Rico's Nerd Cluster

「离开世界之前 一切都是过程」

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

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

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Robotics @ Northwestern University

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