Rico's Nerd Cluster

「离开世界之前 一切都是过程」

Robotics - [3D SLAM - 1] Scan Matching

3D Point-Point ICP, 3D Point-Plane ICP, NDT

The Scan Matching Problem When we run scan matching, we usually have two point clouds: a source scan $S_1 = {\mathbf{p}_1, \ldots, \mathbf{p}_n}$ (the new measurement), and a target scan $S_...

Posted by Rico's Nerd Cluster on March 1, 2025

Robotics - [Bugs - 2] SLAM Related Small Bugs

Passing Ptr By Value

⚠️ Beware of Passing Smart Pointers by Value Passing a smart pointer (e.g. std::shared_ptr or boost::shared_ptr) by value is fine when you’re only modifying the object it points to. But if you int...

Posted by Rico's Nerd Cluster on February 1, 2025

Robotics - [Bugs - 1] SLAM Related "Epic Bugs"

G2O Optimization Vertex Updates, Compiler-Specific Bugs, Yaml-cpp

Below is a list of bugs that took me multiple hours, if not days, to troubleshoot and analyze. These are the “epic bugs” that are worth remembering for my career. Epic Bug 1: G2O Optimization Didn...

Posted by Rico's Nerd Cluster on February 1, 2025

ROS2 - Time Synchronizer

ApproximateTimeSynchronizer The ApproximateTimeSynchronizer is useful when multiple ROS topics need to be processed together, but their timestamps do not match exactly. In this example, color imag...

Posted by Rico's Nerd Cluster on January 16, 2025

ROS2 - QoS

Reliability Reliability controls what happens while publisher and subscriber are already matched and communicating. Reliability Meaning Behavior Typical use ...

Posted by Rico's Nerd Cluster on January 13, 2025

ROS2 - Packages

Pure Python Packages

ROSPy for a pure ROS 2 Python package, you usually do not need a CMakeLists.txt. There are two valid ROS 2 Python package styles:  ament_python style, No CMakeLists.txt. 1 2 3 4 5 package.xm...

Posted by Rico's Nerd Cluster on January 11, 2025

[ML] K-Nearest-Neighbor Using Heap With CUDA

KNN (Heap-Based Implementation) Goal: For a query point qqq, find its kkk nearest neighbors from a set of NNN points. Algorithm Idea We use a max-heap of size k. Why a max-heap? The hea...

Posted by Rico's Nerd Cluster on January 9, 2025

ROS2 - Foxglove

ROS2, Waveshare

Basic Architecture foxglove_bridge is the ROS-side bridge/server. It runs in your ROS environment as a node and exposes live ROS data to Foxglove over a WebSocket connection. Foxglove is the ...

Posted by Rico's Nerd Cluster on January 9, 2025

[ML] -Point-cloud-compression-2-FPFH-Features

Other Alternatives Chamfer distance Earth Mover’s Distance (EMD) Normal consistency loss Curvature loss Learned feature-space loss (via PointNet / DGCNN embeddings) What is FPFH FPFH...

Posted by Rico's Nerd Cluster on January 8, 2025

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 January 6, 2025

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Robotics @ Northwestern University

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