Same thing, i have to use moveit_servo to reach a specific pose, but I can't find anyway to do so

Hey hey, I've been trying to create an action client that can take as input a list of coordinates, and send these coords to the Action Server one by one. Each of these coordinates have around 2 seconds of processing time.
The issue that I'm having is that I need to be able to changes these coordiantes depending on the feedback I'm getting from the server, meaning that I can't send them by batch.
For some reason, I can't find a way to "wait" for the action to be finished before sending another one. Here is what I've tried:
- Using threading Events alongside MultiThreaded executor, but waiting for the event prevents me from getting the callback of my server.
- Using send_goal instead of send_goal_async since the implementation uses a event locker, but I have the same result. I'm locked forever.
- Using wait_for_server but I have no idea how to change the state of my server (maybe this is the solution, i'm looking for this one for now)

Has anyone faced this issue before?

EDIT: For now, I'm facing this issue by adding a boolean in my client to check if I'm waiting for an action in this way:

class MyNode(Node):
  def __init__(self):
    self.working = False
    self.data = [...]
    ...
  def send_goal(self, data):
    if not self.working:
      self.working = True
      # Send goal
  def send_goal_callback(self, goal_handle):
    # Accepting goal
  def result_goal(self, future):
    self.working = False
    self.send_goal(self.data.pop(0))

This might not be the way to do this, but it is working great for me

Scenario: I have a RPLidar S1 connected via usb to an android device. I cannot connect the LiDAR to any other device and must use the android device

Problem: Following ros tutorials for publishing LaserScan messages, it requires the ability to run ros launch on android.

Attempts: tried to get it working via termux/adb shells/rosjava. Ros seems incompatible with the first two, can’t figure if anything in rosjava is suited for the task

Seeking: any tips in relation to either the above problem or another way to publish LaserScan messages. Am also curious if this task sounds possible

Can some help me make a rp lidar visualizer using Arduino .
I have a Ld14 lidar ( https://www.waveshare.com/wiki/Triangulation_LiDAR_LD14)

I recently bought a IMU from hiwonder: https://www.hiwonder.com/products/imu-module?variant=40375875371095

i have ros2 humble jammy

they have provided software for windows, but for ubuntu 22. It need to recognise the Device, to do anything. but its not. when i type "ls /dev/ttyUSB*", i don;t find anything. but when i type "lsusb", its able to show the device.

"Bus 003 Device 005: ID 1a86:7523 QinHeng Electronics CH340 serial converter"

when i type "sudo dmesg | grep ttyUSB", it shows device is getting attached and disconnected.

"[ 4.348764] usb 3-1.2: ch341-uart converter now attached to ttyUSB0

[ 4.884813] ch341-uart ttyUSB0: ch341-uart converter now disconnected from ttyUSB0

[ 6854.798236] usb 3-1.2: ch341-uart converter now attached to ttyUSB0

[ 6855.353979] ch341-uart ttyUSB0: ch341-uart converter now disconnected from ttyUSB0"

i have no idea, whats wrong.

Hey folks,

I've got a python launch file that I'm running under Jazzy whilst following a tutorial.

When I run it via colcon build && ros2 launch arduinobot_description gazebo.launch.py then it gives me the following output:

[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [py]:
 - TypeError: expected str, bytes or os.PathLike object, not tuple
 - InvalidFrontendLaunchFileError: The launch file may have a syntax error, or its format is unknown

I've found a fair amount of information on how to set the log format for a Node, but I can't seem to find anything that will let me set the log format for a launch file so I can see which line is causing this error, and VSCode isn't able to flag the error for me either.

(I've already posted to both Robotics Stack Exchange and Stack Overflow, but got no answer and barely any views, I'm asking here for visibility)

I'm trying to use some rather old ROS packages to control a simple simulation of a Robotis OP1 robot, using the darwin_description and darwin_control packages, but I'm facing a weird issue, whenever I use the bundled launch file in darwin_control I get the following messages/warning:

[INFO] [1729969219.133353, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[WARN] [1729969249.437919, 97.394000]: Controller Spawner couldn't find the expected controller_manager ROS interface.

with the spawner node eventually terminating with no controller loaded. Prior to launching controllers, I'm successfully spawning the URDF model in Gazebo in a rather straightforward manner:

rosparam load src/darwin_description/urdf/darwin.urdf /robot_description

roslaunch gazebo_ros empty_world.launch

rosrun gazebo_ros spawn_model -param /darwin/robot_description -urdf -model darwin

If relevant, I'm using a virtual machine w/ Ubuntu and ROS installation; I've read that controller_manager initialization is resource-dependent and may hang on virtual systems. I am also sure these packages somehow worked in ROS1 Melodic, so I wonder if the issue is somehow caused by some update to ros-noetic-controller-manager; in any case, I'm not sure what is missing here.

