sharing thoughts and ideas in the coding universe!
Sometimes you need to clean up the task by performing a final step before the node closes. For example, when we have a hardware interface and send move commands to the wheelbase, we need to send 0 velocities after the termination of the spinning while loop to stop the robot. In python and more specifically
Continue reading how to perform a final task before a ROS node shuts down
Virtual functions and the magic of calling the correct version at run time, correct? How does it work? This is just a very draft explanation and by no means an extended detailed one. So, the compiler converts the name of the virtual function into an index into a table of pointers, which is called the
Doxygen is the de facto standard tool for generating documentation from annotated C++ sources, but it also supports other popular programming languages (we want Python as well). As in every other software tool, the best way to learn it is starting to use it in your everyday life. There are many examples and tutorials online.
Before dive in the exciting world of real-time operating systems, we need to understand the basic terminology. What is latency? The time elasped between a demand issued on a computer system and the begining of a response to the same demand is called latency or response time. Kinds of latencies: Interrupt Latency: The time elapsed
Many times, many people get confused about the difference. I was looking to set up a TCP server using Boost (of course). There is a tutorial by Mahreen Tahir saying that: But what if there are more than one clients trying to connect to the server? In case we don’t want our main program to
What more exciting than using individual threads in your programs. In multi-core systems and even in micro-controllers where you want multi tasks with different priorities, threads come to the rescue. Boost for C++ is a valuable asset. I searched for related info and tutorials and I found a very nice series published in http://antonym.org/ More
This another tutorial of how using command handlers and multithreading. In short, we have a thread that listens for messages and prints the pid and the content value. To send the message we use a shell script by using the command handle mechanism. The code looks like: In order to compile the code, you should
Continue reading Riot-OS: tutorial to use command handlers and multi threading
Learning is about experimenting. I have decided to start my experiments using Arduino M0 pro. As I explained in my previous post, it is relatively straightforward to build and flash the new firmware. However, in MO I noticed that two things: you need to have connected only one in the laptop and not both you
Exploring is the correct attitude in our field. So, I decided to play with riot os. It’s popular real time operating system for IoT which lots of nice feature. I can see a great potential in robotics too. You can also check the ROS2 RIOT package! First you need to download it using the
In recent Linux Kernels PEAK CAN USB adapter works natively without the need of installing PEAK drivers. As the manufacturer says: Since kernel version 3.6, the netdev interface with all of the PEAK-System PC CAN interfaces is natively included in the mainline kernel. So, there is no need to install the PCAN driver for Linux