Rico's Nerd Cluster

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Robotics - A Survey On Oil Pipe Inspection Robotics (Revising)

Non-Destructive Testing Methods American Society for Testing and Materials (ASTM) and American Society of Mechanical Engineers (ASME) develops standards for pipe inspections Ultrasonic Testing...

Posted by Rico's Nerd Cluster on December 1, 2024

Robotics - [ROS2 Foundation] Ros2 Executor Callback Model

Executor, Callbacks, Rate Object

Executors TODO Callback groups In a ROS2 multi-threaded executor, being in a callback group is kind of like acquiring a multi-threaded lock to grant permission to fire. There are two groups: ...

Posted by Rico's Nerd Cluster on November 22, 2024

Robotics - ROS2 Service

How to Bring Up a Service

Set up a ROS2 Service File ROS2’s ament build system does not support generating msg and srv files in pure python packages. So it’s a common practice to define an interface package that could be i...

Posted by Rico's Nerd Cluster on November 22, 2024

Robotics - [ROS2 Foundation 3] ROS2 Build System

Various Things to Note For Building Dockerized ROS2 App

Build Tool A build tool operates on a set of packages determines the dependency graph invokes the specific build system for each package in topological order. for a specific package, knows ...

Posted by Rico's Nerd Cluster on November 19, 2024

Robotics - [ROS2 Foundation 2] ROS2 in Docker

Various Things to Note For Building Dockerized ROS2 App

Networking Using --net=host implies both DDS participants believe they are in the same machine and they try to communicate using SharedMemory instead of UDP. So we need to enable SharedMemory b...

Posted by Rico's Nerd Cluster on November 16, 2024

Robotics - [ROS2 Foundation - 1] DDS Notes

DDS, Zeroconf, IDL, FastRTPS, ROS2 Messaging Mechanism

What’s Middleware Middleware abstracts the complexity of managing communication, serialization, discovery, and other low-level functionalities, allowing developers to focus on application-level ...

Posted by Rico's Nerd Cluster on November 13, 2024

Robotics General Design Notes

What's New In ROS2

Software Structuring Build a simulation / dataset for debugging software is key. Otherwise, you will have a lot of overhead of on-robot hardware testing. Have three general feature f...

Posted by Rico's Nerd Cluster on November 11, 2024

Robotics - Waveshare Rover Configuration

ROS2, Waveshare

Base Connection Turn on the rover Connect to the rover’s hotspot Connect to UGV Rover: (after connecting to the rpi) 1 192.168.4.1

Posted by Rico's Nerd Cluster on November 5, 2024

Robotics - ROS2 Gazebo Differential Drive Onboard

ROS2, Gazebo

Install Gazebo 1 sudo apt install ros-iron-gazebo-ros-pkgs ros-iron-gazebo-ros2-control Add A Launchfile File Directory: 1 2 ├── launch │ └── empty_world.launch.py mkdir launch s...

Posted by Rico's Nerd Cluster on November 5, 2024

Robotics - ROS2 Basic Pub Sub Node

ROS2 Installation, Packaging & Build System

Install ROS2 This is only to install ROS2-iron-desktop for quick desktop experiments. In general I’d like to use docker containers though. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22...

Posted by Rico's Nerd Cluster on November 5, 2024

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