I primarily use a Mac for my work, but since a I do a lot of robotics I have to switch over to Ubuntu to use ROS. Having a linux dual boot on a mac is doable and I have done it in the past (see instructions if you’re interested), but I just felt that giving up […]

Surprisingly there is no clear cut instruction anywhere. My questions was, if I tracked an image feature from the Kinect, how would I know its 3D position? I wanted to convert 2D pixel coordinates (u,v) to X,Y,Z from a point cloud that I got from kinect. I wrote a function to do it, I pass […]

Important note: Do not buy parts or equipment from Dabit Industries, they are extremely incompetent and will take ages to ship parts that will be incomplete and you’ll be left scratching your head. Our lab has had an extremely bad experience and I wholly recommend Clearpath robotics.  We have 2 first generation iRobot Create platforms […]

Following up from my previous post, I wanted to simulate an IRobot Create with a hokuyo laser mounted on it. I needed this to get my motion planning simulation up and running. 1. Follow the tutorial to get your create up and running in ROS/Gazebo. 2. If you downloaded the gazebo model repository from bitbucket, […]

For my research I needed to setup ROS to use ArUco so that I could track these ArUco markers placed randomly in the environment and localize my robot. Assuming that you have your catkin workspace setup, here are the steps: 1.  $cd ~/catkin_ws/src/ 2. $git clone https://github.com/pal-robotics/aruco_ros.git 3. $cd .. 4. $catkin_make install 5. $sudo apt-get […]