1,343 questions
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Why am I seeing chaotic jumps when extracting ZYX Euler angles near ±90° pitch?
I’m working on a real-time orientation extraction system (ZYX Euler angles) from my omega7 device, and I’m trying to understand why yaw/roll behave chaotically when pitch approaches ±90°, or when I ...
Tooling
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votes
17
replies
203
views
Looking for Advice on Simulators for Autonomous Sailboat Navigation Testing
I am developing an autonomous navigation algorithm for a small robotic sailboat, and I need to test and validate the control and navigation logic in a 3D/2D simulation environment before field testing....
2
votes
1
answer
194
views
How can I use the PN532 with an ESP32-Wroom-32?
The ESP32 cant find the NFC module (Pn532). I used the I2C and SPI without any promising results.
I used the Example code and edited the Pins
Every time I only Get this result: Serial.print("Didn'...
- 21
2
votes
1
answer
122
views
Algorithm to get pitch (angle in the XZ plane) from 0 to 360°
I'm currently developing a project with Arduino Nano BLE 33 rev2 (an MCU equipped with Bluetooth, accelerometer, gryoscope and magnetometer) and Python to get the yaw (XY plane degree) and pitch (XZ ...
1
vote
0
answers
20
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Simulink inverse kinematics block goes unstable when RPY is time-varying (homogeneous transformation matrix)
I'm trying to use the MATLAB robotics toolbox, specifically with the inverse kinematics block. I started only giving the block the translation coordinates, and a weight vector of [0 0 0 1 1 1], which ...
0
votes
2
answers
82
views
ROS2 connecting URDF from Fusion360 model
I’m learning how to use ROS2 Humble, so I created a model of a simple robot in Fusion360 and used the ACDC4Robot extension to export the model into URDF and STL meshes.
I tried to display the model in ...
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0
answers
53
views
IK Function in DoF Arm
I'm working on a 6-DOF robotic arm project, but the inverse kinematics (IK) code in my `control.ino` file doesn't work as expected for controlling the arm in the 3D x-y-z plane. The code is designed ...
1
vote
0
answers
118
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Simulation 6 Dof on Mujoco (Joint always moving without controlling)
I'm new and currently working on my 6 Dof Arm project, right now I am try to simulate it using Mujoco but I don't really understand why and how it works, here is the problem: My 6 Dof Arm is always ...
- 7,408
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0
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82
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/map not received with slam_toolbox (ros humble)
i am using slam toolbox with nav2 and ros humble to create a robot that autonomously navigates and maps the area. currently, I launch the robot simulation in gazebo with no problem, but the slam ...
- 23
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0
answers
52
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Unable to reproduce training results in a dummy vector using stablebaseline3
I created a custom Gymnasium environment and trained an agent using Stable-Baselines3 with DummyVecEnv and VecNormalize. The agent performs well during training and consistently reaches the goal. ...
1
vote
0
answers
135
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Any idea for SLAM in ROS2 with RPLiDAR A1?
I'm trying to run a SLAM like slam_toolbox or cartographer in ros2 jazzy, but i fail. Since I'm new to both ros and slam, i tried to follow some tutorials but all failed to do my job: slam using only ...
1
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0
answers
35
views
How to manually trigger each NAO robot speech command one by one in a Python script (in VSCode)?
I’m running a Python script controlling four NAO robots using the naoqi API. The script runs in VSCode on my local machine, connected to each robot.
My goal is to have:
Robot 1 speak first with a ...
- 11
1
vote
0
answers
19
views
MVP(Masked Visual Pre-training for Robotics) pretrained model link is broken – any backup available?
https://github.com/ir413/mvp
It seems that the pretrained MVP models are no longer available at the official link provided in the README. Unfortunately, the original author has not responded to this ...
- 11
0
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0
answers
80
views
How to implement the multiplicative extended kalman filter in opencv aruco application?
I've been looking to find a way of removing jitter from a project involving tracking two aruco marker boards. The camera is static and I have two marker boards moving with respect to one another. I ...
- 145
2
votes
1
answer
174
views
How do I compute RX, RY, RZ (Euler angles) to aim a tool toward the center of a sphere at each point on the surface?
I have looked over several other posts and this seems to be a question that has been asked before, but never really answered. Probably, due to lack of information/examples being posted, so I am hoping ...
1
vote
0
answers
185
views
How to implement Follow the Gap method for Ackermann steering car in ROS 2 Gazebo?
I am trying to implement the Follow-The-Gap (FTG) algorithm for an F1TENTH-style Ackermann steering car in ROS 2 Humble, with Gazebo simulation.
I have completed the basic functionality: smoothing ...
