<?xml version="1.0" encoding="utf-8" ?><rss version="2.0"><channel><title><![CDATA[chepwavege的专栏]]></title><description><![CDATA[至人无己，神人无功，圣人无名。]]></description><link>https://blog.youkuaiyun.com/chepwavege</link><language>zh-cn</language><generator>https://blog.youkuaiyun.com/</generator><copyright><![CDATA[Copyright &copy; chepwavege]]></copyright><item><title><![CDATA[ROS2 设计文档阅读- 编译系统 Ament]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/124843328</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/124843328</guid><author>chepwavege</author><pubDate>Thu, 19 May 2022 10:30:56 +0800</pubDate><description><![CDATA[参考：The build system "ament_cmake" and the meta build tool "ament_tools"

2018-06 里面的cmakelists例子有点过时了

原因：

ROS2 设计包含有多个模块(多个package)，编译会比较复杂，

确定编译顺序，依赖关联，设置环境变量...

依赖：通用的工具Cmake 和Python setuptools

前身： ROS1： Catkin, RO2： Ament


cpp:需要有cmakelists

pytho]]></description><category></category></item><item><title><![CDATA[【无标题】]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/123476410</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/123476410</guid><author>chepwavege</author><pubDate>Wed, 18 May 2022 15:18:34 +0800</pubDate><description><![CDATA[1.下载ISO 镜像：Ubuntu系统下载（清华大学开源软件镜像站）（ubuntu-20.04.1-desktop-amd64.iso） - JavaShuo



2.准备&gt;8G U盘



3. 免费下载并安装 UltraISO软碟通官方中文版

https://cn.ultraiso.net/xiazai.html

]]></description><category></category></item><item><title><![CDATA[ros2 foxy 学习8：创建自己的overlay workspace]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/124334964</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/124334964</guid><author>chepwavege</author><pubDate>Fri, 22 Apr 2022 00:38:52 +0800</pubDate><description><![CDATA[Creating a workspace — ROS 2 Documentation: Foxy documentation

ubuntu 通过debian安装后，

在工作目录下ws/src下



git clone https://github.com/ros/ros_tutorials.git -b foxy-devel



 -b foxy-devel  //指定分支名

下载工程到ws/src/下


sudo apt install python3-rosdep2
rosdep updat]]></description><category></category></item><item><title><![CDATA[ros2 foxy 学习7：rosbag 命令]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/124318162</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/124318162</guid><author>chepwavege</author><pubDate>Thu, 21 Apr 2022 12:18:08 +0800</pubDate><description><![CDATA[参考：https://github.com/ros2/rosbag2


ros2 topic list -t #查看当前topic



ros2 bag record &lt;topic name1&gt; &lt;topic name...n&gt;


ros2 bag record -o &lt;my folder name&gt; &lt;topic name1&gt;




-o 指定录制文件夹名字，已经对于bag的文件名



bag 文件后缀*.db3 是 sqlite3的数据文件
..]]></description><category></category></item><item><title><![CDATA[ros2 foxy 学习6： 编译，启动文件（多个节点） +打包Package（你的节点）]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/124184367</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/124184367</guid><author>chepwavege</author><pubDate>Fri, 15 Apr 2022 00:04:10 +0800</pubDate><description><![CDATA[启动文件：

之前需要多个命令行，来操作，很不方便。

学习lauch file ，用命令脚本来控制。




# turtlesim/launch/multisim.launch.py

from launch import LaunchDescription
import launch_ros.actions

def generate_launch_description():
 return LaunchDescription([
 launch_ros.actions.Node...]]></description><category></category></item><item><title><![CDATA[ROS2 foxy 学习5 : Action 行动]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/124111502</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/124111502</guid><author>chepwavege</author><pubDate>Mon, 11 Apr 2022 23:05:08 +0800</pubDate><description><![CDATA[也是节点node之间的一种通讯方式

