Playing with CadQuery

Keywords: #Ros2 #KIWI #OpenScad #Cadquery
In the last post, I mentioned I was having reservations about OpenScad, and its suitability as CAD software for KIWI. The primary source of these reservations was simply that after making only minor headway, each operation had become so tedious. Simple things like a bracket for a servo was becoming far too much trial and error for my liking. Initially, I thought I’d be able to simply take some measurements of my part before I begin modelling, save them as variables “servo_width, servo_height” or something similar, then use these dimensions to define our extrusions/cuts for the servo mounts.

Interaction Improvements

Keywords: #Ros2 #ORNIS #TUI
One of the earliest requirements I laid out for ORNIS was the ability to send/recieve service calls. While the ‘ros2 service’ interface may be convenient, it is cumbersome to say the least. I have had countless issues with attempting to fill out larger service requests via the CLI, only to accidently mess up the indentation. The resulting failure to request always strikes a nerve. Ironically, my initial implementation of the service interaction had the exact same issue.

Bringing Kiwi to Sim

Keywords: #Ros2 #KIWI #Gazebo #Docker #OpenScad
In our last post, we blocked out a primitive 3d model of our inverted pendulum. From here, the next step is to get the basic mesh into Gazebo, to allow us to begin testing in simulation. From Zero to Gazebo I suspect that everyone who has ever used ROS has had to deal with the horror of building/installing ROS. It can become a serious pain, and you wouldn’t believe the number of hours I’ve had to spend in the past dealing with missing/incorrect dependencies, or the source code refusing to compile.

Topic Plotting

Keywords: #Ros2 #ORNIS #TUI
TUI’s have been around for years (Understatement). There is a strong precedent for them, with plenty of examples showcasing what makes for a great piece of software. I’ve always admired how much `prettiness' a developer can achieve using simple symbols and glyphs. I really do feel that the limitations and constraints really force one to be creative and mindful of the medium in order to get something that is enjoyable to look at.