Unanswered Questions
3,052 questions with no upvoted or accepted answers
7
votes
2
answers
791
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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
answers
485
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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
votes
0
answers
848
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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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551
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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
481
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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
55
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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
votes
1
answer
136
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How to calibrate IMU for large scale deployments possibly using deep neural network
We were testing our visual SLAM algorithm on robots. We were getting poor performance. Then we calculated wite noise and random walk parameters (using kalibr) for the IMU and used it in our algorithm ...
CommunityBot
- 1
4
votes
0
answers
4k
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How to speed up colcon build (notably slower than catkin/cmake) and or debug causes?
My team has a ROS2 humble docker image we use for development. It contains our dependencies along with a source installation of Humble targeting Ubuntu arm64 architecture on a Nvidia Jetson device. ...
4
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0
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632
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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
votes
0
answers
104
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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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45
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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
votes
0
answers
263
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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 <...
- 731
3
votes
0
answers
368
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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
votes
0
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312
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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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0
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141
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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 ...