Rico's Nerd Cluster

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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

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

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 Basic Pub Sub Node

ROS2 Installation, Packaging & Build System, Messages, Node

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, Topic, Ros2 Multicast, package finder

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

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