From 9d65a9730ea471800bb371d0788eafe55109cbeb Mon Sep 17 00:00:00 2001 From: Joshua Liu Date: Tue, 13 Dec 2022 20:42:15 -0500 Subject: [PATCH] Updated from Publii --- 404.html | 2 +- authors/joshua-liu/index.html | 2 +- authors/joshua-liu/page/2/index.html | 2 +- biblical-hebrew/index.html | 39 ++++++++ c-code-snippet/index.html | 4 +- c-learning-note/index.html | 4 +- cmake/index.html | 4 +- cpp/index.html | 4 +- create-ros-quick-source/index.html | 4 +- feed.json | 58 ++++++------ feed.xml | 128 +++++++++++---------------- gazebo-simulation/index.html | 4 +- genesis-1-in-hebrew/index.html | 39 ++++++++ index.html | 2 +- migrating-from-ros1/index.html | 4 +- motion-planning/index.html | 2 +- programming/index.html | 2 +- python/index.html | 4 +- pyvistatrimesh/index.html | 4 +- ros2-debuging/index.html | 2 +- ros2/index.html | 4 +- rtos/index.html | 2 +- search.html | 2 +- sitemap.xml | 8 ++ tags/biblical-hebrew/index.html | 23 +++++ tags/c/index.html | 2 +- tags/cheat-sheet/index.html | 2 +- tags/cmake/index.html | 2 +- tags/index.html | 2 +- tags/python/index.html | 2 +- tags/ros2/index.html | 2 +- 31 files changed, 222 insertions(+), 143 deletions(-) create mode 100644 biblical-hebrew/index.html create mode 100644 genesis-1-in-hebrew/index.html create mode 100644 tags/biblical-hebrew/index.html diff --git a/404.html b/404.html index 4186f70..18b9454 100644 --- a/404.html +++ b/404.html @@ -1,4 +1,4 @@ -Error 404 - Joshua Personal Notes

Error 404

The page you were looking for appears to have been moved, deleted or does not exist. You could go back to where you were or head straight to our home page.

Go Home

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Error 404

The page you were looking for appears to have been moved, deleted or does not exist. You could go back to where you were or head straight to our home page.

Go Home

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\ No newline at end of file diff --git a/c-code-snippet/index.html b/c-code-snippet/index.html index 8769912..5425102 100644 --- a/c-code-snippet/index.html +++ b/c-code-snippet/index.html @@ -1,4 +1,4 @@ -C++ Code Snippet - Joshua Personal Notes

C++ Code Snippet

Network

Acquire Localhost IP Address

#include <arpa/inet.h>
+C++ Code Snippet - Joshua Personal Notes        
         
 
C++ Code Snippet
Network
Acquire Localhost IP Address
#include <arpa/inet.h>
 #include <sys/ioctl.h>
 #include <sys/types.h>
 #include <linux/if.h>
@@ -376,7 +376,7 @@
 make -j8
 make install
 
1.注意cv::Mat()的宽高参数
前边是高，后边是宽，不要弄反了
Mat (int rows, int cols, int type);
-
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C++ Learning Note
List
#include <list>
+C++ Learning Note - Joshua Personal Notes        
         
 
C++ Learning Note
List
#include <list>
 
In C++ lists are ordered sequences of variables of the same type. To initialize them we have to specify which type are the variables inside it. For example, for a list of integer values:
list<int> numbers_list({1,10,100,1000});
 
And a list of string values:
list<string> vocals_list( {"a","e","i","o","u"} );
 
The inconvenience with lists in C++ is that they are not as easy to print as in other languages. In this case we need to loop over all the items in a list to print them one by one. For now, here’s an example of printing a list:
for (int val : numbers_list)             // Loop
@@ -55,7 +55,7 @@
   float *laser_range_pointer = laser_range.data();
   return laser_range_pointer;
 }
-
This function called get_laser_full() is a function that returns a pointer (see the operator asterisk before the name of the class **RosbotClass**). What it does is take the values of a ROS vector called laser_range and assign them a pointer, then return this pointer.
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CMake
CMake Reference/Tutorial
1. 指定第三方库的查找路径
可以使用CMAKE_PREFIX_PATH变量指定第三方库的查找路径（指定的安装路径）
cd build
+CMake - Joshua Personal Notes        
         
