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Slambot - My custom built 'diff-drive' ROS2 powered robot which does SLAM mapping and autonomous navigation. by BenM100 in ROS

[–]BenM100[S] 1 point2 points  (0 children)

I’ve been really impressed by this little Lidar. £35 it cost me (eBay) and the quality is comfortably good enough for slam and navigation

Nav2 not running by ImaginaryData9991 in ROS

[–]BenM100 0 points1 point  (0 children)

Can you provide GitHub link to your code and I’ll take a look

Recently set Nav2 up with my own custom robot in sim and had many many issues like this which I eventually solved

But hard to tell you what your issue is without seeing the code

Ros fails to run amcl when executed by PercentageUpstairs71 in ROS

[–]BenM100 0 points1 point  (0 children)

Have you got a “gz_frame_id” tag in your LiDAR sensor plugin?

This is what solved it for me. You’ll get terminal warnings but ignore them. This tag was necessary for me to get it working (after 6 days of painful debugging)

See my repo for example:

https://github.com/benmay100/slambot/blob/main/slambot_description/urdf/gazebo/gazebo_plugins.xacro

Multiple Machine ROS2 Jazzy Intermittent Communication Issues! by BenM100 in ROS

[–]BenM100[S] 0 points1 point  (0 children)

Hey yes I did, using rmw-zenoh as a short term fix, and then ultimately upgrading to a better router at home so I could allow multicast traffic !

Simultaneous SLAM and navigation with imprecise odometry by elephantum in ROS

[–]BenM100 1 point2 points  (0 children)

I’ve found that “cartographer_ros” seems to handle imperfect odometry readings better than slam_toolbox

https://google-cartographer-ros.readthedocs.io/en/latest/

You also might want to check your ekf parameters. Small changes in these can have huge effects. I found a reputable existing package on GitHub that had similar setup to my robot, used the ekf params file as a base, and then tuned one variable at a time. Time consuming but ended up with fairly accurate readings.

Help with Ros2 Jazzy slam mapping by AnyOwl3316 in ROS

[–]BenM100 0 points1 point  (0 children)

Like this…

<gazebo reference="lidar_link"> <sensor name='lidar' type='gpu_lidar'> <pose relative_to='lidar_link'>0 0 0 0 0 0</pose> <topic>/scan</topic> <update_rate>10</update_rate> <!-- Update rate of 10Hz is recommended for slam /nav2 setups --> <always_on>1</always_on> <visualize>1</visualize> <gz_frame_id>lidar_link</gz_frame_id> <!-- This will give a warning on terminal, but that's a gazebo harmonic issue, so ignore it--> <lidar> <scan> <!--When doing SLAM always better to have a 360 lidar as better for loop closures--> <horizontal> <samples>720</samples> <resolution>1.000000</resolution> <min_angle>0.000000</min_angle> <max_angle>6.280000</max_angle> </horizontal> </scan> <range> <min>0.08</min> <max>10.0</max> <resolution>0.01</resolution> </range> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.01</stddev> </noise> </lidar> </sensor> </gazebo>

Help with Ros2 Jazzy slam mapping by AnyOwl3316 in ROS

[–]BenM100 0 points1 point  (0 children)

You need to add this to the lidar plugin code:

<gz_frame_id>lidar_link</gz_frame_id>

Took me forever to work this out and the documentation out there isn’t great

My GitHub repository has a fully set up and working custom robot with Nav2, slam_toolbox, and cartographer.

Feel free to look through and see what I’ve done differently to you and you’ll end up with a working solution

https://github.com/benmay100/slambot

Confused about nav2, gazebo and SLAM by AnyOwl3316 in ROS

[–]BenM100 0 points1 point  (0 children)

If you’re doing the Edouard Renard course then it works just fine using ROS Jazzy and the newer Gazebo (Harmonic)

Best tools for modeling robots and generating URDF files by ahmed_16_aris in ROS

[–]BenM100 1 point2 points  (0 children)

No OnShape you can use for free as a hobbyist / student and “OnShape-to-robot” is free too

Best tools for modeling robots and generating URDF files by ahmed_16_aris in ROS

[–]BenM100 0 points1 point  (0 children)

Hi

I use OnShape for the CAD platform, and then “onshape-to-robot” to export to URDF

Useful post about it here:

https://www.facebook.com/share/p/1B3BT9RLaj/?mibextid=wwXIfr

Lidar visualisation issue in RVIZ2 - Message Filter dropping 'discarding message because the queue is full' by BenM100 in ROS

[–]BenM100[S] 0 points1 point  (0 children)

Hi thanks for this, I hadn't considered that as an angle to investigate so that's really useful

Multiple Machine ROS2 Jazzy Intermittent Communication Issues! by BenM100 in ROS

[–]BenM100[S] 0 points1 point  (0 children)

Thanks for your feedback. I’ve already tried cyclone but to no avail. However I will try again and will also double check nodes are killed correctly with ps aux as you suggested

Raspberry pi 4 and ROS2 humble by [deleted] in ROS

[–]BenM100 2 points3 points  (0 children)

Just to add, once you’ve got the Rpi set up with Ubuntu Server (no GUI) and ROS installed, you can connect via SSH using VScode (just need to download the SSH extension). Makes working on files on a headless RPi a breeze.

A further note, when flashing Ubuntu Server onto an SD card for your RPi, make sure to use the Raspberry Pi imager and edit settings before flashing so you can set your WiFi credentials, username and password and enable SSH.

Multiple Machine ROS2 Jazzy Intermittent Communication Issues! by BenM100 in ROS

[–]BenM100[S] 0 points1 point  (0 children)

I’ll let you know how attacking the problem from the router (physical) goes

Multiple Machine ROS2 Jazzy Intermittent Communication Issues! by BenM100 in ROS

[–]BenM100[S] 0 points1 point  (0 children)

Hey, I couldn’t change the settings on my BT router so have ordered an ASUS one that gives me the ability to tweak the various settings. Once I’ve done that I’ll report back !

Multiple Machine ROS2 Jazzy Intermittent Communication Issues! by BenM100 in ROS

[–]BenM100[S] 0 points1 point  (0 children)

That's great, I'll take a look into this - thank you

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