CODERNER

Link https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html Creating a package — ROS 2 Documentation: Foxy documentation Inside ros2_ws/src/my_package, you will see the files and folders that ros2 pkg create automatically generated: CMakePython CMakeLists.txt include package.xml src my_node.cpp is inside the src directory. This is where all your cu..

종종 사전 학습된 딥러닝 모델을 불러와서 사용할 때 ckpt, pb, pth, pbtxt 등 다양한 확장자명을 볼 수 있는데 이중 .pb 확장자를 갖는 모델에 대한 글이다. .pb 파일이란? pb는 protocol buffer를 줄인 말로 protobuf라고도 부른다. 깊게 알 필요없이 pb는 데이터를 serialize하는 방식 중 하나인데 간단히 binary로 바꿔서 통신에 유리하도록 하는 방법이라고 보면 되겠다. 하나 기억해야 될 것은 serialize한 데이터의 구조도 같이 저장한다는 것이다. 위키피디아의 말을 빌리면 다음과 같이 설명하고 있다. Protocol Buffers (Protobuf) is a method of serializing structured data. It is useful i..

Link https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html Creating a workspace — ROS 2 Documentation: Foxy documentation Goal: Create a workspace and learn how to set up an overlay for development and testing. A workspace is a directory containing ROS 2 packages. Before using ROS 2, it’s necessary to source your ROS 2 installation worksp..

Link https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html Background colcon은 catkin_make, catkin_make_isolated, catkin_tool, ament_tools을 모아둔 build 도구 모음라고 생각하면 된다. (catkin이나 ament는 버드나무라는 뜻인데 ROS 개발자가 뒷뜰에 있는 버드나무를 보고 build 도구에 이름을 붙인 것일 뿐 특별한 뜻은 없다. 그냥 cmake, make 같은 build 도구라고 보면 되겠다.) Prerequisites Install colcon sudo apt install python3-colcon-common-extensio..

Link https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools/Recording-And-Playing-Back-Data/Recording-And-Playing-Back-Data.html Recording and playing back data — ROS 2 Documentation: Foxy documentation Note For users of ROS 2 Foxy who need a more performant version of rosbag2, please see the foxy-future branch of rosbag2. This is an officially-supported branch that is closer to the Galactic ..

Link https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools/Launching-Multiple-Nodes/Launching-Multiple-Nodes.html Launching nodes — ROS 2 Documentation: Foxy documentation Goal: Use a command line tool to launch multiple nodes at once. In most of the introductory tutorials, you have been opening new terminals for every new node you run. As you create more complex systems with more and more n..

Link https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools/Using-Rqt-Console/Using-Rqt-Console.html Using rqt_console to view logs — ROS 2 Documentation: Foxy documentation Goal: Get to know rqt_console, a tool for introspecting log messages. rqt_console is a GUI tool used to introspect log messages in ROS 2. Typically, log messages show up in your terminal. With rqt_console, you can collect..

Link https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Actions/Understanding-ROS2-Actions.html Understanding actions — ROS 2 Documentation: Foxy documentation You're reading the documentation for an older, but still supported, version of ROS 2. For information on the latest version, please have a look at Humble. Understanding actions Goal: Introspect actions in ROS 2. ..

Link https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Parameters/Understanding-ROS2-Parameters.html Understanding parameters — ROS 2 Documentation: Foxy documentation Goal: Learn how to get, set, save and reload parameters in ROS 2. A parameter is a configuration value of a node. You can think of parameters as node settings. A node can store parameters as integers, fl..

Link https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Services/Understanding-ROS2-Services.html Understanding services — ROS 2 Documentation: Foxy documentation Goal: Learn about services in ROS 2 using command line tools. docs.ros.org Background 서비스는 ROS graph에서 노드 간의 또 다른 소통 방식이다. 서비스는 기본적으로 call-and-response 모델 즉, 부르면 응답한다는 모델로 토픽 모델과는 차이가 있다. 토픽은 모든 노드들이 스트리밍되는 데이..