- 11
1
vote
0
answers
61
views
How can I fix point adding error on a quartic trajectory generation in matlab
I am working on generating a quartic trajectory with a quintic finish with known points and an acceleration limit on matlab. After creating this trajectory using the constants I calculated I am trying ...
0
votes
1
answer
67
views
Implementing probabilistic velocity motion model
I'm implementing in MATLAB the probabilistic version of velocity motion model (VMM), as described in the book "Probabilistic Robotics", page 97. The pseudocode is the following.
How can I ...
- 10
0
votes
0
answers
37
views
Trouble converting between GameObject space to Joint configuration space for FABRIK algorithm Inverse Kinematics
Given a mouse click, I am trying to use the FABRIK inverse kinematics algorithm to figure out the best joint orientation for a robot arm such that the end effector is as close as possible to the ...
- 31
0
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0
answers
27
views
Missmatched Pole-Zero Plots Between Simulink and XFLR5
I'm currently trying to create a 6DOF fixed wing uav model inside simulink with this playlist. I created a plane model inside xflr5 and followed the steps inside the video for transferring to the ...
0
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0
answers
33
views
Angle of rotation of U and V angle in a 5 axis head
I need some help with working out the tilt angle V and rotation angle U of this 5 axis design. I want the head pointing at a desired tilt angle (say 45 degrees) to a plane perpendicular to the X-Y ...
0
votes
1
answer
105
views
Mitsubishi Melfa Basic VI - Palletizing - Syntax Error assistance
I am currently working on my first Robot Palletizing program using Mitsubishi's Melfa Basic VI. I have a robot set up in the shop for testing. The test program shown below is basically right out of ...
- 109
0
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0
answers
31
views
How to manipulate the state of objects using the states array?
I have a robomimic environment, and I am trying to modify the positions and velocities of objects in the environment manually for a data augmentation project. How can I figure out which indices in the ...
- 443
1
vote
1
answer
49
views
Fixing fluctuations, precision errors and more in velocity control algorithm. Is my approach correct?
Problem:
I want my "Follow Coordinates System (FCS)" to reach the position of a "Set Coordinates System (SCS)" while maintaining a trapezoidal velocity profile using given ...
- 31
0
votes
0
answers
71
views
I just cannot wrap my brain around how to do this Python PID controller
So the goal for this project is to create a robot that is able to complete a course in a predetermined time. I attempted to create a PID controller and setup a python script to test the code. Right ...
- 11
0
votes
0
answers
35
views
No signal on S-BUS OUT port on the Pixhawk 4
I have a problem/ question regarding the S-BUS OUT port on the Pixhawk 4.
My setup is as it follows:
transmitter: Radiomaster TX16S with RFD TX-MOD v.2
receiver: RFD 900ux 2.0
a rover with 2 stepper ...
- 5
2
votes
2
answers
108
views
Processing 3D Local Rotation
So I am trying to emulate a robotic arm in Processing, and have most of it working. The problem I'm having is that the last arm segment (excluding the pinchers) needs to rotate along it's own relative ...
- 61
0
votes
0
answers
45
views
PyDrake Optimization problem freezes summing symbolic variables
I'm trying to replicate the following paper https://groups.csail.mit.edu/robotics-center/public_papers/Platt10.pdf regarding planning in the belief space.
To do so, I'm using pydrake.solvers to solve ...
- 43
3
votes
2
answers
307
views
Position of robotic arm base in gymnasium-robotics' fetch environments off center
I am trying to solve the Farama gymnasium-robotic fetch environments, specifically the "FetchReachDense-v3" problem. When running the simulation, the base of the robotic arm seems to be ...
- 52
0
votes
0
answers
58
views
librosconsole_log4cxx.so No such file or directory
try to run controller on unitree by sudo ./devel/lib/unitree_guide/junior_ctrl and get this problem: ./devel/lib/unitree_guide/junior_ctrl: error while loading shared libraries: librosconsole_log4cxx....
- 51
0
votes
1
answer
397
views
ModuleNotFoundError: No module named 'catkin_pkg'
i follow this video https://youtu.be/Vbh3--etiwg?si=xOzCUZrJK5369Sjp to use ros2 for beginner. But i have this problem when i input this in terminal, colcon build --symlink-install. I'm new in ubuntu ...
- 1
0
votes
0
answers
180
views
Controller manager error -[WARN] [1735037100.684428992] [spawner_panda_arm_controller]: Could not contact service /controller_manager/list_controllers
I am trying to visualise a 3dof robotic arm and control this using my keyboard. I am on ROS2 Humble Ubuntu 22.04 and am using this moveit2 tutorial for controlling it : https://github.com/moveit/...
0
votes
0
answers
118
views
Finding DH parameters for robot arm
I am new in robotics. I'm using ikpy to control a 6 servo robot using forward and inverse kinametic.
