Rico's Nerd Cluster

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Robotics - Differences and Similarities Between ROS1 & ROS2

Similarities, Differences, Bag Conversions

Similarities Similar Constructs Both are based on a graph of nodes, topics, and services. In ros2, the user graph looks like: 1 2 3 4 ros2 node list ros2 topic list ros2 servic...

Posted by Rico's Nerd Cluster on November 2, 2024

Robotics - 2024 3D Lidar Selection For Robotics

Livox, Unitree Lidars

This article is inspired by this YouTube video made by 大刘科普 Brief Overview Of How 3D LiDAR (Light Detection and Ranging) works There are 2 types of LiDARs: ToF (Time of Flight) LiDARs and FMCW Li...

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

Robotics - EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Eigen

What does EIGEN_MAKE_ALIGNED_OPERATOR_NEW do exactly? Eigen vectorizable types (e.g. Vector4d, Quaterniond, small fixed‐size Matrix<…>) carry an alignment requirement (usually 16 byt...

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

Robotics - Eigen, Sophus And Their Quirks

Sophus

Eigen Tools Common Conversions ROS geometry_msgs::Pose $->$ Eigen::Quaterniond 1 2 geometry_msgs::Pose p; Eigen::Quaterniond q(pose.rotation()); Tricks Print a vector on one line ...

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

Robotics - Robot State and Joint State Publisher

robot_state_publisher, joint_state_publisher, and the TF tree

TF Pipeline Overview 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 URDF (/robot_description) ───────────────────────────────────┐ │ ...

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

Robotics - Isaac SIM Tools

nvidia-smi dmon, nvtop

nvidia-smi dmon This is NVIDIA’s Live device monitor 1 2 # gpu pwr gtemp mtemp sm mem enc dec jpg ofa mclk pclk # Idx W C C % % % % ...

Posted by Rico's Nerd Cluster on August 25, 2024

Robotics - Isaac SIM Image Synthesis for A Custom Object

Isaac SIM

Prepare Object Convert STL to USD The path is: 1 2 3 4 5 6 STL -> convert to USD -> load USD into Isaac stage -> attach semantic label: motor_sleeve -> create camera + light ...

Posted by Rico's Nerd Cluster on August 25, 2024

Robotics - Isaac SIM setup

Isaac SIM

Installation Route 1: Native Execution Install ROS 2 natively on your system. Set up the ROS 2 context and add a ROS 2 subscriber block. Ensure Fast DDS is properly configured for ROS 2 co...

Posted by Rico's Nerd Cluster on August 25, 2024

RGBD SLAM - Amazon SageMaker Usage Notes

Amazon SageMaker, EC2 Instances

Components IAM role: IAM (Identity Access Management) is a set of permissions that define what actions an entity (services, user, aplications) can do. A role uses temporary creds while a u...

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

RGBD SLAM - GPU Setup

Summary Of Nvidia Orin Nano Setup, Docker For General Machine Learning

Preparation Jetson Orin Nano Developer Kit (8GB) MicroSD Card (128GB) My microSD card’s read and write speed can reach up to 140MB/s. An NVMe SSD could be 1500MB/s or more. So try ...

Posted by Rico's Nerd Cluster on August 18, 2024

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