Intel® RealSense™ wrapper from [ here ](https://github.com/IntelRealSense/realsense-ros.git) into '~/ros2_ws/src/'
git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development
cd ~/ros2_ws
* Install dependencies
... | |
robotics-75/extraction_0.txt | ## RealSense SDK 2.0 (v2.56.5) 29 Jul 07:20 !@remibettanremibettan v2.56.5 `38a4144` This commit was created on GitHub.com and signed with GitHub’s **verified signature**. GPG key ID: B5690EEEBB952194 Verified Learn about vigilant mode. Compare Loading RealSense SDK 2.0 (v2.56.5) !Download Counter #### Hot Fix for 2.56... | |
robotics-75/extraction_1.txt | ## Using pre-build packages **Intel® RealSense™ SDK 2.0** provides installation packages for Intel X86/AMD64/ARM-based Debian distributions in `dpkg` format for Ubuntu 20/22/24 LTS. > Note: For EOL Ubuntu distributions please use the following versions: > > Ubuntu 16 -> 2.51.1. > > Ubuntu 18 -> 2.55.1. > > The Realse... | |
robotics-75/extraction_2.txt | # ROS1 and ROS2 Legacy Permalink: ROS1 and ROS2 Legacy ROS1 Wrapper for Intel® RealSense™ cameras ROS1 Wrapper for Intel® RealSense™ cameras is not supported anymore, since our developers team are focusing on ROS2 distro. For ROS1 wrapper, go to ros1-legacy branch Moving from ros2-legacy to ros2-master - Changed Parame... | |
robotics-75/extraction_3.txt | ### MartyG-RealSense commented on Jul 27, 2022 !@MartyG-RealSense MartyG-RealSense on Jul 27, 2022 Collaborator Hi @agangavaram If you are unable to change your kernel version due to elements of your project that depend on 5.17 then you could consider the possibility of building the librealsense SDK from source code wi... | |
detachable_joint/detachablejointsmd_5.txt | Due to a limitation in the implementation of this system, if detached models
need to collide with a parent model or other detached models that have the same
parent, the parent model needs to have `<self_collide>` set to true. However,
due to an issue in DART, the default physics engine, it is important that none of the... | |
robotics-76/extraction_0.txt | The `DetachableJoint` system allows two models to start off rigidly attached and then detach during simulation by publishing to a topic. The system internally uses a fixed joint between two links, each belonging to two separate models. Because the system uses joints to connect models, the resulting kinematic topology h... | |
point_cloud/pclros_90.txt | pointcloud_to_pcd
Subscribes to a ROS topic and saves point cloud messages to PCD files. Each
message is saved to a separate file, names are composed of an optional `
prefix ` parameter, the ROS time of the message, and the ` .pcd ` extension.
| |
point_cloud/pclros_93.txt | Examples
Subscribe to the ` /velodyne/pointcloud2 ` topic and save each message in the
current directory. File names look like ` 1285627014.833100319.pcd ` , the
exact names depending on the message time stamps.
$ rosrun pcl_ros pointcloud_to_pcd input:=/velodyne/pointcloud2
Set the ` prefix ` param... | |
point_cloud/pclros_91.txt | Subscribed Topics
` input ` ( [ sensor_msgs/PointCloud2
](http://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html) )
* A stream of point clouds to save as PCD files.
| |
robotics-77/extraction_0.txt | I am looking for a Lidar Sensor in Gazebo Harmonic which is meant to be used on a machine without GPU. Is there one? 1. I found from here that the same mightn't exist. But then I found a Lidar.cc file in gz-sensors github repo in addition to the GPULidar.cc file. Is this supposed to be a CPU-based Lidar sensor? 2. I we... | |
robotics-77/extraction_2.txt | ## Lidar sensor \# We don’t want our robot to touch the wall at all because this may cause some damage, so instead of the contact sensor we can use the Lidar. Lidar is an acronym for “light detection and ranging”. This sensor can help us detect obstacles around the robot. We will use it to measure the distance between ... | |
robotics-77/extraction_4.txt | plugins - PointCloud Visualize `gz::msgs::PointCloudPacked` messages in a 3D scene. More... `#include <PointCloud.hh>` | | | | --- | --- | | ## Signals | | void | FloatVTopicListChanged () | | | Notify that topic list has changed. More... | | | | void | MaxColorChanged () | | | Notify that maximum color has changed. Mo... | |
robotics-77/extraction_6.txt | # README ## Bridge communication between ROS and Gazebo This package provides a network bridge which enables the exchange of messages between ROS and Gazebo Transport. The following message types can be bridged for topics: | ROS type | Gazebo type | | --- | --- | | builtin\_interfaces/msg/Time | ignition::msgs::Tim... | |
robotics-77/extraction_7.txt | # ROS + Ignition Gazebo demos This package contains demos showing how to use Ignition Gazebo with ROS. ## Run Ignition Gazebo There’s a convenient launch file, try for example: ``` ros2 launch ros_ign_gazebo ign_gazebo.launch.py ign_args:="shapes.sdf" ``` ## Air pressure Publishes fluid pressure readings. ``` ros2 laun... | |
use_sim_time/1810_7.txt | We have posted [ this question ](https://github.com/ros-
planning/moveit2/issues/1811) to ask how this can be set without hardcoding it
using the new config load param system, but I'll consider this as answered not
to extend more.