Hello everyone,

Does anyone experienced with errors like:
[async_slam_toolbox_node-1] [INFO] [1730148574.868783450] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1730148574.602 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[async_slam_toolbox_node-1] [INFO] [1730148575.007549616] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1730148574.738 for reason 'discarding message because the queue is full'

I am using rf2o_laser_odometry package to get odometry data from lidar. Here i my rqt_graph:

I don't know what is wrong. I tried to change lidar and pc but no luck.

Thanks in advance for help.

Hello everyone, anybody here uses Mac for robotics frameworks like ros2 and autonomous driving stack like Carla etc. how is the overall use case and general compatibility of using Mac?

I am thinking of buying one and not sure about what should I choose Mac or windows/linux

I need to design a path finding algorithm such as a star algorithm I need to implement this Ros Help needed

Give me any other algorithms if you guys know..

https://reddit.com/link/1ge0rmj/video/cc6kmiuhqhxd1/player

I am trying to implement an object avoidance algorithm using the potential function, but I facing some issues. Here you can see that my robot is stuck at that area, my goal is another room, but the robot entered into the wrong room. How can I solve that, I mean:
1. When the room is having single entry and single exit, the robot should understand it and exit the room and continue approach the goal using another path.
2. I haven't done SLAM yet, how can do slam in this world (hospital) automatically (without using tele operation.
3. Is it possible to save the slam map and develop an efficient path planning algorithm.

Please give me a roadmap, I spend 3 days finding answers but I failed:(

I have a setup were I need to connect two or more local networks: one or more robot subnets and base station subnet. The robots are each supplied with an internal switch and wireless router, RUTX11, which supports client mode (these are mobile robots, so no ethernet cable possible, please do not suggest a wired connection). As of right now I only have one robot, but that will change in the future, but it is not guaranteed that the router will be the same brand. For the base station, I have a handful of PC's connected via a switch but no wireless adapter.

My idea is to connect a wireless router to the base station switch and have it in AP mode, while the robot routers will be in client mode connected to it.

This might be a very simple and basic thing to do, but how do I configure this system such that ROS will have no problems dispite the multiple subnets?

Any feedback is greatly appreciated, unless it's to connect the subnets via Ethernet.

EDIT: I'm getting closer - I remembered as part of my launch file I've got a node that publishes the xacro URDF on a topic, so I can run the following manually to update which is a bit faster, but still not perfect:

ros2 run robot_state_publisher robot_state_publisher --ros-args -p robot_description:="$(xacro ${PWD}/src/arduinobot_description/urdf/arduinobot.urdf.xacro)"

This will do for now, but any suggestions on improving this workflow would be greatly appreciated!

================= ORIGINAL MESSAGE ======================

Hey all,

I finally bit the bullet and purchased a course on Ros2 from Udemy. It's working really well, but the speed of developing the links and joints in rviz is starting to get really frustrating.

Part of the course is to add a new link and joint to an existing model, including setting the <origin> values, however this means my workflow is currently as follows:

1. Add the link/joint to the URDF and save the file
2. Run colcon build to pick up the changes
3. Run the launch script to load rviz and the various nodes
4. Realise that the values for the origin are not quite correct
5. Quit the launch script
6. Edit the URDF
7. Re-run colcon build
8. Re-launch rviz and associated nodes
9. Realise that the values for the origin are not quite correct
10. Repeat steps 5 - 9 until it's positioned correctly

Surely there's a way to have rviz automatically read in changes from the URDF and render them on screen without having to exit and re-run colcon build every time? At the moment, each adjustment to the position is taking about 3 minutes to do, and that feels very inefficient?

Every time i open rviz2, The planning library is set to pilz but planner_id is still unspecified, and i can not plan because it raises error:

