Abdur Rosyid's Blog
Just a few notes on mechanical engineering and robotics
If you want to contribute to someone’s repo on Github, you can suggest your modification to the repo’s code by creating a Pull Request (PR). Before modifying the code, it is a recommended practice to fork the original code to your own Github account and subsequently make a new branch of the repo in which …
Git is a version control. Using Git, you can track the changes you make to your codes. In other words, it can save multiple versions of your codes while you are developing them. A Git repository, or repo for short, is what you track and save using Git. It is physically a tracked folder. A …
I have asked Gemini about Conda vs Docker. This is my simple question: “Should I use conda or docker?”. And below is Gemini’s answer: The choice between Conda and Docker depends on your specific needs and the scope of your project. They address different, though sometimes overlapping, problems. In many cases, they can even be …
Imagine you find an older project that depends on an older version of Pyhton 2.7, but many of your other tools depend on Python 3.6. Here, environments are one solution to the problem. You can create multiple projects with different dependencies in isolated environments. This is one reason you use Conda. Other reasons include the …
This is a method to make sure that a recommended driver of your NVIDIA GPU is installed in your Ubuntu computer: Step 1: Check for NVIDIA GPU availability and driver information:nvidia-smi If this command returns the driver information of your NVIDIA GPU, you can skip the next steps. Step 2:Check for Existing NVIDIA Drivers: If …
There are so many articles and tutorials (both in text and videos) on Docker beyond its official documentation. So, I think it’s a waste of time to write detailed articles on that; it would be reinventing the wheels. Hence, I just write this to serve as a cheat sheet on Docker, at least for myself, …
In 2019, I developed a node in Python to tele-operate a 1-DOF on-off gripper by using Logitech gamepad. What I mean by 1-DOF on-off gripper is a gripper having just two binary states: attaching and detaching, or closed and open. This can be, for example, a magnetic gripper, a vacuum gripper, or a 1-DOF binary …
In 2019, I developed a node in C++ to tele-operate a UR robotic arm by using Logitech gamepad. I developed the node by modifying from teleop_ur node authored by Kevin Watts at Willow Garage, Inc. This node converts the joystick commands on /joy to commands to the UR arm. The tele-operation is performed at the …
According to the official documentation, the “explore_lite” package provides greedy frontier-based exploration. When the node is running, robot will greedily explore its environment until no frontiers could be found. Movement commands will be sent to move_base. A tutorial on using this package with Husarion’s Rosbot can be found here: https://husarion.com/tutorials/ros-tutorials/8-unknown-environment-exploration. In order to perform GMapping …
In another post, we perform GMapping SLAM while we tele-operate a robot. Now in this post we are going to perform GMapping autonomously. This is done by using frontier_exploration package. Here are some links about this approach: Original paper: http://www.robotfrontier.com/papers/cira97.pdf ROS Wiki page: http://wiki.ros.org/frontier_exploration Github link: https://github.com/paulbovbel/frontier_exploration Frontier exploration using Husky: https://www.clearpathrobotics.com/assets/guides/melodic/husky/HuskyFrontiers.html Frontier expolartion using …