If someone comes across this, just let you know that it was solved by two
things:
1. ad... | |
use_sim_time/1810_3.txt | [ bug ](/ros-planning/moveit2/labels/bug) Something isn't working
## Comments
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**[ TheConstructAi ](/TheConstructAi) ** commented Dec 15, 2022
### Description
We... | |
robotics-78/extraction_1.txt | 190def generate\_move\_group\_launch(moveit\_config): 191 ld = LaunchDescription() 192 193 ld.add\_action( DeclareBooleanLaunchArg("debug", default\_value=False)) 194 ld.add\_action( 195 DeclareBooleanLaunchArg("allow\_trajectory\_execution", default\_value=True) 196 ) 197 ld.add\_action( 198 DeclareBooleanLaunchArg("p... | |
robotics-78/extraction_2.txt | Unfortunately, there is no clean way to pass it through launch file, while using `moveit_configs_utils.launches`. This was raised previously in an issue and `use_sim_time` technically supposed to be added here in the source code. That said, here is an engineered solution around this: ```hljs python from moveit_configs_... | |
robotics-78/extraction_3.txt | ## Description !@TheConstructAi TheConstructAi opened on Dec 15, 2022 Issue body actions ### Description We had to set the `use_sim_time` hardcoded her MOD to launches.py To avoid failing the execution of trajectories. The question is how is it supposed to be set using the new system of : ``` def generate_launch_descri... | |
robotics-78/extraction_5.txt | # Ros2: use\_sim\_time leads to inconsistent clocks !rosROS !rosROS General ros2 You have selected **0** posts. select all cancel selecting 1.6k views 9 likes 2 links 8 users 3 2 [](https://discourse.openrobotics.org/u/tomoyafujita "tomoyafujita") [](https://discourse.openrobotics.org/u/Achllle "Achllle") [](https://di... | |
imu_gazebo/Sensorcc_3.txt | if (element)
{
if (element->HasElement("gz_frame_id"))
{
this->frame_id = element->Get<std::string>("gz_frame_id");
}
else
{
// TODO(ahcorde): Remove this deprecation in gz-sensors8
if (element->HasElement("ignition_frame_id"))
{
gzwarn << "The `ignition_frame_id`... | |
robotics-79/extraction_0.txt | # Setting frame of IMU message in Gazebo Fortress Ask Question Asked1 year, 11 months ago Modified 1 year, 10 months ago Viewed 965 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 setup a robot in Gazebo Fortress, under ROS2 Hum... | |
robotics-79/extraction_1.txt | !azeey ### azeey commented on Apr 4, 2024 !@azeey azeey on Apr 4, 2024 ContributorAuthor > Hi all, as of today is there a way to change the frame\_id of a sensor? I am using a gpu\_lidar but I cannot manage to change the frame\_id attached to the message. Thanks Yes, you should be able to use `gz_frame_id`. In Fortress... | |
robotics-79/extraction_4.txt | # Gazebo Sensors : Sensor models for simulation **Maintainer:** ichen AT openrobotics DOT org !GitHub open issues!GitHub open pull requests!Discourse topics!Hex.pm | Build | Status | | --- | --- | | Test coverage | !codecov | | Ubuntu Noble | !Build Status | | Homebrew | !Build Status | | Windows | !Build Status | Gaze... | |
robotics-79/extraction_6.txt | ## Frame Conventions An IMU device may measure data with respect to two frames, specified by the manufacturer: - The **sensor frame** represents the device's internal reference frame (the "input reference axes", IRA). It may be found in the device specification documents, and is sometimes indicated directly on the pack... | |
gazebo_plugin/MulticopterVelocityC_4.txt | gz::sim::EntityComponentManager &_ecm) override;
/// \brief Callback for twist messages
/// The controller waits for the first twist message before publishing any
/// rotor velocities.
