Questions tagged [navigation]
Navigation is a field of study that focuses on the process of monitoring and controlling the movement of a craft or vehicle from one place to another. Robot navigation includes exploration, mapping, localization, path planning and path execution
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Extrapolation Error: Lookup would require extrapolation into the future. when looking up transform from frame odom to frame map TEB local Planner
I am working on the localization with gps, for the outdoor environment in simulation. The error is
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Nav2 does not send commands for high speed to the robot
I am working with a 4WD swerve drive robot, which i am trying to make navigate autonomously via nav2. Currently everything is in simulation on Gazebo (Gazebo Harmonic, ROS2 Jazzy). What I notice is ...
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robot_localization imu system: ENU or NWU?
I'm preparing an IMU for integration with robot_localization, but to me it seems like the docs give conflicting intel on the frame to use.
Humble docs say (1):
As of this writing, robot_localization ...
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The robot keeps stopping and starting
I'm constantly testing my robot by moving it to points I've determined using navigation. During these tests, the robot repeatedly stops suddenly after a certain period of time and then continues. (...
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3DOF robot in Moveit
I have a 3-DOF robot arm with 2 revolute joints and 1 prismatic joint. I use my custom RRT-Connect algorithm to create random nodes based on joint limits and obstacle avoidance, and then generate a ...
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nav2 and low level controller interpret rotation differently
I am making an autonomous robot with nav2 and ros2 humble. however, what I have seen is that, the way nav2 and my low level controller (which transforms the cmd vel that comes from nav2 into wheel ...
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mecanum_drive_controller package
The mecanum_drive_controller package is available for ROS Jazzy and Humble. To use this package do I need urdf file of the robot. If I do not have urdf file will it still work.
My goal: Autonomously ...
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How to deploy multiple multi-line lidar(3d lidar) on a single STVL(Spatio-Temporal Voxel Layer)?
I have three 3d lidar, I want to use STVL to build local_costmap, but I don't know how to set multiple observation_sources in one STVL, or should I set multiple STVLs to achieve multiple 3d lidar ...
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Using Mixed Joint Types in MoveIt: IK Challenges with Revolute and Prismatic Joints
I have a robot with 3 DOF: 2 revolute joints and 1 prismatic joint. I put them all in the same planning group called “arm,” but when I try to use compute_cartesian_path, the IK fails. Is this because ...
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Costmap gets corrupted when robot moves in Nav2
I am making an autonomous robot with humble and nav2. however, what I am seeing is, when my robot moves, the costmap gets "corrupted", as you can see in the image. this happens especially ...
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How to make Regulated Pure Pursuit stop and wait for obstacles instead of aborting?
I’m using Regulated Pure Pursuit (RPP) in ROS 2 Jazzy Nav2 to follow a path. My goal is to have the robot stop and wait whenever there’s an obstacle in front of it, instead of aborting the goal. I ...
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Do commercial INS solutions have a user-defined input apart from GNSS/ IMU?
Purpose: GNSS present/ absent localization for about ~ 8 miles GNSS denied tunnel covered in ~ 20 mins. System started in RTK fix environment for a long duration (good enough so that KF can converge).
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How to Use and Calibrate an IMU in ROS 2
I’m trying to fuse wheel odometry and IMU data with the robot_localization EKF node, but my IMU readings look suspicious:
The driver publishes zero covariance for ...
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