The robot moves along x, y, and z as desired. However, there are two issues:
1- the robot moves a ...
- 1
0
votes
0
answers
33
views
integrating IMU with a 3 wheel omni drive
I am trying to integrate an imu with my 3 wheel omni drive. Individually the imu yaw correction part works and individually the drive movement part works but for some reason which I am not able to ...
1
vote
0
answers
51
views
DC Motor Controller using "Force Control" in WeBots
i'm trying to develop a Webots torque controller to simulate the exact behaviour of a servomotor, using the dynamics equations of a DC Motor and a PID, controller. My robot works perfectly with the ...
1
vote
0
answers
98
views
Dual X, dual Y, and Z steppers motor control using marlin firmware
I am trying to make a 3d coater in which I want to have dual X, dual Y, and a Z axis control. This will require the control of 5 stepper motors using 5 stepper drivers. I have controlled the 2 Y-axis (...
- 19
0
votes
0
answers
136
views
cs1robots python module: Robot won't turn
I have been trying to solve the rain2.wld file in the cs1robots module. here is the code:
from cs1robots import *
load_world("rain2")
h = Robot(avenue=3, street=6, orientation='S', beepers=...
0
votes
2
answers
210
views
Global coordinate system with 2 cameras
I have a question regarding coordinate transformation (or perhaps registration, not sure what the correct term is).
I have a setup with two top-down cameras: Camera A and Camera B.
Both cameras are in ...
- 149
1
vote
0
answers
78
views
No braking at the end of the movement block on spike prime
I created my blocks on spike prime. Back when I used ev3, my motor block had PID correction, acceleration and deceleration all correct. I tried to bring all the concepts and I succeeded. The problem ...
0
votes
0
answers
97
views
Robot arm movement
First of all, good work everyone. I'm working on a robot arm. My goal is to keep the hand always steady. Now when I give a movement from the shoulder, I read them with the help of a gyroscope. This ...
- 1
1
vote
0
answers
105
views
In the TurtleBot3 Gazebo simulation, the angular velocity exhibits significant fluctuations at certain points, leading to instability
I am using Ubuntu 20.04 and Gazebo 11.14 to simulate the TurtleBot 3 Waffle Pi robot. I run the code below, and record the command data and odmetry data form topic "/odom".
#include "...
- 23
0
votes
0
answers
98
views
Webots controller crashes when changing a value in a vector
Im having troubles with the Webots simulator. Whenever I run the code, it always freezes at exactly 0.750 secs, and reports that the main bot controller crashed (there's a second controller for ...
user27382745
0
votes
1
answer
369
views
moveit task constructor execution results are inconsistent with the planned results in gazebo
Hello stackoverflow community! Here is my problem:
Environment:
ros2 version: humble
gazebo version: Fortress
Problem Description:
I used MTC(moveit task constructor) to plan and execute a pick place ...
- 11
0
votes
1
answer
128
views
Polling in python
Here is my desired functionality:
I want to listen over the local host for a variable, let's say state 1 and state 2. I want my main script to execute function b, but if it receives a state 1 over the ...
- 45
1
vote
1
answer
123
views
Determine the object distance from the ground given head pitch angle?
I want to determine the distance from a detected object (as spotted by a robot/camera) to the ground through the head pitch angle and the distance between the object and the robot/camera (which is a ...
- 591
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0
answers
51
views
Finding the balanced direction at every step - from a sub-routes array
I have an array of sub-routes that are inside a defined bbox.
I want to navigate from the start point towards the end point without colliding with obstacles (which is marked in black).
Since I have ...
- 1
0
votes
1
answer
603
views
Calculation of Yaw, Pitch and Roll
So basically I have had written a code which calculates the rvec, yaw, pitch and roll of aruko marker and displays them in real time.
import numpy as np
import cv2
import sys
import time
import math
...
- 43
0
votes
1
answer
82
views
How to calculates changes in position with perpendicular tracking wheels and a orientation sensor by assuming movement in arcs?
I want to use a system of odometry to find where my robot is at all times by finding the displacement of the robot every 10 ms. To do this I am using a vertical tracking wheel that tracks when the ...
0
votes
0
answers
126
views
How to test a function on a ROS 2 node that requires a static transform to be published?
I want to do some unit testing on a ROS 2 node. On a particular function, the node looks up for a specific transform. If not available, it should throw an exception.
While in other instances I have ...
1
vote
0
answers
26
views
How to incorporate energy consumption into the reward function in Q-learning for robot navigation in a flow field?
I'm working on a Q-learning implementation to help a robot navigate within a double gyre flow field. The objective is to find an optimal path between two points in the flow while minimizing energy ...
- 11