每个节点自己实现了action 客户端 或服务端。

客户端发起请求，action(后台中心）转发给 服务端节点

服务端node处理、执行action动作

客户端节点发起请求（询问动作执行的结果）

服务端node 响应请求 分两步

（1.通过topic 持续返回当前执行的状态
	2.动作执行结束了， 返回服务的响应报文。）
Actions are built on topics and services. Their functionality is simil]]></description><category></category></item><item><title><![CDATA[ros2 foxy 学习4 -Node参数传入，读取]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/124088805</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/124088805</guid><author>chepwavege</author><pubDate>Sun, 10 Apr 2022 23:48:16 +0800</pubDate><description><![CDATA[ros2 run turtlesim turtlesim_node


ros2 run turtlesim turtle_teleop_key

ros2 param list 

获取全部参数


/teleop_turtle:
  scale_angular
  scale_linear
  use_sim_time

/turtlesim: (节点名）
  background_b （参数名）
  background_g
  background_r
  use_sim_time


RGB 是.]]></description><category></category></item><item><title><![CDATA[ros2 foxy 学习3 - service 通讯]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/124087950</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/124087950</guid><author>chepwavege</author><pubDate>Sun, 10 Apr 2022 23:26:25 +0800</pubDate><description><![CDATA[Services are another method of communication for nodes in the ROS graph. Services are based on a call-and-response model, versus topics’ publisher-subscriber model. While topics allow nodes to subscribe to data streams and get continual updates, services o]]></description><category></category></item><item><title><![CDATA[ROS2 foxy 学习2 : 话题topic通讯]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/124029888</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/124029888</guid><author>chepwavege</author><pubDate>Fri, 08 Apr 2022 10:43:46 +0800</pubDate><description><![CDATA[Topics are one of the communication types that connects nodes.\话题是通讯方式



ros2 模块化设计，有很多节点 node,节点之间通讯通过topic进行。

topic的作用相当于物理总线， 传输的内容就是message.
	通讯模式： 可以同时 1对1 ； 1对多； 多对1





启动环境：
ros2 run turtlesim turtlesim_node

ros2 run turtlesim turtle_teleop_key]]></description><category></category></item><item><title><![CDATA[ROS2 foxy 学习1 ：认识节点=模块]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/123940883</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/123940883</guid><author>chepwavege</author><pubDate>Sun, 03 Apr 2022 22:56:00 +0800</pubDate><description><![CDATA[environment：

Linux pc 5.17.1-051701-generic #202203290924-Ubuntu SMP PREEMPT Tue Mar 29 09:30:23 UTC 2022 x86_64 x86_64 x86_64 GNU/Linux

Ubuntu20.04

安装：Installing ROS 2 via Debian Packages — ROS 2 Documentation: Foxy documentation

教程：Tutorials — ROS 2 ]]></description><category></category></item><item><title><![CDATA[新电脑硬件DIY+ 安装Ubutun 18.04+排雷]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/123390479</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/123390479</guid><author>chepwavege</author><pubDate>Mon, 14 Mar 2022 15:32:37 +0800</pubDate><description><![CDATA[ubuntu 1804 装机，无线网卡驱动 AX201]]></description><category></category></item><item><title><![CDATA[python -点云库安装]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/123195606</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/123195606</guid><author>chepwavege</author><pubDate>Tue, 01 Mar 2022 00:08:31 +0800</pubDate><description><![CDATA[安装pclpy，

基础环境 visual studio 2015 + anaconda.


conda install -c conda-forge -c davidcaron pclpy


Collecting package metadata (repodata.json): done
Solving environment: done

## Package Plan ##

 environment location: D:\XuXiangqian\anaconda

 added / u..]]></description><category></category></item><item><title><![CDATA[ubuntu下编译安装libjpeg-turbo-2.03]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/123066194</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/123066194</guid><author>chepwavege</author><pubDate>Tue, 22 Feb 2022 14:02:27 +0800</pubDate><description><![CDATA[Ubuntu安装libjpeg-turbo库：wget--version //发现没有wget，–version 是根据wget的用法实现的 可以先打wget 没有则会提示你安装，有的话会教你查help
sudo apt-get update
sudo apt-get install wget

Ubuntu16.04编译libjpeg-turbo库 - 老金280 - 博客园 (cnblogs.com)

nasm是依赖的汇编器

$ cmake-G "Unix Makefiles" .. //编...]]></description><category></category></item><item><title><![CDATA[PCD 文件格式]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/122740042</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/122740042</guid><author>chepwavege</author><pubDate>Sat, 29 Jan 2022 10:39:49 +0800</pubDate><description><![CDATA[PCL——（3）PCD（点云数据）文件格式简介 - 一抹烟霞 - 博客园 (cnblogs.com)

The PCD (Point Cloud Data) file format — Point Cloud Library 1.12.1-dev documentation (pointclouds.org)

