Rico's Nerd Cluster

「离开世界之前 一切都是过程」

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 November 5, 2024

Robotics - rviz2

Visualization Marker If you’ve ever wanted to display text directly in RViz2—for debugging, labeling, or status messages—you can do this using visualization markers. The key is to use a marker o...

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

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...

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

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...

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

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 - Robot State and Joint State Publisher

robot_state_publisher, joint_state_publisher, and the TF tree

TF Pipeline Overview 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 URDF (/robot_description) ───────────────────────────────────┐ │ ...

Posted by Rico's Nerd Cluster on September 1, 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

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Robotics @ Northwestern University

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