Multi-Machine ROS Topic Communication
Two Ubuntu systems (such as a desktop PC and a robot), connected via Ethernet cable, sharing ROS nodes.
Blog
Notes on robotics, vision, and systems.
Cloudflare R2 Personal Image Hosting
I previously used Alibaba Cloud OSS for personal image hosting, but as the number of posts and images grew and site traffic increased, image-hosting bandwidth also rose and costs kept climbing. So I looked for another platform and found that Cloudflare R2 can provide 10 GB of storage and 10 million free read requests per month.
Getting Started with Apple Vision Pro Development
This article documents the complete process for setting up an Apple Vision Pro development environment, covering physical-device debugging with Xcode, Unity + PolySpatial configuration, Play to Device streaming, app packaging, and basic concepts such as visionOS space types and Volume Camera.
Isaac Sim Robotic Arm Inverse Kinematics Control
Methods for implementing Cartesian-space control (inverse kinematics) in Isaac Sim.
Visualizing URDF Models with ROS2 and Rviz2
Visualize URDF files with ROS2 and Rviz2, with an example package and a complete modification tutorial.
Summary of Basic ROS 2 Commands
I recently installed version 22.04 of Ubuntu and ROS 2 Humble on a new computer. To keep up with the times, I learned the new ROS 2 commands and summarized them here for easy reference.
Create a More Efficient Shell Environment with Zsh
Zsh is fully compatible with Bash, supports intelligent command completion, offers a wide range of UI themes and plugins, and greatly improves both efficiency and aesthetics.
Introduction to Using the Isaac Sim Simulation Environment
An introduction to the NVIDIA Isaac Sim simulation environment, covering installation, the GUI, and basic usage of Python programs.
Setting Up Scheduled Tasks on Ubuntu
Certain needs, such as restarting a task at scheduled times, publishing blog updates on a schedule, or regularly backing up files, require certain tasks to be run on a schedule.
Assigning a Fixed USB Device Port Name in Ubuntu (ttyUSB0->Custom Name)
Assign stable, custom device names (such as /dev/gripper) to USB-to-serial devices on Ubuntu