 
CMake
CMake Reference/Tutorial
1. 指定第三方库的查找路径
可以使用CMAKE_PREFIX_PATH变量指定第三方库的查找路径（指定的安装路径）
cd build
 cmake -DCMAKE_PREFIX_PATH=/Users/josh/my_install_dir ..
 make
 # OR
@@ -183,7 +183,7 @@
 func_name(abc)
 
输出
abc
 a;b;c
-
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C++
C++ Resources
Tips
gcc linking
连接库编译的时候不要指定绝对路径，指定绝对路径可能在运行的时候找不到库文件
gcc -o demo /usr/lib/libceshi.so hello.o  #不要这样写，这样写放在别处运行可能找不到库文件
+C++ - Joshua Personal Notes        
         
 
C++
C++ Resources
Tips
gcc linking
连接库编译的时候不要指定绝对路径，指定绝对路径可能在运行的时候找不到库文件
gcc -o demo /usr/lib/libceshi.so hello.o  #不要这样写，这样写放在别处运行可能找不到库文件
 
gcc -o demo -L/usr/lib -lceshi  #这样写通用性比较好
-
绝对路径虽然申请设置环境变量步骤，但是缺陷也是致命的，这个so必须放在绝对路径下，不能放到其他地方，这样给部署带来很大麻烦。所以应该禁止使用绝对路径链接so。
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Setup Quick Source for ROS
Create .ros2rc or .ros1rc under your HOME folder for quick sourcing instead of source /opt/ros/.../setup.bash. Now you can just do:
source ~/.ros2rc
+Setup Quick Source for ROS - Joshua Personal Notes        
         
 
Setup Quick Source for ROS
Create .ros2rc or .ros1rc under your HOME folder for quick sourcing instead of source /opt/ros/.../setup.bash. Now you can just do:
source ~/.ros2rc
 
.ros2rc
#!/bin/sh
 # ROS2 stuff
 export ROS_DISTRO=humble
@@ -36,7 +36,7 @@
 
 source ~/.ros2rc
 export PYTHONPATH=~/miniconda3/envs/ros2/lib/python3.8/site-packages:/opt/ros/galactic/lib/python3.8/site-packages
-
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Gazebo Simulation
Tutorials
Install
Spawn Urdf
Start by launching an empty world in Gazebo Sim:
ign sim empty.sdf
+Gazebo Simulation - Joshua Personal Notes        
         
 
Gazebo Simulation
Tutorials
Install
Spawn Urdf
Start by launching an empty world in Gazebo Sim:
ign sim empty.sdf
 
The following command spawns the URDF file rrbot.urdf into the Gazebo Sim world as a model named urdf_model:
ign service -s /world/empty/create --reqtype gz.msgs.EntityFactory --reptype gz.msgs.Boolean --timeout 1000 --req 'sdf_filename: "/home/josh/ros2_gazebo_ws/src/gazebo_ros_demos/rrbot_description/urdf/rrbot.urdf", name: "urdf_model"'
 
The Gui & Manipulating Models
Start by launching a sample world:
ign sim shapes.sdf
 
Topic
Publish a message to gazebo using command line:
gz topic -t /model/conveyor/link/section_0/track_cmd_vel --msgtype gz.msgs.Double -p data:10
-
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Genesis 1 in Hebrew
Ch 1
v1-2
v3-5
v6-8
v9-10
v11-13
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\ No newline at end of file
diff --git a/index.html b/index.html
index a38da10..15e6ae9 100644
--- a/index.html
+++ b/index.html
@@ -1,4 +1,4 @@
-Joshua Personal Notes        
         
