Rico's Nerd Cluster

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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

Robotics General Design Notes

What's New In ROS2

Software Structuring Build a simulation / dataset for debugging software is key. Otherwise, you will have a lot of overhead of on-robot hardware testing. Have three general feature f...

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

Robotics - Waveshare Rover Configuration

ROS2, Waveshare

Base Connection Turn on the rover Connect to the rover’s hotspot Connect to UGV Rover: (after connecting to the rpi) 1 192.168.4.1

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

Robotics - ROS2 Gazebo Differential Drive Onboard

ROS2, Gazebo

Install Gazebo 1 sudo apt install ros-iron-gazebo-ros-pkgs ros-iron-gazebo-ros2-control Add A Launchfile File Directory: 1 2 ├── launch │ └── empty_world.launch.py mkdir launch s...

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

Robotics - ROS2 Basic Pub Sub Node

ROS2 Installation, Packaging & Build System

Install ROS2 This is only to install ROS2-iron-desktop for quick desktop experiments. In general I’d like to use docker containers though. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22...

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

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 (Time of Flight) LiDARs and FMCW Li...

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

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