Rico's Nerd Cluster

「离开世界之前 一切都是过程」

Robotics Fundamentals - [ESKF Series 2] GPS and Its Coordinate System

RTK GPS, UTM Coordinates

There are two types of GNSS: Traditional single-point GPS: 10m accuracy, usually found in phones. Lat-long is a.k.a geographic coordinate system Differential GPS (DGPS). On...

Posted by Rico's Nerd Cluster on March 10, 2024

Robotics Fundamentals - Rotations

Representation of Rotations, Gimbal Lock, Properties

Representations of Rotation A rotation, can be respresented as $so(3)$ (Lie Algebra of Special Orthogonal Group), or $SO(3)$, (Special Orthogonal Group) and rotation vector. Representation 1 A ro...

Posted by Rico's Nerd Cluster on March 10, 2024

Computer Vision - Uzzle Solver

Checker Board Detection

Step 1 Preprocessing TODO Convert the camera frame from color → grayscale Apply a Gaussian blur to reduce noise and stabilize edges Dilate edges so boundaries are thick...

Posted by Rico's Nerd Cluster on January 6, 2024

Robotics - ROS1 Message Processing

Image Data

Data Manipulation Image Data Read, manipulate, and output image data 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 from sensor_msgs.msg import Image import nu...

Posted by Rico's Nerd Cluster on January 3, 2024

Robotics - ROS1 Build Systems

catkin build, catkin make

catkin make Catkin make is basically a wrapper of the CMake and make. It’s part of the original Catkin build system, and build the entire workspace using a single Cmake invocation. catkin make...

Posted by Rico's Nerd Cluster on January 3, 2024

C++ - Common General Sofware Design Pricinples

Common Pain Points, Coupling & Cohesion, Occam's Razor, Indempotency, Rico's Software Development Philosophy, Reading List

Common Pain Points in Robotics Software Development loading the wrong configuration (env vars, toolkitt_config pointer, gazebo params). “Plug and Play”: Low Coupling, High Cohesion In soft...

Posted by Rico's Nerd Cluster on December 15, 2023

C++ - Build A Reflection Configuration That Loads Fields From YAML Without Manual Loading

reflection

Introduction Reflection is the ability of an application to examine and modify its fields during runtime. In cpp, as we know, is a compiled language. If we have a configuration object, we need to ...

Posted by Rico's Nerd Cluster on November 3, 2023

Web Devel - web-crawler-toyota-rav4-crawler

Google Drive

Complete web crawler code can be found here Beautiful Soup and Selium Beautiful Soup is a Python library for parsing HTML and XML document. It is able to extract elements by class or ids in stati...

Posted by Rico's Nerd Cluster on November 3, 2023

Web Devel - Storing Data on Google Drive

Google Drive

For personal projects, all AWS services will start charging once one service starts. Google drive on the other hand, gives everybody 5GB of storage for free. So for infrequent data read / write, Go...

Posted by Rico's Nerd Cluster on November 1, 2023

Raspberry Pi 4B

Serial Setup, Ubuntu Core

Set Up Rpi For Serial Communication Enable rpi serial: 1 sudo raspi-config Rpi has an option to allow a user to login to the system via serial. Choose no Answe...

Posted by Rico's Nerd Cluster on October 10, 2023

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Robotics @ Northwestern University

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