 
Featured Articles
  • Programming
    Cheat Sheet Updated on: 
    Vim cheat sheet|Cheat Sheet (2) The Ultimate vimrc (Vim configuration) How to write a good README Add Table of Content Add Directory Structure Licensing and…
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Featured Articles
  • Programming
    Cheat Sheet Updated on: 
    Vim cheat sheet|Cheat Sheet (2) The Ultimate vimrc (Vim configuration) How to write a good README Add Table of Content Add Directory Structure Licensing and…
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Migrating from ROS1
How-to: build ros-noetic on Ubuntu 22.04
Package manifests
CMakeLists.txt
  • Start by enabling C++14
set(CMAKE_CXX_STANDARD 14)
+Migrating from ROS1 - Joshua Personal Notes        
         
 
Migrating from ROS1
How-to: build ros-noetic on Ubuntu 22.04
Package manifests
CMakeLists.txt
  • Start by enabling C++14
set(CMAKE_CXX_STANDARD 14)
 
 find_package(ament_cmake REQUIRED)
 find_package(component1 REQUIRED)
@@ -8,7 +8,7 @@
 
 # At the bottom of the file:
 ament_package()
-
Code
  • geometry_msgs/msg/TransformStamped.msg
    • ROS1 #include <geometry_msgs/TransformStamped.h>
    • ROS2 #include <geometry_msgs/msg/transform_stamped.hpp>
      • When defining customized *.msg, should not use CamelCase, rather, should use camel_case.
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Python
Collections
Libraries
  • cupoch - Robotics with GPU computing
  • kinpy -Simple kinematics calculation toolkit for robotics
  • PyTorch3D - provides efficient, reusable components for 3D Computer Vision research with PyTorch
Tutorials
Quick Notes
**pip install** From a Git Repository
python -m pip install git+https://github.com/django/django.git@main
+Python - Joshua Personal Notes        
         
 
Python
Collections
Libraries
  • cupoch - Robotics with GPU computing
  • kinpy -Simple kinematics calculation toolkit for robotics
  • PyTorch3D - provides efficient, reusable components for 3D Computer Vision research with PyTorch
Tutorials
Quick Notes
**pip install** From a Git Repository
python -m pip install git+https://github.com/django/django.git@main
 
**pip install** From a local dir
pip install -e /path/to/package
 
  • -e installs the package in a way, that you can edit the package, but it requires that the package source stay in the same place (/path/to/package in this case) forever.
**glob**通配符获取文件列表
glob.glob("./*.jpg")
 获取当前目录下的jpg文件列表
 
__init__.py的作用
参考链接 https://www.cnblogs.com/lands-ljk/p/5880483.html
__init__.py 文件的作用是将文件夹变为一个Python模块,Python 中的每个模块的包中，都有__init__.py 文件。
通常__init__.py 文件为空，但是我们还可以为它增加其他的功能。我们在导入一个包时，实际上是导入了它的__init__.py文件。这样我们可以在__init__.py文件中批量导入我们所需要的模块，而不再需要一个一个的导入。
当导入模块时，解释器按照sys.path列表中的目录顺序来查找导入文件。
import sys
 print(sys.path)
 
Other Tools
Issues
编译ros提示缺少em模块
python3 -m pip install empy
-
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PyVista/Trimesh
Conversion
Pyvista to Trimesh
Convert Pyvista 1-D face array to Trimesh faces
def pyvistaToTrimeshFaces(cells):
+PyVista/Trimesh - Joshua Personal Notes        
         
 
PyVista/Trimesh
Conversion
Pyvista to Trimesh
Convert Pyvista 1-D face array to Trimesh faces
def pyvistaToTrimeshFaces(cells):
     faces = []
     idx = 0
     while idx < len(cells):
@@ -316,7 +316,7 @@
 
 if __name__ == "__main__":
     QVTKRenderWidgetConeExample(sys.argv)
-
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ROS2
ROS Stuff
ROS2_Control
MoveIt 2
Hardware
Simulation
Other
ROS Note
rosdep
Resolving workspace package dependencies
Go to the top directory of your colcon/catkin workspace where the source code of the ROS packages you’d like to use are. Then run:
rosdep install --from-paths src --ignore-src -r -y --rosdistro humble
+ROS2 - Joshua Personal Notes        
         
 
ROS2
ROS Stuff
ROS2_Control
MoveIt 2
Hardware
Simulation
Other
ROS Note
rosdep
Resolving workspace package dependencies
Go to the top directory of your colcon/catkin workspace where the source code of the ROS packages you’d like to use are. Then run:
rosdep install --from-paths src --ignore-src -r -y --rosdistro humble
 
