Category: Robotics
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Hydroponics Robot Part 6 – Lane Navigation
In this blog post, I will be sharing the latest progress I made on my hydroponics robot. I last left it with goal accuracy issues and the wheel tread falling off. I started off by gluing the wheel tread back onto the robot, and then proceeded to run it through the lane in laps. The…
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Hydroponics Robot Part 4 – Nav2 Goal Accuracy
Welcome back to the Hydroponics Robot project! In this update, I will be discussing some of the challenges I faced while trying to improve the navigation accuracy of my robot. In the previous update, I mentioned that I was having trouble with the robot getting stuck halfway to its destination. After experimenting with DWB critics,…
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Hydroponics Robot Part 3 – Mapping Issues Continued
Hydroponics Robot Part 3 – Mapping Issues Continued Welcome back to the third part of my series on building a hydroponics robot! In this blog post, I’ll continue discussing the mapping issues I encountered while trying to navigate my robot through narrow passages and plant rows. Increasing the global costmap Previously, I tried increasing the…
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Hydroponics Robot Part 2 – Map Resolution
In my work with hydroponics robots, I recently faced challenges related to robot localization and map resolution. After consulting with ChatGPT, I discovered that the lidar and map were not synchronizing properly due to issues with the robot’s odometry. Fortunately, I was able to resolve the issue and the robot is now able to navigate…
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Hydroponics Robot Part 1 – Troubleshooting Robot Localization Issues
I recently faced a challenge when testing the robot’s ability to navigate back and forth between two rows of pipes. Despite several attempts, the robot kept getting stuck, and I suspected that there might be a localization issue causing it to drift from the map. I turned to ChatGPT for advice, and it suggested calling…
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Setting the initial pose using config in NAV2
While working through the articubots tutorials I have been setting my initial pose for nav2 manually using rviz2. It works but it can be a little tedious when testing changes that require frequent restarts. Luckily, there’s a small section of config in nav2_params.yaml that you can use to set your initial pose: This means that…
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Centring and Increasing the Size of your Global Costmap – ROS2, RVIZ2 and NAV2
Hi everyone, I’ve been following the Articulated Robots tutorial series which has helped me to create a self navigating diff drive robot. One issue I ran into after implementing Nav2 was that my Global Costmap was offset from the robot. This ended up being a pretty easy fix. In your Nav2 configuration you can simply…
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Nav2 Localisation not Loading a Default Map
Hi everyone, I finally have my diffdrive robot navigating with waypoints using Nav2 and this great tutorial. However, while trying to use a saved map for localization I ran into the following error: I had the following entry in my launch file: My map was also in the correct folder and valid output from the…
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Lidar Failing to Start – ROS2 and RaspberryPi
Hi everyone, I’m messing around with a diff-drive robot and have been hitting an intermittent issue with my Lidar: This turned out to be a low power issue. The Pi’s voltage had been dropping to about 4.5v as my 12v battery grew a little flat. Recharging the battery immediately fixed the issue. For a more…
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Wheel Going in the Wrong Direction – RVIZ2 and FoxGlove
Hi everyone, I hope you’re having a good break! I’m currently following this tutorial and messing around with a diffdrive robot. After making a few changes I noticed that my simulations were playing up. Strangely, the robot itself was still working perfectly fine. The problem I was having was that even though my robot was…
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