Rico's Nerd Cluster

「离开世界之前 一切都是过程」

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...

Posted by Rico's Nerd Cluster on November 2, 2024

Robotics - 2024 3D Lidar Selection For Robotics

Livox, Unitree Lidars

This article is inspired by this YouTube video made by 大刘科普 Brief Overview Of How 3D LiDAR (Light Detection and Ranging) works There are 2 types of LiDARs: ToF (Time of Flight) LiDARs and FMCW Li...

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

Robotics - EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Eigen

What does EIGEN_MAKE_ALIGNED_OPERATOR_NEW do exactly? Eigen vectorizable types (e.g. Vector4d, Quaterniond, small fixed‐size Matrix<…>) carry an alignment requirement (usually 16 byt...

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

Robotics - Eigen, Sophus And Their Quirks

Sophus

Eigen Tools Common Conversions ROS geometry_msgs::Pose $->$ Eigen::Quaterniond 1 2 geometry_msgs::Pose p; Eigen::Quaterniond q(pose.rotation()); Tricks Print a vector on one line ...

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

Robotics - Isaac SIM setup

Isaac SIM

Installation Route 1: Native Execution Install ROS 2 natively on your system. Set up the ROS 2 context and add a ROS 2 subscriber block. Ensure Fast DDS is properly configured for ROS 2 co...

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

RGBD SLAM - Amazon SageMaker Usage Notes

Amazon SageMaker, EC2 Instances

Components IAM role: IAM (Identity Access Management) is a set of permissions that define what actions an entity (services, user, aplications) can do. A role uses temporary creds while a u...

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

RGBD SLAM - GPU Setup

Summary Of Nvidia Orin Nano Setup, Docker For General Machine Learning

Preparation Jetson Orin Nano Developer Kit (8GB) MicroSD Card (128GB) My microSD card’s read and write speed can reach up to 140MB/s. An NVMe SSD could be 1500MB/s or more. So try ...

Posted by Rico's Nerd Cluster on August 18, 2024

RGBD SLAM - Building A ROS 2 Docker Container For Object Detection

ROS 2 Docker Container For Object Detection Training And Inferencing

Dockerfile I installed jupyter notebook so I can experiment with it remotely. 1 2 3 4 # -U is to upgrade to the latest version RUN python3 -m pip install -U jupyter notebook # jupyter notebo...

Posted by Rico's Nerd Cluster on August 1, 2024

RGBD SLAM - What Deteriorates Its Performance

Lessons Learned From My RGBD SLAM Project. Updates Come In Anytime

“Yeah It’s on. But wait, it doesn’t look good.” Motion Blur Motion blur could cause lower number of features and feature mismatching. These will further cause huge errors in PnP solving. Belo...

Posted by Rico's Nerd Cluster on July 15, 2024

RGBD SLAM Bundle Adjustment Part 2

RGBD SLAM Backend, G2O

If you haven’t, please check out the previous article on how to formulate SLAM as an optimization problem Why Graph Optimization Frontend and Backend: the front end gives the transform from one f...

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

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Robotics @ Northwestern University

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