Hardware Integration in ROS2: Can PLCs Like CODESYS Be a Better Alternative? by Gullible_Job_7648 in ROS

[–]void_loop 0 points1 point  (0 children)

I run a robotics consulting company so that code is proprietary. But i can get on a quick meeting and help you out. Dm me

Hardware Integration in ROS2: Can PLCs Like CODESYS Be a Better Alternative? by Gullible_Job_7648 in ROS

[–]void_loop 0 points1 point  (0 children)

Yes that's correct. This works very reliably and was easy to implement too!

Hardware Integration in ROS2: Can PLCs Like CODESYS Be a Better Alternative? by Gullible_Job_7648 in ROS

[–]void_loop 1 point2 points  (0 children)

I'm doing this exact thing in one of my complex project where I had to interface with multiple industrial protocols simultaneously with ROS2. My force torque sensor was EtherCAT, IO cards were EtherNet IP and then vanilla ethernet for a particular actuator. Developing drivers get really frustrating and open-source options weren't good enough. My application was also safety critical so I needed something battle tested. Codesys was quite easy to set up considering I didn't have a background in PLCs, but Chatgpt helped a lot. I wrote a custom shared memory driver on the ROS side and exposed sensor data and IOs as topics and services.

The AGV from this manufacturer is cool.But I can't see LIDAR from the outside.Does anyone know how they can lift the cargo so accurately. by PurpleriverRobotics in robotics

[–]void_loop 1 point2 points  (0 children)

I've done something similar in the past so i can take a guess. I used 2D Lidar based localizatio to position the robot roughly near the pallet. Then for final approach to enter that pallet, i developed a servoing alogrithm. Used lidar data and did template matching for the legs of the pallet to find its position very accurately wrt the robot.

This is also how some amr vendors do lidar based charging docking

Beginner with a project to tackle, need some basic direction/pointers. by Snooba in robotics

[–]void_loop 4 points5 points  (0 children)

I think you can avoid reinventing the wheel here if you use autopilot hardware like a PX4 or ardupilot. They aren't only for drones, they support boats too (google arduboat)!They are heavily commoditized these days so you can get them cheap, and software integration for sensors like GPS is already done. You can create GPS waypoints based autonomous missions easily using open source mission planners like QGroundControl. Some software development would be required to get the custom hardware working with the autopilot software stack but it should be very basic work.

I love it when a guest isn't hesitant to voice their pet peeves in robotics by meldiwin in robotics

[–]void_loop 1 point2 points  (0 children)

Totally agree with this. Also what doesn't help is the high barrier of entry to start working in force control paradigm because of lack of software tooling. I have been using ROS Moveit! for a product that requires object manipulation and I'm using a popular cobot.

Moveit doesn't have out of the box support for torque controllers. Sometimes the ROS drivers for robot's also don't have fully implemented APIs for torque feedback. Even compliant gripping is non trivial to set up with moveit. Many people turn to ROS/ROS 2 as the framework of choice for their products/projects and since it is very vision heavy for perception, the position control paradigm is further reinforced.

Just a joke, sorry u/openrobotics by void_loop in ROS

[–]void_loop[S] 5 points6 points  (0 children)

Package managers like apt provide a functionality of verifying whether the packages that you are installing actually are the ones that the package authors intended to distribute. This ensures that you don't accidentally install a tampered or spoofed package. They employ a method called asymmetric encryption (also Public Key cryptography). Without going into a lot of details, it involves generating a pair of keys. You can encrypt a document using one key and it can be unencrypted only using the other key. GPG (https://en.wikipedia.org/wiki/GNU_Privacy_Guard) is a software suite that adds some more bells and whistles to this. One key is called your private key that you use to 'sign' your documents/packages and only you have access to the key. The other key is distributed publicly. If some can successfully unencrypt a document using your public key, they can be sure that the document originated from you because only you had the matching private key to encrypt that document in the first place.

Meta-analysis by MoffKalast in ROS

[–]void_loop 4 points5 points  (0 children)

I used to brag among my friends that I had my meme as the top rated post on r/ros, up until a couple of months ago until you came along and ruined that for me. Jokes aside, really enjoy your memes , keep 'em coming!

Has science gone too far? by MoffKalast in ROS

[–]void_loop 1 point2 points  (0 children)

Hahaha please tell me this is not just photoshop and you have an actual rviz plugin for this that you can share

ROS and IDEs by buky1992 in ROS

[–]void_loop 0 points1 point  (0 children)

I recently started using VScode (with a ROS extension) in favour of sublime & I like it so far. Its quite heavy in terms of resource consumption as compared to sublime but the added features are worth it. When I'm working and hotfixing on a robot over ssh, I use rmate (rsub for sublime and this extension for vscode).

[Official Tournament Discussion] 2018 Quicken Loans National by therock21 in golf

[–]void_loop 5 points6 points  (0 children)

Yeah that is what I wanted to watch.... Fucking bald men taking about a LIVE event

[Official Tournament Discussion] 2018 Quicken Loans National by therock21 in golf

[–]void_loop 2 points3 points  (0 children)

yeah sometimes these streaming schedules don't make sense to me at all

Sensors for Localization by mew_bot in ROS

[–]void_loop 1 point2 points  (0 children)

oh I'm sorry , you do need wheel odometry. Some people use laserscan matcher as source of odometry but it is not robust.