Robotics Stack Exchange
Robotics Stack Exchange

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1500 questions
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Software real-time of ROS system

As far as I know, a hardware real-time robot control system requires a specific computing unit to solve the kinematics and dynamics of a robot such as interval zero RTX, which assigns CPU cores exclusively for the calculation, or a DSP board, which…
Superuser
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Mass Matrix in Lagrange equation

I want to find the equations of motion of an RRRR robot.I have studied about it a bit but I am having some confusion. Here, in one of the lectures I found online, it describes an Inertia matrix of a link as $\bf{I}_i$ which is computed by…
Muhammad Qasim
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Alternative to BeagleBone Black for Node.js based remote control project?

I am working on a remote control project that involves using Node.js and Socket.io to transmit joystick data from a webpage to my BeagleBone Black. However, I am somewhat disappointed with the BeagleBone - it seems like what should be such simple…
user11770
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Create 2 Cable with 700 Series Roomba

For the last few months I have been playing with ROS on an nVidia Jetson TK1 development board. Up until this point, it has mostly been playing with the GPIO header, an Arduino Uno, a couple physical contact sensors, and a few custom motor and servo…
MechanicalMan
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Do walking robots use accelerometers?

My understanding of walking robots (e.g. https://www.youtube.com/watch?v=xJlkBBdyBYI) is that they use a gyroscope to determine the current orientation of the robot, or each joint of the robot. This is because if you just put encoders on each joint,…
Karnivaurus
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Is there a way to measure 3 axis orientation without a magnetometer?

I have bought an STM iNEMO evaluation board in order to monitor the inclination of a separate magnetic sensor array as it moves in a linear scan outside of a (non-magnetic) stainless steel pipe. I want to measure the inclination of the sensor along…
phujeb
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In the SLAM for Dummies, why are there extra variables in the Jacobian Matricies?

I am reading SLAM for Dummies, which you can find on Google, or at this link: SLAM for Dummies - A Tutorial Approach to Simultaneous Localization and Mapping. They do some differentiation of matrices on page 33 and I am getting different answers for…
half-potato
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Standard equation for steering differential drive robot

I am writing a code in Arduino IDE for NodeMCU Board to control a differential drive 2 wheeled robot. I am able to steer only one direction for some reason and the steering response time is a little awkward. Is there perhaps a better strategy for…
Demetrius Norman
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How to estimate the position of multiple static ground targets captured from a down facing camera?

An aerial vehicle captures images of the ground using its down facing camera. From the images, multiple targets are converted from their pixel position to the camera reference frame using the pinhole camera model. Since the targets are static and…
nVolteX
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Is AllJoyn a good ROS alternative regarding message passing cross multiple devices?

I've used ROS for a while, my environment is Raspberry Pi + Ubuntu + OpenCV + ROS + C/C++. I also use several ROS packages (tf2, usb_camera, slam related, and laser scanner capture.) Also, in my projects, nodes are in multiple devices, and I'm using…
Alex Huang
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using the brush assembly and Aerovac bin space?

A lot of the Create 2's interior space is taken up by the brush assembly and the Aerovac bin. I'd like to take these out and put in my own stuff, but I'm concerned that the Roomba might get confused by the fact that I've unplugged these items. Is…
Rich Morin
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How to combine odometry information with time-shifted information from IMU?

I'm working with a differential-drive robot that has odometry measurements from wheel shaft encoders and heading information from an IMU (I'm using BNO055 in IMU mode to get Euler angles, primarily the heading angle). I'd like to use the IMU header…
jstanle1
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Tf frame origin is offset from the actual base_link

I have built my differential drive mobile robot in solidworks and converted that to URDF file using soliworks2urdf converter. I successfully launched and robot and simulated with tele-operation node. Since i am intended to use navigation stack in i…
user3725099
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How can I detect ground collision, for an hexapod robot?

I'm planning to build a small (probably around 30 centimeters in diameter, at rest) hexapod robot, but, currently, it would only be able to walk on even ground. To improve this, I would have to, somehow, detect when each leg collides with the…
someonewithpc
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DC Motor to open a door

I want to open a door using a DC motor. I've estimated that the required power in the worst case would be around 35-40W (considering a ~80% efficiency). The whole is controlled by a Particle Photon. I was thinking to use a L298N to control the…
jonathanGB
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