Rico's Nerd Cluster

「离开世界之前 一切都是过程」

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

Robotics - Spatial Hashing

Spatial Hashing Hash integer coordinates <x,y,z>. A good hash should make small input changes produce very different outputs. 1 2 3 4 5 6 7 std::size_t operator()(const TileKey &k) cons...

Posted by Rico's Nerd Cluster on January 2, 2025

Robotics - A Short Introduction To Underwater Sonar Imaging Cameras

Beam Forming

Sonar Imaging Pipeline Here is a nice introduction to the concept of beam-forming Beam Forming If you have multiple attenae, say each attena is attached to a fixed delay,...

Posted by Rico's Nerd Cluster on December 24, 2024

AI - LLM Applications

Techniques For Using AI Reflection is extremely helpful. “validate this code”, “check instructions for coherence and completeness”; “make this code more concise.” For subjective questions, AI is ...

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

Robotics - A Survey On Oil Pipe Inspection Robotics (Revising)

Sonar Imaging, gradian

Non-Destructive Testing Methods American Society for Testing and Materials (ASTM) and American Society of Mechanical Engineers (ASME) develops standards for pipe inspections Ultrasonic Testing...

Posted by Rico's Nerd Cluster on December 20, 2024

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Robotics @ Northwestern University

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