Rico's Nerd Cluster

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Robotics - ROS2 Logging

Logging Level Tweaking

Logging Level Tweaking Programmatic API (in-process) In C++, any rclcpp::Logger can have its level tweaked at runtime: 1 2 3 #include <rclcpp/logger.hpp> auto my_logger = rclc...

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

Robotics - ROS2 TF2

Transform Listener

TF2 and Sim Time When working with ROS2 and tf2, you may encounter the following warning when visualizing data in RViz or processing buffers: 1 Warning: TF_OLD_DATA ignoring data from the past fo...

Posted by Rico's Nerd Cluster on December 5, 2024

Robotics - ROS2 Behavior Tree Cpp

TransformListener

Basic Constructs BT ports: BehaviorTree-CPP needs a compile-time contract for every node type, a list of ports (name + type + optional default + description). e.g., BT::InputPort<...

Posted by Rico's Nerd Cluster on December 5, 2024

Robotics - [ROS2 Foundation] Ros2 Bags

use_sim_time

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 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 Colcon Mixins

Group colcon build arguments under a single name

What is a Mixin? A mixin is a reusable piece of functionality that you can “mix into” something else. In Python, a class mixin adds behavior to a class: 1 2 3 4 5 6 class LoggerMixin: def lo...

Posted by Rico's Nerd Cluster on November 30, 2024

Robotics - [ROS2 Foundation] Ros2 Miscellaneous Thingies

Name Spacing, Macros, 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

use_sim_time

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

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