Rico's Nerd Cluster

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Robotics - [ROS2 Foundation] Ros2 Composition Instead Of Nodelets

Components, Zero-Copy Intra-Processing-Communication (IPC)

Reference The basic idea of ROS2 composition is to have a unified API in place of ROS1 nodes and nodelets. Nodelets in ROS1 are compiled into shared libraries and can be loaded into one process du...

Posted by Rico's Nerd Cluster on November 26, 2024

Robotics - [ROS2 Foundation] Ros2 Rclcpp Executor Callback Model

Executor, Callbacks, Threading Model

C++ Executors In ROS2, we can have multiple logical nodes executing their callbacks of timer, subscription, etc. in executors. There are three types of executors: SingleThreadedExecutor, StaticSin...

Posted by Rico's Nerd Cluster on November 25, 2024

Robotics - [ROS2 Foundation] Ros2 Parameters

ROS2 Parameters Intro What are ROS2 parameters? ROS2 Parameters are one means to change certain values in a node during runtime. They are associated initialized, set, and retrieved at the level o...

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

Robotics - ROS2 Service

How to Bring Up a Service, Common ROS2 Services

Set up a ROS2 Service File ROS2’s ament build system does not support generating msg and srv files in pure python packages. So it’s a common practice to define an interface package that could be i...

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

Robotics - [ROS2 Foundation 3] ROS2 Build System

Various Things to Note For Building Dockerized ROS2 App

Build Tool A build tool operates on a set of packages determines the dependency graph invokes the specific build system for each package in topological order. for a specific package, knows ...

Posted by Rico's Nerd Cluster on November 19, 2024

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, Affordance

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 - ROS2 Launchfile

Components Launch Actions 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, OpaqueFunction from launch.substituti...

Posted by Rico's Nerd Cluster on November 9, 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 7, 2024

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