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Localisation Switching in runtime ROS2
Implementation considerations
High-Level Architecture
Run both localizers in the system:
amcl → coarse/global localization
slam_localizer (e.g. slam_toolbox) → fine/docking localization
TF / Pose ...
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0
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72
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My lidar has a problem when I use Nav2 to Navigate robot in reality
I scanned the slam map over a short distance as shown in the image and proceeded with navigation.
While navigation was running, with the goal being the destination point:
x = 8m
y = 0m
z = 0m
w = 0m
...
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0
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54
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Webots 2025a + ROS 2 Jazzy: Velodyne point cloud appears distorted in RViz2
I am new to Webots 2025a and ROS 2 Jazzy running on Ubuntu 24.04. I am accessing Velodyne HDL-32E point cloud data in rviz2, but the resulting visualization appears distorted or tilted (like the ...
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ROS 2 TurtleBot3 ignores /cmd_vel from Python Node but works with CLI
I am developing a custom Python controller for a TurtleBot3 (Burger) using ROS 2. My node publishes geometry_msgs/msg/Twist messages to the /cmd_vel topic.
The Problem: When I run my Python script, ...
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26
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My robot in rviz2 moves so fast when I control mobile robot in reality
I controlled robot in reality by using teleop, I set the velocity still 20 rpm each driver, so when transfer to m/s is still 0.18-0.2m/s. But when I see in rviz2, while my robot in real life moving, ...
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1
answer
101
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Interpreting YAML parameters in ROS2 as dict
I'm using ROS2 for a project. I'm stuck in interpreting the following parameter:
my_node:
category_sector_mapping:
Plastic: 0
Paper: 1
Glass: 2
Aluminium: 2
Organic: 2
...
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1
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42
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How to add custom ros message to micro_ros_espidf_component?
my project uses micro_ros_espidf_component which works fine with standard int32 messages, but we would like to use a custom message. To be fair I am not an expert in either cmake build system or esp-...
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0
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56
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SLAM Toolbox ROS2 running but map fixed after YAML change (LiDAR-only)
I’m trying to run SLAM Toolbox on ROS2 Humble using only a TIM561 2D LiDAR (no odometry). The node launches and scans publish, but the map in RViz doesn’t update — it stays fixed to the initial frame. ...
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1
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69
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Mapping with merged scan ROS2 Humble
I’m working on a ROS2 Humble project where I need to generate a map using data from two LiDAR sensors. Each LiDAR has a 270° field of view, and I’m trying to merge their scans into a single unified ...
1
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1
answer
74
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OGRCoordinateTransformation.Transform() gives wrong coordinates
I'm trying to do some local to global (EPSG:3042 to EPSG:4326) transformations in a ROS2 c++ script using GDAL.
OGRCoordinateTransformation *Transformation;
OGRSpatialReference poLocal, poGlobal;
...
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0
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80
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How to export point cloud data from ros2 3D Lidar simulation
I created my robot simulation with a 3D Lidar sensor using ROS2 Humble and Gazebo.
I'm able to visualize the point cloud data in RViz correctly, but now I want to save this point cloud in a file (.pcd/...
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1
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133
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ImportError: cannot import name 'FileContent' from 'launch.substitutions' - Ros2
I'm following the tutorial from Ros2 Humble and I'm at the "Using a URDF with robot_state_publisher (C++)" step (https://docs.ros.org/en/humble/Tutorials/Intermediate/URDF/Using-URDF-with-...
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48
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How to use Moveit2 with fake controllers on ros2 humble?
I would like to use Moveit2 and visualizing the trajectory execution of the robot in Rviz without the need to load ros2 controllers neither a Gazebo simulation.
Is this possible and how?
Thanks
1
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1
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187
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Build fails: ModuleNotFoundError: No module named 'em' when building unitree_api
I am trying to build the unitree_api package with ROS 2 Humble on Ubuntu 22.04.
ROS 2 was installed following the official documentation (via apt).
I am building inside a Python virtual environment.
...
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2
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87
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ROS2 connecting URDF from Fusion360 model
I’m learning how to use ROS2 Humble, so I created a model of a simple robot in Fusion360 and used the ACDC4Robot extension to export the model into URDF and STL meshes.
I tried to display the model in ...