Robotics Stack Exchange
Robotics Stack Exchange

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Getting A Head Start With iRobot Create3 (ROS2)

With the announcement of the iRobot Create3 "with ROS2 support", and to get a head start playing with it, iRobot has some create3 GitHub repos: https://github.com/iRobotEducation/create3_sim https://github.com/iRobotEducation/create3_examples and…
Cyclical Obsessive
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Self balancing bike using a flywheel: ROS implementation

I have a bike with two stands and a flywheel like this: The stands can be adjusted so that they don't touch the ground. Now, the task is to implement a self balancing mechanism: when I run the script, (with the stands not touching the ground), the…
satan 29
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Quadcopter Position Measurement (Accelerometer, GPS or Both)?

I previously thought that an accelerometer on a quadcopter is used to find the position by integrating the data got from it. After I read a lot and watched this Youtube video (specifically at time 23:20) about Sensor Fusion on Android Devices, I…
Moayad Hani Abu Rmilah
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Udoo board + Kinect sensor?

I am wondering if it would be possible to get Kinect to work with Udoo board (Quad). I have found that there is now support for ROS + Udoo. Also saw a question asked about Xtion + Udoo which shows some more interest. It would really be great if it…
Kalmah
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Impedance Control vs Position Control

I have been reading up on impedance control, and several sources have stated that it is much safer than position control. However, frustratingly, none of these sources have explained why this is. So... why is impedance control safer than position…
Karnivaurus
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Transform Image Using Roll-Pitch-Yaw Angles (image rectification)

UPDATE: This exact problem has been solved in StackOverflow. Please read this post there for further explanation and a working solution. Thanks! I am working on an application where I need to rectify an image taken from a mobile camera platform. The…
Tormod Haugene
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Servo horn dimensions - What is 25T?

I wonder that horns for servos are marked in some T units. Example: 25T Please help me getting out, what does it mean.
filimonic
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Directly tapping Create2 battery through vacuum brush

Problem Overview: our project consists of an iRobot Create2, a RaspberryPi 4 and a YDLIDAR X4. The RaspberryPi is powered from the Create2 serial port. We tried to power the lidar from the RaspberryPi, but reached the limits of the Create2 serial…
XabiGarde
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Cartesian Velocity Control between Two 3D Poses

I am really struggling to understand how to do Cartesian velocity control when 3D rotations are involved. So, below is a very simple example which I am hoping somebody can help me with. Let's say the base frame of my robot is labelled $B$, the…
John Rowlay
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Wifi to pass through aluminium

I am about to make an rc car which uses a wifi connection. The body for the car would be made from aluminium and the wifi receiver will be placed inside this aluminium casing. How do I make sure that this will work? Would I be forced to change my…
user1989
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Powering down servos completely in RobotC+Tetrix

For a certain robotic application (actually for the FTC challenge this year) our team is performing an operation where a servo-driven arm could potentially be forced into an unknown position. We are using NXT+Tetrix. Since this could damage a…
nanofarad
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Particle filter implementation in ROS

I'm looking for particle filter implementation in ROS to use in mobile robot localization, but it seems the only available package is amcl (Adaptive Monte Carlo), I'm not sure is it possible to use it as particle filter or not, and if it's feasible,…
Maysam
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Guidance for compensating internal forces on closed loop chain

I'm working on a legged robot and generating joint torques. Basically the robot seems to be statically stable to some extend. The robot goes instable if the center of pressure moves to the border of the feet. I'm looking for some method to move away…
someguy
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Cheapest 3D printer for gears?

It would be incredibly useful if I could print my own gearing solutions, even if I have to print the gears one at a time. However, I do not know how the market's cheapest printers will accommodate this task. --The gears need be 2-3 inches in…
user1833028
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Understanding Impedance Control

I have a question regarding impedance control for a robotic manipulator. Given that we have a task space trajectory: $\ddot{x}$, $\dot{x}$ and $x$ And the dynamics model of the robot: $$\tau = M(q)\ddot{q} + C(q,\dot{q})\dot{q} + G(q) + J^\intercal…
Spaceman
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