This command magically installs all the packages that the packages in your catkin workspace depend upon but are missing on your computer. You can also --skip-keys “pkg_name”
Pure Python Packages
In the package.xml add:
<exec_depend>python3-package_name-pip</exec_depend>
 
ros2 service/param
To see the types of all the active services:
ros2 service list -t
 
Load parameter file on node startup:
ros2 run <package_name> <executable_name> --ros-args --params-file <file_name>
 
Other Tools
image_tools
To stream camera view, use:
ros2 run image_tools showimage image:=/camera/color/image_raw
-
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RTOS
FreeRTOS
ARMmbed
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RTOS
FreeRTOS
ARMmbed
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Search
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Search
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diff --git a/tags/c/index.html b/tags/c/index.html
index 88041d8..ef2eb3a 100644
--- a/tags/c/index.html
+++ b/tags/c/index.html
@@ -1,4 +1,4 @@
-Tag: C++ - Joshua Personal Notes        
         
 
C++ (4)
  • C++ Learning Note
    List #include <list> In C++ lists are ordered sequences of variables of the same type. To initialize them we have to specify which type are…
  • C++ Code Snippet
    Network Acquire Localhost IP Address #include <arpa/inet.h> #include <sys/ioctl.h> #include <sys/types.h> #include <linux/if.h> #include <net/if_arp.h> #include <unistd.h> #include <linux/sockios.h> #include <linux/ethtool.h> #include <cstring> #include <cassert>…
  • CMake
    CMake Reference/Tutorial Step 2: Adding a Library Step 3: Adding Usage Requirements for a Library Step 4: Installing and Testing Step 9: Selecting Static or…
  • C++
    C++ Resources C++ Core Guidelines C++ Programming (GeeksforGeeks) Google C++ Style Guide ROS2 C++ Code Style Modern C++ Programming (Slides) Tips for Optimizing C/C++ Code…
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C++ (4)
  • C++ Learning Note
    List #include <list> In C++ lists are ordered sequences of variables of the same type. To initialize them we have to specify which type are…
  • C++ Code Snippet
    Network Acquire Localhost IP Address #include <arpa/inet.h> #include <sys/ioctl.h> #include <sys/types.h> #include <linux/if.h> #include <net/if_arp.h> #include <unistd.h> #include <linux/sockios.h> #include <linux/ethtool.h> #include <cstring> #include <cassert>…
  • CMake
    CMake Reference/Tutorial Step 2: Adding a Library Step 3: Adding Usage Requirements for a Library Step 4: Installing and Testing Step 9: Selecting Static or…
  • C++
    C++ Resources C++ Core Guidelines C++ Programming (GeeksforGeeks) Google C++ Style Guide ROS2 C++ Code Style Modern C++ Programming (Slides) Tips for Optimizing C/C++ Code…
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Cheat Sheet (1)
  • Programming
    Vim cheat sheet|Cheat Sheet (2) The Ultimate vimrc (Vim configuration) How to write a good README Add Table of Content Add Directory Structure Licensing and…
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Cheat Sheet (1)
  • Programming
    Vim cheat sheet|Cheat Sheet (2) The Ultimate vimrc (Vim configuration) How to write a good README Add Table of Content Add Directory Structure Licensing and…
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CMake (1)
  • CMake
    CMake Reference/Tutorial Step 2: Adding a Library Step 3: Adding Usage Requirements for a Library Step 4: Installing and Testing Step 9: Selecting Static or…
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CMake (1)
  • CMake
    CMake Reference/Tutorial Step 2: Adding a Library Step 3: Adding Usage Requirements for a Library Step 4: Installing and Testing Step 9: Selecting Static or…
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Python (2)
  • PyVista/Trimesh
