Rico's Nerd Cluster

「离开世界之前 一切都是过程」

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

Robotics - [Jetson 1] Flashing the Orin Nano (SD Card and NVMe)

Flashing JetPack onto an SD card or NVMe SSD, and common flashing errors

This is part 1 of my Jetson notes. Part 2, Running the Orin: Power Modes, Benchmarking, and Pitfalls, covers what happens after the board boots. Preparation Jetson Orin Nano Developer Kit (8GB...

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

RGBD SLAM - Building A ROS 2 Docker Container For Object Detection

ROS 2 Docker Container For Object Detection Training And Inferencing

Dockerfile I installed jupyter notebook so I can experiment with it remotely. 1 2 3 4 # -U is to upgrade to the latest version RUN python3 -m pip install -U jupyter notebook # jupyter notebo...

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

RGBD SLAM - What Deteriorates Its Performance

Lessons Learned From My RGBD SLAM Project. Updates Come In Anytime

“Yeah It’s on. But wait, it doesn’t look good.” Motion Blur Motion blur could cause lower number of features and feature mismatching. These will further cause huge errors in PnP solving. Belo...

Posted by Rico's Nerd Cluster on July 15, 2024

RGBD SLAM Bundle Adjustment Part 2

RGBD SLAM Backend, G2O

If you haven’t, please check out the previous article on how to formulate SLAM as an optimization problem Why Graph Optimization Frontend and Backend: the front end gives the transform from one f...

Posted by Rico's Nerd Cluster on July 12, 2024

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Robotics @ Northwestern University

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