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RSS订阅原创 VSCode, Clangd, clang-tidy, Cuda
settings.json"clangd.arguments": [ "--background-index", "--compile-commands-dir=build", //compile_command.json相对路径，cmake默认生成在build，自行配置 // "-j=16", "--all-scopes-completion", "--completion-style=detailed", "--header-insertion=iwyu
2023-10-30 17:56:50
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原创 Cityscape训练Yolov5
1.Cityscapes目标检测标注转YOLO格式参考： https://blog.youkuaiyun.com/Shenpibaipao/article/details/111240711数据集下载：https://www.cityscapes-dataset.com/downloads/下载leftImg8bit_trainvaltest.zip 和 gtFine_trainvaltest.zip ，创建文件夹cityscape，解压到cityscape放成如下的格式：─ cityscape── getf
2022-03-06 16:44:43
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原创 PX4 PID调试指南
本文仅供参考，如有困惑的参阅官方文档Multicopter PID Tuning Guide (Manual/Advanced): https://docs.px4.io/master/en/config_mc/pid_tuning_guide_multicopter.html提示：All gains should be increased very slowly as large gains may cause dangerous oscillations! Typically increase
2022-01-17 12:08:39
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原创 Ubuntu 无wifi 蓝牙 驱动
https://www.freesion.com/article/8646799547/查看UBUNTU内核版本（一般需要升级）uname -sr升级内核对应 Intel Wi-fi 6 AX201 160MHz 需要5.2+，这里我下载了5.4版本的，一共需要下载四个文件下载网址：http://kernel.ubuntu.com/~kernel-ppa/mainline/安装新版本内核sudo dpkg -i *.deb安装完成后需要重启，再次查看内核版本是否满足需求下载驱动网址：
2021-12-24 09:50:56
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原创 pybind11
Clone packages cd lib git clone https://github.com/pybind/pybind11.gitCmakeList.txtadd_subdirectory(lib/pybind11)catkin_python_setup() # 需要setup.py# https://pybind11.readthedocs.io/en/stable/advanced/embedding.htmladd_library(segmentor_lib .
2021-12-06 23:56:39
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原创 Zotero 配置
ZotFile : https://github.com/jlegewie/zotfile/releaseszotero-better-bibtex:https://github.com/retorquere/zotero-better-bibtex/releasesabstract,month,langid,file,keywords,shorttitle
2021-11-30 11:24:05
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原创 Ubuntu GCC编译器升级
GCCversion: 10+for C++20Check GCC veriongcc --versionInstall/Upgrade：sudo apt install software-properties-commonsudo add-apt-repository ppa:ubuntu-toolchain-r/testsudo apt install gcc-11 g++-11指定优先级,用最新版,留个稳定版备用、sudo update-alternatives --instal
2021-11-24 11:09:00
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原创 PX4 Gazebo 安装运行教程
http://docs.px4.io/master/en/simulation/ros_interface.html前提此方法无论是否已经安装过ROS都适用，放心食用。安装环境下载脚本wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh运行脚本bash ubuntu_sim_ros_melodic.sh运行完之后会在目录生成一个catkin_ws工作
2021-05-04 21:22:54
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原创 PX4 Offboard模式调试指南
下载QGroundcontrolhttps://docs.qgroundcontrol.com/master/en/getting_started/quick_start.html飞控初始化配置按PX4基本配置指南走https://docs.px4.io/master/zh/config/firmware.html
2021-03-25 21:18:14
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原创 Kalibr进行IMU+相机的标定
环境：Ubuntu18.04Kalibr代码连接：https://github.com/ethz-asl/kalibr1.安装依赖ROSsudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-melodic-vision-opencv ros-melodic-image-transport-plugins ros
2021-03-22 11:04:43
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原创 Robust Initialization of Monocular Visual-Inertial Estimation on Aerial Robots
Robust Initialization of Monocular Visual-Inertial Estimation on Aerial RobotsVINS初始化论文详解I.Motivation单目相机在视觉系统应用中的短板尺度不确定性光照变化，弱纹理以及运动模糊等导致视觉跟踪丢失IMU作为视觉互补的传感器的好处恢复尺度，同时roll和pitch都可以直接获取可以帮助系统在高速飞行下有更好的稳定性，弥补视觉跟踪丢失等情况视觉惯导系统是一个非线性的系统，一个良好的初始值严重
2021-03-15 22:46:07
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原创 ROS：发布压缩格式图像
http://wiki.ros.org/image_transport使用image_transport发布图像节点会自动连同发布对应压缩节点<base_topic>/compressed (sensor_msgs/CompressedImage)image_transport教程：http://wiki.ros.org/image_transport/Tutorials若只是想在原节点上再多发布一个压缩节点可直接运行命令（要安装包ros-$ROS_DISTRO-image-transpo
