Rico's Nerd Cluster

「离开世界之前 一切都是过程」

Robotics - [3D SLAM - 1] Scan Matching

3D Point-Point ICP, 3D Point-Plane ICP, NDT

Point-Point ICP If we write out our state vector as [theta, translation], the pseudo code for point-point ICP is: 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 pt_pt_icp(pose_estimate, source_scan, target_...

Posted by Rico's Nerd Cluster on February 1, 2025

Robotics - [Epic Bugs] SLAM Related Bugs

G2O

Below is a list of bugs that took me multiple hours, if not days, to troubleshoot and analyze. These are the “epic bugs” that are worth remembering for my career. Epic Bug 1: G2O Optimization Didn...

Posted by Rico's Nerd Cluster on February 1, 2025

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 Bags

Introduction ros2 bag is a command line tool for recording data published on topics in your system. It accumulates the data passed on any number of topics and saves it in a database. You can then ...

Posted by Rico's Nerd Cluster on November 30, 2024

Robotics - [ROS2 Foundation] Ros2 Parameters

ROS2 Parameters Intro What are ROS2 parameters? ROS2 Parameters are one means to change certain values in a node during runtime. They are associated initialized, set, and retrieved at the level o...

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

Robotics - [ROS2 Foundation] Ros2 Executor Callback Model

Executor, Callbacks, Threading Model, Rate Object

Executors TODO Callback groups In ROS2, callback groups are a synchronization mechanism for managing concurrent execution in multi-threaded executors. They determine which callbacks can run simu...

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

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Robotics @ Northwestern University

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