Rico's Nerd Cluster

「离开世界之前 一切都是过程」

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 Foundation] Ros2 Miscellaneous Thingies

Name Spacing, 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

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 Introduction 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 ...

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

colcon-build, interface package, dpkg, rosdep

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

Docker Networking, Multi-stage Build

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

FEATURED TAGS
Math Deep Learning C++ Robotics ROS2 Linux Python Computer Vision ROS Docker RGBD Slam SLAM Electronics Hands-on Build Systems CUDA Hands-On ROS1 Web Devel
ABOUT ME

要做一个有 swag 的机器人工程师
Robotics @ Northwestern University

FRIENDS