    Conversion Pyvista to Trimesh Convert Pyvista 1-D face array to Trimesh faces def pyvistaToTrimeshFaces(cells): faces = [] idx = 0 while idx < len(cells): curr_cell_count…
  • Python
    Collections PythonRobotics Comprehensive Python Cheatsheet Problem Solving with Python Scipy Lecture Notes Github: https://github.com/scipy-lectures/scipy-lecture-notes PythonTemplate Python Template is a Cookiecutter template for creating a python…
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Python (2)
  • PyVista/Trimesh
    Conversion Pyvista to Trimesh Convert Pyvista 1-D face array to Trimesh faces def pyvistaToTrimeshFaces(cells): faces = [] idx = 0 while idx < len(cells): curr_cell_count…
  • Python
    Collections PythonRobotics Comprehensive Python Cheatsheet Problem Solving with Python Scipy Lecture Notes Github: https://github.com/scipy-lectures/scipy-lecture-notes PythonTemplate Python Template is a Cookiecutter template for creating a python…
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ROS2 (7)
  • Motion Planning
    Tesseract Robotics | Optimization Motion Planning Tesseract wiki — Industrial Training documentation Optimal Control for Robotics
  • RTOS
    FreeRTOS RTOS Basics: Getting Started with Microcontrollers Comparison between RTOSes Introduction to RTOS (Youtube Playlist) eProsima: RTPS/DDS Experts, the middleware experts BriscoeTech/Arduino-FreeRTOS-SAMD51: A port of…
  • Migrating from ROS1
    How-to: build ros-noetic on Ubuntu 22.04 set(CMAKE_CXX_STANDARD 14) find_package(ament_cmake REQUIRED) find_package(component1 REQUIRED) # ... find_package(componentN REQUIRED) # At the bottom of the file: ament_package() Code…
  • ROS2 Debuging
    VSCode Microsoft VScode Extension for ROS Debugging ROS C++ nodes VSCode ROS2 Workspace Template VScode debug ROS cpp 程序设置 断点调试
  • Gazebo Simulation
    Gazebo Garden ros_gz, Integration between ROS and Gazebo simulation gz_ros2_control Only works with gazebo fortress, not with garden yet Tutorials Install Ubuntu Source Install(Garden) Spawn…
  • Setup Quick Source for ROS
    Create .ros2rc or .ros1rc under your HOME folder for quick sourcing instead of source /opt/ros/.../setup.bash. Now you can just do: source ~/.ros2rc .ros2rc #!/bin/sh #…
  • ROS2
    ROS Stuff ROS Discourse ROS to ROS2 Porting Guide The Robotics Back-End (ROS2 Tutorials) ROS2 YAML For Parameters In this tutorial you will see how…
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ROS2 (7)
  • Motion Planning
    Tesseract Robotics | Optimization Motion Planning Tesseract wiki — Industrial Training documentation Optimal Control for Robotics
  • RTOS
    FreeRTOS RTOS Basics: Getting Started with Microcontrollers Comparison between RTOSes Introduction to RTOS (Youtube Playlist) eProsima: RTPS/DDS Experts, the middleware experts BriscoeTech/Arduino-FreeRTOS-SAMD51: A port of…
  • Migrating from ROS1
    How-to: build ros-noetic on Ubuntu 22.04 set(CMAKE_CXX_STANDARD 14) find_package(ament_cmake REQUIRED) find_package(component1 REQUIRED) # ... find_package(componentN REQUIRED) # At the bottom of the file: ament_package() Code…
  • ROS2 Debuging
    VSCode Microsoft VScode Extension for ROS Debugging ROS C++ nodes VSCode ROS2 Workspace Template VScode debug ROS cpp 程序设置 断点调试
  • Gazebo Simulation
    Gazebo Garden ros_gz, Integration between ROS and Gazebo simulation gz_ros2_control Only works with gazebo fortress, not with garden yet Tutorials Install Ubuntu Source Install(Garden) Spawn…
  • Setup Quick Source for ROS
    Create .ros2rc or .ros1rc under your HOME folder for quick sourcing instead of source /opt/ros/.../setup.bash. Now you can just do: source ~/.ros2rc .ros2rc #!/bin/sh #…
  • ROS2
    ROS Stuff ROS Discourse ROS to ROS2 Porting Guide The Robotics Back-End (ROS2 Tutorials) ROS2 YAML For Parameters In this tutorial you will see how…
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