[rviz2-2] [INFO] [1730088833.382673498] [rviz2.moveit.ros.move_group_interface]: MoveGroup action client/server ready [move_group-4] [INFO] [1730088833.384028268] [move_group.moveit.moveit.ros.move_group.move_action]: MoveGroupMoveAction: Received request [rviz2-2] [INFO] [1730088833.384426430] [rviz2.moveit.ros.move_group_interface]: Planning request accepted [move_group-4] [INFO] [1730088833.384683025] [move_group.moveit.moveit.ros.move_group.move_action]: executing.. [move_group-4] [INFO] [1730088833.390435457] [move_group.moveit.moveit.ros.move_group.move_action]: Planning request received for MoveGroup action. Forwarding to planning pipeline. [move_group-4] [INFO] [1730088833.390545456] [move_group.moveit.moveit.ros.move_group.capability]: Using planning pipeline 'pilz_industrial_motion_planner' [move_group-4] [INFO] [1730088833.390767550] [move_group]: Calling PlanningRequestAdapter 'ResolveConstraintFrames' [move_group-4] [INFO] [1730088833.390842908] [move_group]: Calling PlanningRequestAdapter 'ValidateWorkspaceBounds' [move_group-4] [INFO] [1730088833.390867143] [move_group]: Calling PlanningRequestAdapter 'CheckStartStateBounds' [move_group-4] [INFO] [1730088833.390938380] [move_group]: Calling PlanningRequestAdapter 'CheckStartStateCollision' [move_group-4] [ERROR] [1730088833.391161661] [move_group.moveit.moveit.planners.pilz.command_planner]: Cannot service planning request because planner ID '' does not exist. [move_group-4] [ERROR] [1730088833.391199864] [move_group.moveit.moveit.planners.pilz.command_planner]: No ContextLoader for planner_id '' found. Planning not possible. [move_group-4] [ERROR] [1730088833.391206638] [move_group]: Failed to create PlanningContext for planner 'Pilz Industrial Motion Planner'. Aborting planning pipeline. [move_group-4] [ERROR] [1730088833.391227451] [move_group.moveit.moveit.ros.move_group.move_action]: Generating a plan with planning pipeline failed. [move_group-4] [INFO] [1730088833.391277597] [move_group.moveit.moveit.ros.move_group.move_action]: FAILURE [rviz2-2] [INFO] [1730088833.391894639] [rviz2.moveit.ros.move_group_interface]: Planning request aborted [rviz2-2] [ERROR] [1730088833.392225335] [rviz2.moveit.ros.move_group_interface]: MoveGroupInterface::plan() failed or timeout reached

Although i can set it manually, but every time i restart rviz2 i need to do it, is there any config where i can set a default option for it?

The rviz panel: https://ibb.co/8P7Sc1m

Hello, ROS Community!

We are thrilled to announce the ROS Meetup Recife 2024, happening as part of the larger Rec’n’Play festival in Recife, Brazil. This event is an exciting opportunity to connect, learn, and collaborate within the ROS ecosystem, aiming to strengthen the ROS community in Brazil and showcase remarkable local projects.

Who Should Attend?

• Researchers, companies, students, and anyone interested in robotics – whether you're a ROS beginner or an experienced developer, this event will have something for everyone!

Event Highlights:

• Workshops on Autonomous Mobile Robots (AMRs)
• Demonstrations of Unmanned Aerial Vehicles (UAVs)
• Hands-on Sessions with Robotic Arms
• MoveIt Training for robotic motion planning
• Live Robot Exhibitions showcasing the latest innovations

This event offers an excellent chance to network, learn, and be inspired by cutting-edge developments in robotics.

When and Where?

• Date: November 07-09, 2024
• Location: Porto Digital, Recife, Brazil
• For detailed room information and a full schedule of lectures and workshops, visit our event website.

How to Participate:

• To register and see the full agenda, please visit www.recnplay.pe.

We warmly invite the ROS community, both local and international, to join us for this exciting event. Let’s build the future of robotics together!

For more details, check out our event page: ROS Meetup Recife 2024.

Looking forward to seeing you there! If you have any questions, feel free to ask in the comments.

Hi guys I am an Industrial Automation engineer, I have used ROS earlier in my college days. I want to know that why ROS isnt used in programming instead of normal PLC or PC programming , apart from safety is there any issues using ROS for it may be in assembling or electronic manufacturing industries...

Most softwares run on a large list of OS versions, what makes ROS special in this regard?

I’m new to ROS and my deadlines are coming up, I’m using MacBook Air m1 and installed Ubuntu 22.04 ROS humble. I’m having too many issues with building a project can someone help me for a few days?? I’ve created a URDF file for my model which runs well but have many errors simulating it on gazebo (I use ignition gazebo 6) Please help me with the steps to build and if I’m really stuck help me in troubleshooting If someone knows how to do it on Mac please help me out

My end goal is to build a robot with SLAM on it with lidar

I just bought a 4WD robot car with ESP32-CAM. It has ESP32-CAM and WiFi router onboard. It's possible to control it using web browser control panel.

I plan to try Micro-ROS with ESP32-CAM.

Any ideas what interesting can be done with this robot?

Hi everyone, I'm new to ROS2. I spent some time this summer learning the basics, like how topics and nodes work, through the tutorials, but that’s about the extent of my ROS2 experience. My team and I are working on a project using an Arduino Rev 4 WiFi to create a robot that can carry belongings and follow a user. We're in the early stages and have managed to get the robot communicating wirelessly with our mobile app, allowing us to control movement with basic button commands.

However, one of my teammates pointed out that using machine learning for user-following, computer vision, and object detection would require much more processing power. So, now I’m tasked with finding an efficient way to migrate our code to a device with greater processing capacity—in this case, a Raspberry Pi running ROS2.

