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Questions tagged [robotics]

Robotics is the branch of technology that deals with the design, construction, operation, structural disposition, manufacture and application of robots. Robotics is related to the sciences of electronics, engineering, mechanics, and software. You may also consider asking your question on *robotics* Stack Exchange: https://robotics.stackexchange.com/.

Robotics is the branch of technology that deals with the design, construction, operation, structural disposition, manufacture and application of robots and computer systems for their control, sensory feedback, and information processing.

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Drake: Integrate Mass Matrix and Bias Term in Optimization Problem

I am trying to implement Non Linear MPC for a 7-DOF manipulator in drake. To do this, in my constraints, I need to have dynamic parameters like the Mass matrix M(q) and the bias term C(q,q_dot)*q_dot, but those depend on the decision variables q,…
DRakovitis
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ROS AttributeError: module 'moveit_commander' has no attribute 'MoveGroupCommander'

I am using ROS and python to write a robot program. This program can run normally on ROS melodic, but it will raise AttributeError: module 'moveit_commander' has no attribute 'MoveGroupCommander' on noetic, may I ask this is ros Is there a reason…
Wuxx959
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How to make pendulum swing due to gravity in Drake

I have been trying to simulate a simple pendulum that can swing due to gravity after setting the initial angle. I am now able to create the urdf, and create a slider that will set the angle of the pendulum arm. But I am still facing trouble when…
Raviverma Chamarti
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Can see topic when using ros2 topic list, but can't echo it over the network?

I have two computers(Ubuntu 20.04) in the same network with ROS_DOMAIN_ID=1 and I have a topic called cloud which is a pointcloud from a lidar sensor. The driver is running on the PC=A and I want to show the clouds on PC=B. Now when I ros2 topic…
Hakaishin
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Low frame rate when publishing image messages in ros2

I have a ROS node that gets image frames from a camera sensor and publishes image messages to a topic of type sensor_msgs::image. I run a ros2 executable which deploys the node. I notice that the rate at which the camera sensor provides the frames…
Shashank Kumar
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DQN with multiple actions taken at same time-step for differents joints for robot control

I am trying to teach a double pendulum fully actuated to perform a swing-up maneuver and keep the position if it reaches it. I previously trained a single pendulum with DQN and it learned the policy well in just a couple of hours of training. Now…
Alessandro Grassi
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Problematic Parallel Distributive Processing using Python Libraries or any language

I've been sitting on this idea of working on a "networked intelligence" to look into some interesting ideas on the nature of intelligence and computers. I've decided to go about doing this by designing small robotic agents that will utilize PDP…
Max
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Screw Joint doesn't rotate

An issue arises with contact modeling in robotics simulation package drake. I try to position-control an iiwa manipulator to affect a body, attached to a screw joint. What I expect is the nut progressing downwards. What I see is the end-effector…
Dmitri K
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Detecting an empty circular/rectangular on a surface using a pointcloud

I am using the Intel Realsense L515 lidar to obtain a pointcloud. I need to detect an empty area (no objects blocking it) on a surface (i.e. a table or a wall) so that a robotic arm has enough room to apply pressure to the surface at that point. So…
Rares Ungureanu
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ROS - problem adding ultrasonic data to range_sensor_layer

I need some help with a problem I encountered while adding ultrasonic sensors to a robot (loosely based on Linorobot), already equipped with an RPlidar. Hw/Sw: Raspi3B w/ Ubuntu 16.04.6 LTS, ROS kinetic, a Teensy, 2 Nano. The robot was working fine…
LoopingCollider
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Creating Panorama from facade images with moving camera

In my current project, a drone is being used to capture the images of facade of buildings. The buildings are wide and tall and drone is constrained in a space that it cannot be at a greater distance so that all of the building is in its FOV.…
Sarvesh Thakur
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Implementing Kalman filter in C++

I'd like to implement an extended Kalman filter in C++ using the eigen library because I'm interested in robotics, this seems like a good exercise to get better at C++ and it seems like a fun project. I was hoping I can post my code to get some…
user7538434
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Determining the duration of a frequency and the magnitude

I am working with a system in which I am getting data from a sensor (gyro) at 1KHz. What I am trying to do is determine when the system is vibrating so that I can turn down the PID gains on the output. What I currently have is a high pass filter on…
Matthew FL
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How does a vision guided robot arm approach a target object to pick up and drop it off at a target location?

I have a work project currently where my company is using a 3D printer, a couple of servo motors, and a raspberry pi to produce a robotic arm. This robotic arm is meant to be visually-guided. I am task to research and code the software for the robot…
Cadell Teng
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Differentiable Signed Distance Function for Isosceles Triangle (Field of View)

I'm trying to find a signed distance function (SDF) for a simple 2D isoscele triangle, which represents the Field of View of a robot / camera. Ideally the SDF is also differentiable. So far I have tried the basic 2D SDF commonly found in shaders,…
envi253
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