sloretz's profile - activity

In ros_control what is "effort"? How is it different from acceleration? Can I use a value meant to be acceleration in place of effort?

For context I'm using moveit and ros_control with a stepper motor controller that moves the joint given a target position, a maximum velocity, and an acceleration. The controller accelerates the joint up to the given max velocity, travels a bit, and then decelerates until it stops at the target position.

I currently am using joint_trajectory_controller with just a PositionJointInterface, but the arm is very poor at travelling along a cartesian path. The end effector deviates from the path by several centimeters (it's a small arm about 15cm in length) My hope is that if I specify a PositionJointInterface, VelocityJointInterface, and EffortJointInterface (using acceleration) for each joint with joint_trajectory_controller I'll see the end-effector follow a cartesian path more closely.

What's an algorithm or technique that doesn't forget about obstacles in the following situation?

I've observed obstacles mistakenly cleared using the VoxelLayer costmap_2d plugin on ROS Jade. This happens when there is a blindspot on the floor between what the 3d camera sees and the robot due to the camera's position.

Here's a side view of a ToF camera with a 90 degree field of view. The red dots are points in the point cloud sensed by the camera. The doted lines are rays from the points to the camera.

Here's a view of how VoxelLayer marks the voxels. Voxels can be free (green), occupied (yellow), or unknown (white). Voxels are cleared (set to free) when a ray passes through them. Voxels are marked (set to occupied) when a point is inside them only if the point is higher than the parameter min_obstacle_height.

Now imagine the depth camera has moved left about two cells. The rays for the points on the ground pass through the previously marked voxels and clear them. The robot has effectively forgotten about the box in front of it.

The robot then attempts to crush the box. Ideas?

I see an API for getting the log directory, but I don't see one for setting it. https://github.com/ros2/rcl_logging/blob

Is there a way to "watchdog" an action and see when a request is made The status topic shows when the request and r

Mind posting bloc_camera.dae. Hard to say why parsing failed.

ROS Noetic sync with nodelet 1.10.1 is out

They can communicate because I've tried a ping on both machines and it's ok and I can also have SSH access on my Rasp

ROS2 Build Error on WIN10 Hi Following these instructions: https://index.ros.org/doc/ros2/Installation/Foxy/Windows-Dev

It looks like this is a bug https://github.com/ros2/rosbag2/issues/630 Introduced by a recent change. According to this

Oops, please put new info in the question. I moved the content there for you this time. Answers are only for answers to

ROS2 Build Error on WIN10 Hi Following these instructions: https://index.ros.org/doc/ros2/Installation/Foxy/Windows-Dev

Thanks for trying out the new version of nodelet in the testing repo. Sounds like a new Noetic sync is a good idea.

The package that failed is zstd_vendor from 1 package failed: zstd_vendor, but there's not enough info to say why. Try l

It looks like this question/answer is about building the very latest rclcpp, so building all the rest of ROS 2 from sour

Thanks, fixed typo

Could not resolve 'package.ros.org' Hmm the commands you pasted in the answer are ok, but this URL is wrong. It is