/// \param[in] _msg Twist message
private: void OnTwist(const msgs::Twist &_msg);
/// \brief Ca... | |
gazebo_plugin/MulticopterVelocityC1_7.txt | //////////////////////////////////////////////////
void MulticopterVelocityControl::PreUpdate(
const UpdateInfo &_info,
EntityComponentManager &_ecm)
{
GZ_PROFILE("MulticopterVelocityControl::PreUpdate");
if (!this->initialized)
{
return;
}
// \TODO(anyone) Support rewind
if (_info.dt < std::chr... | |
gazebo_plugin/MulticopterVelocityC1_8.txt | if (!this->cmdVelMsg.has_value())
{
return;
}
// Clip with max linear velocity
math::Vector3d linear = msgs::Convert(this->cmdVelMsg->linear());
linear.Min(this->maximumLinearVelocity);
linear.Max(-this->maximumLinearVelocity);
math::Vector3d angular = msgs::Convert(this->cmdVelMsg... | |
gazebo_plugin/MulticopterVelocityC1_9.txt | EntityComponentManager &_ecm,
const Eigen::VectorXd &_vels)
{
if (_vels.size() != this->rotorVelocitiesMsg.velocity_size())
{
this->rotorVelocitiesMsg.mutable_velocity()->Resize(_vels.size(), 0);
}
for (int i = 0; i < this->rotorVelocities.size(); ++i)
{
this->rotorVelocitiesMsg.set_velocity(i... | |
robotics-7/extraction_0.txt | This is a velocity controller for multicopters that allows control over the linear velocity and the yaw angular velocity of the vehicle. The velocities are expressed in the body frame of the vehicle. A vehicle with at least 4 rotors is required for the controller to function. More... `#include <MulticopterVelocityContr... | |
robotics-7/extraction_1.txt | ```xml <include> <uri> https://fuel.gazebosim.org/1.0/OpenRobotics/models/X3 UAV/4 </uri> <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> <robotNamespace>X3</robotNamespace> <jointName>X3/rotor_0_joint</jointName> <linkName>X3/rotor_0</linkName> <turningDirection... | |
robotics-7/extraction_2.txt | In Gazebo, all systems are loaded as plugins at runtime. Each system is associated with an entity in simulation. Systems can be attached to the following entity types: - World - Model - Sensor - Actor To create a system plugin for use in the simulation environment, follow the steps below. ## Decide on interfaces to imp... | |
robotics-7/extraction_3.txt | Gazebo uses the entity component system (ECS) software architecture. See the Terminology page for the definitions of entity, component, system, and entity component manager (ECM) used in this tutorial. In short, a simulation world consists of many entities, each of which is associated with a set of components. System p... | |
robotics-7/extraction_4.txt | ## Bridge communication between ROS and Gazebo This package provides a network bridge which enables the exchange of messages between ROS and Gazebo Transport. The following message types can be bridged for topics: | ROS type | Gazebo Transport Type | | --- | --- | | actuator\_msgs/msg/Actuators | gz.msgs.Actuators | ... | |
robotics-7/extraction_5.txt | In Gazebo, all systems are loaded as plugins at runtime. Each system is associated with an entity in simulation. Systems can be attached to the following entity types: - World - Model - Sensor - Actor To create a system plugin for use in the simulation environment, follow the steps below. ## Decide on interfaces to imp... | |
robotics-80/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-80/extraction_1.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-80/extraction_2.txt | ## 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 developing with ROS 2. The core ROS 2 workspace is called the underlay. Subsequent local workspaces are called overlays. When developing with ROS 2, you ... | |
robotics-80/extraction_3.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-81/extraction_0.txt | ## Map Server The `Map Server` provides maps to the rest of the Nav2 system using both topic and service interfaces. Map server will expose maps on the node bringup, but can also change maps using a `load_map` service during run-time, as well as save maps using a `save_map` server. See its Configuration Guide Page fo... | |
robotics-81/extraction_1.txt | ## Map format Maps manipulated by the tools in this package are stored in a pair of files. The YAML file describes the map meta-data, and names the image file. The image file encodes the occupancy data. ### Image format The image describes the occupancy state of each cell of the world in the color of the corresponding ... |
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