点云坐标系：

PCD 文件，header中有定义，起始的原点

VIEWPOINT有可能在不同坐标系之间转换的时候应用，在辅助获取其他特征时也比较有用，例如曲面法线，在判断方向一致性时，需要知道视]]></description><category></category></item><item><title><![CDATA[Lidar type]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/122472157</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/122472157</guid><author>chepwavege</author><pubDate>Sun, 16 Jan 2022 16:20:59 +0800</pubDate><description><![CDATA[MM​​​​​​​M​​​​​​​LeddarTech Solid-State LiDAR Incorporating ST's Laser Beam-Scanning Tech Based on MEMS Mirror - YouTube

3D Hybrid Flash LiDAR Fundamentals - Video - LeddarTech

MEMES

偏震镜子,转动角度HFOV

漫光镜头（把点光源散成线光源--垂直FOV）

偏振镜：







flash:3D Flash Li..]]></description><category></category></item><item><title><![CDATA[Windows C++ 环境setup]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/120499119</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/120499119</guid><author>chepwavege</author><pubDate>Wed, 12 Jan 2022 16:46:46 +0800</pubDate><description><![CDATA[Environment:

reference:Windows下的 C++ 编译工具（MinGW-w64 + CMake）_linshuhe1的专栏-优快云博客_windows 编译工具

Windows10
	Eclipse, IED 工具
	MINGW 64 ( gcc version_8.1.0) 编译，链接工具
	
		随便编写一个 C++ 代码文件，然后使用 g++ 来编译生成可执行文件：

		#include &lt;iostream&gt;
		using namespace std;..]]></description><category></category></item><item><title><![CDATA[2021-10-19 UTC时间]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/120843929</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/120843929</guid><author>chepwavege</author><pubDate>Mon, 10 Jan 2022 22:16:43 +0800</pubDate><description><![CDATA[(84条消息) 将GPS获得的UTC时间转换成本地时间的方法_pengl的博客-优快云博客https://blog.youkuaiyun.com/luckpl/article/details/75251302?utm_medium=distribute.pc_relevant.none-task-blog-2~default~baidujs_title~default-1.no_search_link&amp;spm=1001.2101.3001.4242

原子时（GPS时间）：精确时间，世界时（UTC）：随着地球]]></description><category></category></item><item><title><![CDATA[C++ visual studio code 编译开发环境配置]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/122263206</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/122263206</guid><author>chepwavege</author><pubDate>Fri, 31 Dec 2021 22:59:26 +0800</pubDate><description><![CDATA[Visual Studio Code (vscode) 配置 C / C++ 环境 - 步平凡 - 博客园 (cnblogs.com)



VSC, 里面 jason 配置那一步，如果弹不出来g++,把 原文件删除。重新生成。



快捷键ctr+F5, run without debug

F5 ,,, debug with run.



clear: 在终端，可以清除消息
...]]></description><category></category></item><item><title><![CDATA[AD论文阅读]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/121360676</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/121360676</guid><author>chepwavege</author><pubDate>Fri, 31 Dec 2021 22:35:02 +0800</pubDate><description><![CDATA[ACC： target selection

AI method:RNN,LSTM... boost

2019, LSTM

​​​​​​https://kth.diva-portal.org/smash/get/diva2:1375828/FULLTEXT01.pdf

2021 ,DP

​​​​​​Full range adaptive cruise control_11311-822928_Alippi.pdf (polimi.it)

Full-range Adaptive Cruis...]]></description><category></category></item><item><title><![CDATA[ASIC/ARM/CPU/GPU 芯片算力估算]]></title><link>https://blog.youkuaiyun.com/chepwavege/article/details/121474383</link><guid>https://blog.youkuaiyun.com/chepwavege/article/details/121474383</guid><author>chepwavege</author><pubDate>Mon, 22 Nov 2021 16:31:52 +0800</pubDate><description><![CDATA[CPU 单片机，每个核心 MIPS=DMIPS 的算力。



DMIPS 解释：Instructions per second - Wikipedia

Dhrystone MIPS (Million Instructions Per Second)

芯片自身的算力能力测算程序：

​​​​​​Dhrystone howto - CDOT Wiki (senecacollege.ca)



如何估算程序/算法需要的算力需求：

可以在自己的PC上来跑程序：


const num_trials = 1]]></description><category></category></item></channel></rss>