Unanswered Questions
3,241 questions with no upvoted or accepted answers
7
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2
answers
758
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Reward Function for q learning on a robot
I have 2 wheeled differential drive robot which I use pid for low level control to follow line. I implemented q learning which uses samples for 16 iterations then uses them to decide the best position ...
CommunityBot
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6
votes
0
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465
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Likelihood field sensor model (Probabilistic Robotics, Thrun et al., p.169-174)
I am currently working on the "likelihood field" sensor model (aka "endpoint model") by Thrun et al. (book: Probabilistic Robotics, Thrun et al., p.169-174)
In this context I have ...
5
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0
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759
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How to fuse IMU with encoders in EKF
Background
I have a car-like mobile robot (4 wheels, where the forward ones are steering wheels) and I want to estimate its pose and velocity assuming 2D planar motion. I'm trying to solve this ...
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5
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0
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517
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How does marginalization of variables effect least squares SLAM energy function?
Consider a simple example of Bundle Adjustment where I have robot and landmark poses $x = \left[ x_p \text{ } x_m\right]^T$ and measurements given by $z$, such that a simple factor graph can be ...
5
votes
2
answers
452
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Inferring joint orientation on multi-joint arm
Not a robotics question in the strictest sense, I guess, but related closely enough, I hope:
I have an arm-like articulated two(-plus-one)-joint appliance that I want to use as a 3D input device. It ...
CommunityBot
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4
votes
0
answers
35
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Why there is no acceleration state_interface for gz_ros2_control?
For instance, JointTrajectoryController does have support for acceleration state interface, as stated here.
Further, it changes its interpolation method based on what we are sending as command (...
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4
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0
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113
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How does ZMP-based walking control actually work?
I am trying to implement basic walking controllers for a custom biped robot with two 5DOF legs that I have simulated in ROS2 + Gazebo with its inverse kinematics solved. I do not have a controls ...
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4
votes
1
answer
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How to add a custom sensor in urdf xacro file
I have created new custom sensor plugin for gazebo harmonic. Following https://github.com/gazebosim/gz-sensors/blob/gz-sensors8/examples/custom_sensor/Odometer.cc. I tested that sensor using this sdf ...
CommunityBot
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4
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0
answers
620
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How does one implement a third order complementary filter for estimating altitude using data from an accelerometer and a barometer?
I am working with the CJMCU build of cleanflight on a small drone. As of now, the algorithm for altitude hold uses a first order complementary filter to combine data from the barometer and the ...
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3
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0
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Advice on Using Complex Data Types for Hardware Interfaces in `ros2_control` (Jazzy)
I'm currently working on a hardware integration using ros2_control with the latest Jazzy release, and I’ve hit a bit of a wall with regard to interface data types.
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3
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0
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3DoF 2D robot arm mechanical model
I am trying to obtain equations of motions for all 3 DoFs of 2D robotic manipulator with coordinates supposed as described in the scheme:
I have written a ...
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3
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Why is there no "ament_python_simple" package that would simplify ament_python packages?
The current minimal ament_python package looks quite cumbersome and for novice users, it might look like a lot of stuff they don't understand.
Just to list a few:
the need for creating an empty file <...
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3
votes
0
answers
82
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Gazebo Performance Problems with high resolution camera sensor
I want to simulate a high resolution camera (U3-3990CP) in Gazebo Harmonic but noticed that the simulation performance does significantely decrease when I start listening to the generated topics.
<...
3
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0
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165
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How to achieve stable lane-following for a large non-holonomic vehicle in Nav2 without late path adherence?
I am working with a large, non-holonomic robot (a truck-sized vehicle, approximately 12 meters long by 5 meters wide) using ROS2 Navigation2 (Nav2). My goal is to have it follow lane-like paths ...
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3
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How to monitor sensor reliability in ROS2?
I'm building a mobile robot with multiple standard sensors (camera, imu, etc.) and have a general question about how to monitor the sensors' reliability.
More specifically, I am using a camera along ...