Rico's Nerd Cluster

「离开世界之前 一切都是过程」

AI - LLM Applications

Techniques For Using AI Reflection is extremely helpful. “validate this code”, “check instructions for coherence and completeness”; “make this code more concise.” For subjective questions, AI is ...

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

Robotics - A Survey On Oil Pipe Inspection Robotics (Revising)

Sonar Imaging

Non-Destructive Testing Methods American Society for Testing and Materials (ASTM) and American Society of Mechanical Engineers (ASME) develops standards for pipe inspections Ultrasonic Testing...

Posted by Rico's Nerd Cluster on December 20, 2024

Robotics - ROS2 Logging

Logging Level Tweaking

Logging Level Tweaking Programmatic API (in-process) In C++, any rclcpp::Logger can have its level tweaked at runtime: 1 2 3 #include <rclcpp/logger.hpp> auto my_logger = rclc...

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

Robotics - ROS2 TF2

Transform Listener

TF2 and Sim Time When working with ROS2 and tf2, you may encounter the following warning when visualizing data in RViz or processing buffers: 1 Warning: TF_OLD_DATA ignoring data from the past fo...

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

Robotics - ROS2 Behavior Tree Cpp

TransformListener

Basic Constructs BT ports: BehaviorTree-CPP needs a compile-time contract for every node type, a list of ports (name + type + optional default + description). e.g., BT::InputPort<...

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

Robotics - ROS2 Tests

colcon test

Use cases Passing ROS Arguments to ROS2 Test Executables When writing integration tests in ROS2, you may need to pass command-line parameters (--ros-args -p <param>:=<value>) to your ...

Posted by Rico's Nerd Cluster on November 30, 2024

Robotics - ROS2 Colcon Mixins

Introduction Colcon Mixins can be used to apply a group of arguments under one name. Example: 1 colcon build --mixin debug clang This might apply a group of flags related to debug builds, such ...

Posted by Rico's Nerd Cluster on November 30, 2024

Robotics - [ROS2 Foundation] Ros2 Miscellaneous Thingies

Name Spacing, Macros, Weird Issues

Namespacing If you have something like: 1 2 3 4 5 class FiveCardStudPlayer : public rclcpp::Node { public: FiveCardStudPlayer() : Node("five_card_stud_player"){ ... }} And you launc...

Posted by Rico's Nerd Cluster on November 30, 2024

Robotics - [ROS2 Foundation] Ros2 Bags

Introduction ros2 bag is a command line tool for recording data published on topics in your system. It accumulates the data passed on any number of topics and saves it in a database. You can then ...

Posted by Rico's Nerd Cluster on November 30, 2024

Robotics - [ROS2 Foundation] Ros2 Rclpy Executor Callback Model

Rclpy Executors, Rate Object, Custom Node Destruction

Rclpy MultiThreadedExecutor rclpy.executors.MultiThreadedExecutor is implemented entirely in Python, not as a direct wrapper around the C++ rclcpp::executors::MultiThreadedExecutor. Internally it ...

Posted by Rico's Nerd Cluster on November 27, 2024

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