2021-02-25 11:37:21
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原创 华为Atlas200DK环境配置指南(版本20.0.0)
官方参考文档https://support.huaweicloud.com/usermanual-A200dk_3000/atlas200dk_02_0024.html务必保证配置时版本(20.0.0)一致!!!配置开发环境(自己电脑)利用脚本快速配置https://gitee.com/ascend/tools/tree/master/faster_install/for_1.7x.0.0验证配置是否成功参考如下博文的例子进行验证https://blog.youkuaiyun.com/Hello_yes
2020-11-30 15:45:59
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原创 Online Safe Trajectory Generation For QuadrotorsUsing Fast Marching Method and Bernstein Basis Polyn
在线状态估计和环境感知，基于Fast Marching在速度场的路径搜索，利用Euclidean signed distance field(ESDF)优化轨迹时间分配，使用飞行走廊（flight corridor）来壁障，利用贝赛尔曲线生成有界高阶的轨迹，构造凸规划FAST MARCHING-BASED PATH SEARCHINGFast Marching MethodFast Marching Method由Level Set method发展而来level set （水平集）算法是什么？ -
2020-10-07 15:42:58
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原创 failed to open usb interface: 0, error: RS2_USB_STATUS_ACCESS
检查目录/etc/udev/rules.d/下是否有99-realsense-libusb.rules生成文件99-realsense-libusb.rules，复制内容如下，然后将文件移至/etc/udev/rules.d/下##Version=1.1### Device rules for Intel RealSense devices (R200, F200, SR300 LR200, ZR300, D400, L500, T200)SUBSYSTEMS=="usb", ATTRS{idVen
2020-10-07 09:43:24
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原创 symbol lookup error: /usr/local/lib/librealsense2.so.2.33: undefined symbol: libusb_get_port_numbers
报错如下realsense-viewer: symbol lookup error: /usr/lib/x86_64-linux-gnu/librealsense2.so.2.39: undefined symbol: libusb_get_port_numbers终端输入ldd /usr/bin/realsense-viewer | grep libusb显示 libusb-1.0.so.0 => /opt/mvIMPACT_Acquire/lib/x86_64/libusb-1.0.
2020-10-07 09:38:07
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原创 ROS：使用同一工作空间下不同包的头文件
例如：在B_package下使用A_package的头文件A_package的配置被引用的.h文件放在A_package/include/A_package/中CMakelist.txtcatkin_package( INCLUDE_DIRS include)include_directories( include ${catkin_INCLUDE_DIRS})add_library(A_function include/A_package/A_function.h sr
2020-08-07 18:14:00
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原创 PX4 ROS的Gazebo仿真环境编译
整理补充于https://zhuanlan.zhihu.com/p/91329291本教程将在Ubuntu 16.04上安装ROS Kinetic以及px4 toolchain由于ROS Kinetic上的gazebo7与px4 toolchain中的gazebo9不兼容,所以安装要特别注意考虑到可能已经安装过ros, 这里我们选择使用ubuntu_sim_common_deps.sh脚本, 该脚本不会安装gazebo,不然会将ros-kinetic中安装的gazebo7覆盖step1:新建脚本一
2020-08-03 23:54:34
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原创 Ubuntu20.04设置右键打开terminator
假设你已经安装好了terminator了安装nautilus-actions filemanager-actionssudo apt-get install nautilus-actions filemanager-actions运行filemanager-actionsfma-config-tool新建动作，配置如下命令下路径填入/usr/bin/terminator参数填入--working-directory=%d/%b左上角Filemanager…tool打开Prefe
2020-06-06 17:36:08
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原创 V-Rep/CoppeliaSim:Steeringwheel_Tutorial手把手教你制作舵轮底盘
https://github.com/jianhengLiu/CoppeliaSim_Steeringwheel_Tutorial文章目录V-Rep舵轮教程0.概述1.安装2.创建基体（躯干）2.1.生成立方体2.2.移动3.创建舵轮3.1.创建转轴3.1.1.生成圆3.1.2.移动物体3.2.创建轮子3.2.1.生成圆柱3.2.2.快速移动物体3.2.3.旋转圆柱3.3.配置参数4.转动关节4.1.创建转向电机4.2.创建动力电机4.3.组装舵轮4.4.配置转动关节4.5.复制舵轮5.创建视觉传感器6.
2020-05-22 15:51:13
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原创 Apriltag：在Coppeliasim中无法通过视觉传感器/摄像头识别tag
原因在于Coppeliasim输出的图像时关于y轴镜像的，所以导致Apriltag无法识别可以在视觉传感器的脚本使用simVision插件进行镜像function sysCall_init() -- Get some handles: activeVisionSensor=sim.getObjectHandle('Vision_sensor') visionSenso...
2020-04-12 22:28:45
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原创 Apriltag_ros: ERROR: Cannot load message class for [apriltag_ros/AprilTagDetectionArray].
>>rostopic echo /tag_detectionsERROR: Cannot load message class for [apriltag_ros/AprilTagDetectionArray]. Are your messages built?原因在与没有在bash中sourcesource devel_isolated/setup.zsh正常运行若想要在...
