Category : robotics

#include "drake/geometry/scene_graph.h" #include "drake/multibody/parsing/parser.h" #include "drake/common/find_resource.h" int main(void) { // Building a floating-base plant drake::multibody::MultibodyPlant<double> plant_{0.0}; drake::geometry::SceneGraph<double> scene_graph; std::string full_name = drake::FindResourceOrThrow( "model/model.urdf"); drake::multibody::Parser parser(&plant_, &scene_graph); parser.AddModelFromFile(full_name); plant_.Finalize(); return 1; } The above code give me the following error: terminate called after throwing an instance of ‘std::runtime_error’ what(): Drake resource_path ‘model/model.urdf’ does not start with ..

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Im using the robot_localization here to get the linear Velocity of underwater simulated ROV with Gazebo. In order to get the correct orientation of the linear (twist) component of the published topic which is odometry/filtered I set inertial_reference_frame:=world_ned"instead of world in the Gazebo launch file and the .yaml file is like this odom_frame: world_ned base_link_frame: ..

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After using the pinocchio::forwardKinematics(model, data, q, v, a); and pinocchio::getVelocity(model, data, JointId, pinocchio::WORLD) functions from the rigid body kinematics library Pinocchio I get a MotionTpl as a return.Both function definitions can be found here. How could I now get the computed linear acceleration from the returned motion template class as for example an Eigen vector? ..

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How do I additional code for this set of codes. I plan on adding some LEDS (using slide switches 2pcs for front/back) and 2pcs SERVOs (for rotating up/down and right/left using potentiometer) I’m using NRF24l01 module. here’s my Transmitter code: #include <SPI.h> #include <nRF24L01.h> #include <RF24.h> //#define FRONT_LED A2// //#define BACK_LED A3// //#define BOTTOM_LED A2// ..

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I am using the icp algorithm in pcl. ”’ pcl::IterativeClosestPoint<pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal> icp; icp.setMaximumIterations (1e6); icp.setEuclideanFitnessEpsilon (1e-6); icp.setTransformationEpsilon(1e-6); icp.setMaxCorrespondenceDistance(0.5); icp.setInputSource (cloud_smoothed_normals); icp.setInputTarget (cloud_smoothed_normalsTgt); output.clear(); icp.align (output); ”’ I would like to show the points that are discarded with a greater distance than the one set, 0.5m. Can anyone help me? Source: Windows Que..

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