Rico's Nerd Cluster

「离开世界之前 一切都是过程」

Robotics - ROS2 Tools

Ros2 Doctor, Ros2 Topic, Ros2 Multicast

ROS 2 Doctor References: ROS2 Doctro ROS2 Doctor is a diagnostic tool that succeeds ros wtf (where is the fault). It checks all aspects of ROS 2, including platform, version, network, environment...

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

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 LiDARs and FMCW LiDARs. The mainstr...

Posted by Rico's Nerd Cluster on October 22, 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

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 Introduction

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

RGBD SLAM - Bundle Adjustment From Zero To Hero, Part 1, Theories

RGBD SLAM Backend Introduction

What is Optimization? \[\begin{gather*} min F(x) \end{gather*}\] Above is an optimization problem. Any optimization needs: a cost function, target variables, and constraints. In SLAM, most proble...

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

RGBD SLAM - The PnP Problem

Solving the PnP problem - turning pixels into 3D positions!

Intro The Perspective-n-Point (PnP) problem is a very important technique in RGBD SLAM. In RGBD SLAM, it’s quite common to see PnP as a front end , and bundle adjustment as the backend. In 2D-2D M...

Posted by Rico's Nerd Cluster on July 9, 2024

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Math Deep Learning Robotics C++ Python ROS2 Linux RGBD Slam Computer Vision Docker ROS Hands-on Electronics Build Systems CUDA Hands-On ROS1 Web Devel
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Robotics @ Northwestern University

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