2020-04-12 22:23:39
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原创 CoppeliaSim:发布视觉传感器信息CameraInfo
http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html------ Generated by EmmyLua(https://github.com/EmmyLua)--- Created by chrisliu.--- DateTime: 2020/2/28 ??9:01---function sysCall_init...
2020-04-12 19:52:22
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原创 CoppeliaSim: 在ROS中使用仿真时间作为运行时间
https://forum.coppeliarobotics.com/viewtopic.php?f=7&t=179在lanuch文件中设置<param name="use_sim_time" value="true"/>设置该参数为真后，ROS TIME将一直为0直到订阅到节点/clock，并以/clock作为ROS TIME在仿真脚本中发布`/clock’主题fu...
2020-04-12 19:45:35
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原创 ROS：[rosrun] Found the following, but they're either not files, or not executable:
[rosrun] Couldn't find executable named tracker below /home/..[rosrun] Found the following, but they're either not files,[rosrun] or not executable:[rosrun] /home/..在 CMakeLists.txt中确保catkin_p...
2020-03-28 21:13:58
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原创 Eigen: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUME
使用eigen时要确保数据类型一致Eigen::Quaterniond quaternion(imu->orientation.w, imu->orientation.x, imu->orientation.y, imu->orientation.z);Eigen::Matrix3f rotation_matrix = quaternion.toRotationMatr...
2020-02-26 16:02:37
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原创 eigen 中四元数、欧拉角、旋转矩阵、旋转向量
转自：https://www.cnblogs.com/lovebay/p/11215028.html一、旋转向量1.0 初始化旋转向量：旋转角为alpha，旋转轴为(x,y,z)Eigen::AngleAxisd rotation_vector(alpha,Vector3d(x,y,z))1.1 旋转向量转旋转矩阵Eigen::Matrix3d rotation_matrix;rota...
2020-02-25 23:14:31
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原创 ubuntu 16.04 + eigen3 安装（解决 fatal error: Eigen/Core: No such file or directory）
转自：https://www.cnblogs.com/dinghongkai/p/11308805.html安装sudo apt-get install libeigen3-dev解决 fatal error: Eigen/Core: No such file or directory当调用 eigen 库时，会报错：fatal error: Eigen/Core: No such...
2020-02-25 23:11:33
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原创 Ubuntu安装opencv4.2.0和opencv-contrib4.2.0记录
安装过程：https://blog.youkuaiyun.com/youlinhuanyan/article/details/104109599?utm_source=distribute.pc_relevant.none-taskippicv_2019_lnx_intel64_general_20180723.tgz这个文件的快速提取方法https://blog.youkuaiyun.com/orDream/a...
2020-02-20 15:20:34
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原创 toCvCopy与toCvShare的区别
toCvCopy复制数据并返回复制数据地址指针/** * \brief Convert a sensor_msgs::Image message to an OpenCV-compatible CvImage, copying the * image data. * * \param source A shared_ptr to a sensor_msgs::Image messag...
2019-12-15 17:15:27
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原创 V-Rep:RosInterface
启用RosInterfacehttp://www.coppeliarobotics.com/helpFiles/en/rosTutorialIndigo.htm打开终端执行roscore启动vrep当在终端看到下列代码即表示成功加载RosInterface插件Plugin 'RosInterface': loading...Plugin 'RosInterface': load s...
2019-09-29 22:49:28
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原创 CoppeliaSim：视觉传感器的使用与属性参数
Vrep中有两种视觉传感器Orthographic projection-type: the field of view of orthographic projection-type vision sensors is rectangular. They are well suited for close-range infrared sensors, or laser range fin...
2019-09-26 11:34:51
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原创 OpenCV灰度图的直方图均衡
//// Created by chrisliu on 2019/9/22.//#include "ros/ros.h"#include <iostream>#include <opencv2/opencv.hpp>#include <algorithm>using namespace std;using namespace cv;int...
2019-09-24 16:21:46
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转载 ORBSLAM2中build_ros.sh编译问题解决
报错如下 /usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv' /usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: ...
2019-07-15 15:12:19
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原创 ROS：OpenCV canny边缘检测
#include <cv_bridge/cv_bridge.h>#include <image_transport/image_transport.h>#include <opencv2/opencv.hpp>#include <ros/ros.h>#include <sensor_msgs/image_encodings.h>...
2019-02-26 18:49:43
604
转载 ROS：OpenCV的常用头文件解释
1.#include&lt;cv_bridge/cv_bridge.h&gt;#include&lt;cv_bridge/cv_bridge.h&gt;cv_bridge类：这个类中提供的API主要功能是将图像从sensor_msgs/Image类型转化成cv::Mat类型。API：cv_bidge::CvImage类：cv_bridge中提供的数据结构，里面包括OpenCV中的cv::M...
2019-02-24 21:49:22
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原创 ROS初学订阅subscriber
官方示例#include "ros/ros.h"#include "std_msgs/String.h"void chatterCallback(const std_msgs::String::ConstPtr& msg){ ROS_INFO("I heard: [%s]", msg->data.c_str());}int main(int argc, char ...
2018-11-25 22:23:36
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