Robotics Stack Exchange
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1500 questions
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Alternatives to Primesense depth cameras?

I'm looking for low-cost depth cameras (less than 1000 USD) with a range of more than 3 meters. Currently, I have found only SoftKinetic DS-311 that meets these requirements. Here are some other low-cost cameras that I found, but they have a short…
lahjaton_j
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4 answers

Quadrocopter first build: how to tell if components play well together?

I'm building my first quadrocopter, and I'm trying to come up with a parts list that is suitable for a first build. I will use this to learn how to fly a quadrocopter manually (lots of crashes!), and to do some experiments with running AI for…
Maxim Zaslavsky
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2 answers

How to Access Robot Fields Inside a Webots-ROS2 Plugin?

I'm running Webots R2023a where I have a robot node marked as Supervisor in Webots world (*.wbt file) to be controlled by an external node in ROS2 network. When writing a webots-ros2 plugin, I'm faced with an issue where I cannot access robot fields…
S4JJ4D
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Visualize state of gamepad/joystick in ros in rviz or in an Image?

A non-ros but python or C++ solution like https://github.com/KernelZechs/open-joystick-display (this video shows it off) is what I was originally looking for, and I'll possibly still that use if it immediately works- but it is no longer being…
Lucas Walter
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How do we derive the loop closure equations?

Looking to derive these equations. I don't intuitively understand what it means to take a cos of two independent angles added together. Nor do I understand why all of these are equal to 0. It is hard to visualize when all the angles seem…
vmusegameon
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Impedance control algorithm in The Modern Robotics: Mechanisms, Planning, and Control

I am studying The Modern Robotics: Mechanisms, Planning, and Control (by Kevin Lynch, Frank Park and Evan Suma). I am trying to implement Chapter 11.7.1 Impedance-Control Algorithm of the book with ROS simulation, but I am confused and I am asking…
HARCO
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Calculation of IMU offset for Placement of Inertial measurement unit away from centre of mass

I am working on a 6DOF IMU that contains a 3-axis accelerometer and a 3-axis gyroscope. I am building a project to plot the position and orientation of a vehicle/dirt bike in a 3d plane. However, the inertial measurement unit is placed away from the…
Akash Sagar
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Android phone + ADK + Arducopter APM 2.5 for autonomous quadcopter

for a project for a robotic lab, i'd like to build an automous quadcopter able to follow a path and land on its own. I'd like to use an onboard android phone to do the image processing and recognition part, so that I avoid to send the video stream…
J Mac
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How is the Homography formula derived?

In the Wikipedia article about Homography, the projective transformation between picture A to picture B is defined as: $H_{ab} = R - \frac{t n^T}{d}$ However, the formula lacks the derivation. How is it derived?
Tommaso Bendinelli
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SetuptoolsDeprecationWarning in ros2 Humble

I was trying to follow this tutorial in the official documentation of ros2 Humble for Integrating launch files into ROS 2 packages and ran in to the below given error after doing trying to perform a build on the package using colcon build…
Jishnu
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2 answers

Quadcopter Props? Wood vs Plastic vs Carbon Fiber

All the pro FPV builds and the more expensive quads don't seem to be using plastic props. Any reason for this?
Matt
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How do you automate fixing formatting errors found by ament_cpplint?

I'm working on a PR for rclcpp, and when I run the tests, I get formatting errors about white space from cpplint. Is there any automated way to fix these? Here is an example: - rclcpp.cpplint whitespace/comments [2]…
Tyler Weaver
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1 answer

Articulated Body Algorithm with gear ratio

I am reading up on the proposed articulated body algorithm by Featherstone, which goes like: Pass 1: \begin{equation} \nu_0 = 0\\ \nu_i = {^i}X_{\lambda(i)}\nu_{\lambda(i)}+s_i\dot{q}_i\\ c_i = \nu_i \times s_i\dot{q}_i\\ p_i=\nu_i \times^*…
Josef
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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 problem by setting up an EKF. The state vector that I…
Andrea Eusebi
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5 answers

Using vision for Monte-Carlo localization

From each step of my vision code I am able to get around 400 coordinates of where the robot thinks the walls are I want to integrate this into Monte-Carlo observation step. I'm storing the map of the maze as a set of Line segments. What would be a…
Andrei Ivanov
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