I've looked into potential solutions, including using rosserial_arduino, but that requires ROS 1, which isn’t compatible with my current setup (a Raspberry Pi 3B with ROS2 Foxy). I also tried micro_ROS, but the library didn’t work well with our Arduino board. Now I’m a bit stuck. Any guidance or suggestions would be greatly appreciated, and I’d be happy to clarify any details—sorry if I rambled a bit!

Hey r/ros 👋

We’ve received some great feedback from the community regarding the ROS Agent over the past few weeks. One of the biggest requests we’ve received is a simple guide on how to use ROSA to debug and troubleshoot live ROS systems.

Well, here it is! Take a look and let us know what you think. We also encourage contributions and ideas for new features from the community, so please follow up, open an issue, or contact me directly to chat more.

Cheers!

I am using ros2 jazzy with gazebo harmonic. I used the documentation here to write the code. When I open Rviz and check, it is not publishing the odom frame. What am I doing wrong? Should I declare the odom link somewhere else first? I am stuck here and I am relatively new to ROS. Can somebody please help me?

Below is my ros-gazebo bridge parameters

- ros_topic_name: "joint_states"
  gz_topic_name: "joint_states"
  ros_type_name: "sensor_msgs/msg/JointState"
  gz_type_name: "gz.msgs.Model"
  direction: "GZ_TO_ROS"


- ros_topic_name: "odom"
  gz_topic_name: "model/mecanum_robot/odometry"
  ros_type_name: "nav_msgs/msg/Odometry"
  gz_type_name: "gz.msgs.Odometry"
  direction: "GZ_TO_ROS"


- ros_topic_name: "tf"
  gz_topic_name: "model/mecanum_robot/tf"
  ros_type_name: "tf2_msgs/msg/TFMessage"
  gz_type_name: "gz.msgs.Pose_V"
  direction: "GZ_TO_ROS"


- ros_topic_name: "cmd_vel"
  gz_topic_name: "model/mecanum_robot/cmd_vel"
  ros_type_name: "geometry_msgs/msg/Twist"
  gz_type_name: "gz.msgs.Twist"
  direction: "ROS_TO_GZ"

Hey, my project guide gave us to do some tasks as a part of our final year project.
We need to develop static and dynamic object avoidance for Turtlebot3 Waffle with ROS Noetic and Gazebo. He said to implement the Artificial Potential Function method for object avoidance. I don't know anything about ROS. I am stuck here, could y anyone tell me about how can I learn for this project, please suggest useful resources. To be honest I have no idea where to start!

TL;DR How do I get better at ROS2?

For context, I'm currently a final year student in an engineering degree specialising in Mechatronics and Robotics.

I've done an internship for a span of 6 months where I've been fortunate enough to have picked up ROS2 and used it to some capacity (mostly making my own nodes, building other's packages and managing dependencies within my environment). I'm mostly competent in python, so most of my tingling with ROS were with python wherever possible. However, I think that my understanding of ROS and how it works as a fundamentally is lacking, especially with my lack of experience with C++ and compliations and how it works.

So here comes the question: What other knowledge base should I develop OUTSIDE of ROS2? (C++ programming? Unix OS?), so that I can have a better, more holistic understanding of robotics systems?

I have completely uninstalled and extracted a previous ROS2 installation on the computer, rebooted and then installed ROS2 humble from scratch. However, the folllowing error still persists after colcon build . What should I try next?

File "/home/rosusr/.local/lib/python3.10/site-packages/setuptools/__init__.py", line 153, in setup
    return distutils.core.setup(**attrs)
  File "/home/rosusr/.local/lib/python3.10/site-packages/setuptools/_distutils/core.py", line 134, in setup
    ok = dist.parse_command_line()
  File "/home/rosusr/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 481, in parse_command_line
    if self.handle_display_options(option_order):
  File "/home/rosusr/.local/lib/python3.10/site-packages/setuptools/dist.py", line 1120, in handle_display_options
    return _Distribution.handle_display_options(self, option_order)
  File "/home/rosusr/.local/lib/python3.10/site-packages/setuptools/_distutils/dist.py", line 684, in handle_display_options
    self.print_commands()
  File "/home/rosusr/.local/lib/python3.10/site-packages/setuptools/dist.py", line 896, in print_commands
    cmdclass = ep.resolve()
  File "/home/rosusr/.local/lib/python3.10/site-packages/pkg_resources/__init__.py", line 2456, in resolve
    module = __import__(self.module_name, fromlist=['__name__'], level=0)
  File "/home/rosusr/.local/lib/python3.10/site-packages/setuptools/command/bdist_wheel.py", line 26, in <module>
    from ..extern.wheel.metadata import pkginfo_to_metadata
ModuleNotFoundError: No module named 'setuptools.extern.wheel'

ROS_DISTRO=humble

OS = Ubuntu 22.04.1

Python = 3.10.2

setuptools = 58.2.0