Rico's Nerd Cluster

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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...

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...

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 ...

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...

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...

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...

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

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...

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...

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...