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原创 ROS学习笔记-2: 编写服务端与客户端

定义srv服务roscd beginner_tutorialsmkdir srvcd srvtouch AddTwoInts.srvrosed beginner_tutorials AddTwoInts.srv (使用rosed需要安装vim)srv文件分为请求和响应两部分，由'---‘分隔。在AddTwoInts.srv中输入代码：int64 Aint

2017-07-19 13:33:17 579

原创 ROS学习笔记-1: 构建工作空间-创建catkin包-编写发布器与订阅器

1.ROS文件系统介绍http://wiki.ros.org/cn/ROS/Tutorials/NavigatingTheFilesystem2.Installing catkinhttp://wiki.ros.org/catkin#Installing_catkin3.转书《ROS开源机器人控制基础》P25：2）catkin工作空间4.Creating a w

2017-07-18 17:36:31 789

转载 Tensorflow-2: 迁移学习程序编写

转载至：http://blog.csdn.net/nnnnnnnnnnnny/article/details/70244232 此例程出自《TensorFlow实战Google深度学习框架》6.5.2小节卷积神经网络迁移学习。数据集来自http://download.tensorflow.org/example_images/flower_photos.tgz ，及谷歌提供的Incep

2017-07-11 21:00:30 1639

原创 BlueROV-17: Install Python Virtual Environment & Github

1. Install Python Virtual Environment:http://liuzhijun.iteye.com/blog/1872241At a proper path(/home/pi/)Install:sudo apt-get install python-virtualenvBuild a new virtual environment named

2017-07-11 19:12:03 469

转载 Python实现决策树算法ID3

#coding=utf-8# 构造数据集def createDataSet(): dataSet = [[1,1,'yes'],[1,1,'yes'],[1,0,'no'],[0,1,'no'],[0,1,'no']] features = ['no surfacing','flippers'] return dataSet,features #

2017-07-04 17:23:01 336

原创 BlueROV-16: Solve the initialization problem

Group meeting: Reactive Control of Autonomous Drones.Bharath taught me how to debug a python project for the whole afternoon. Learned a lot!Try to solve the initialization problem by using:

2017-06-30 18:09:41 675

原创 BlueROV-14: Analysis of Communication Protocol MAVlink

1. The basic structure of APM codes:Basic knowledge: http://dev.ardupilot.com/wiki/learning-the-ardupilot-codebase/Description: http://dev.ardupilot.com/wiki/learning-ardupilot-introduction/

2017-06-05 14:23:36 813

原创 BlueROV-13: Configuring Parameters in QGroundControl

Everything is changed apart from THR_MIN, there is no such parameter in the qgroundcontrol at all. The only one similar is:Calibrate the radio using the joystick, and finish setting the flight

2017-05-24 18:03:36 561

原创 BlueROV-12: Install Raspbian and ssh Connection

We can change the arming check like this. The GPS/SINS/BARO integrated system can provide high dynamic and accuracy navigation for UAV flight.The battery is damaged because it is over-discharg

2017-05-21 15:25:46 441

原创 BlueROV-11: Full Flight Control and Mission Planning with QGroundControl

1. Pixhawk Initial Configuration using qgroundcontrol:http://dev.px4.io/starting-initial-config.htmlCalibrate the sensors first:Download the xbox 360 driver: http://www.tweaking4all.com/os-t

2017-05-15 17:52:33 821

原创 BlueROV-10: Mission Command

1. Mission Command Overview:There are three types of commands: NAVigation commands (MAV_CMD_NAV_*) are used to control vehicle movement, including takeoff, moving to and around waypoints, chan

2017-05-14 11:18:20 398

转载 Cocos Creator v1.5.0 内测版发布帖（5月5日更新 beta.3）

等了两个月，1.5版本终于出现了！Cocos Creator v1.5.0-beta.3 内测版发布：v1.5.0-beta.3.2 Mac 下载105v1.5.0-beta.3.2 Win 下载233v1.5.0-beta.3.2 文档下载143重点功能整合 box2d 物理引擎，请下载专用范例 Physics Example292 进行测试增加外部编

2017-05-12 12:52:33 696

原创 BlueROV-9: Driving Control

Home location:http://python.dronekit.io/guide/vehicle_state_and_parameters.htmlThe Home location isset when a vehicle first gets a good location fix from the GPS. The location isused as the targ

2017-05-12 12:29:36 1336

原创 BlueROV-8: Functions to Drive the Vehicle

Some functions like goto function or speed setting function are limited because they are GPS dependent. GPS is not available for an underwater robot. If I change the vehicle mode to "ALT_HOLD", the ar

2017-05-09 13:29:41 480

原创 BlueROV-7: Keep Learning Dronekit

The motors can spin now by using the following program:from dronekit import connect,VehicleModeimport sysimport time # Connect to UDP endpoint (andwait for default attributes to accumulate)

2017-05-07 13:12:02 941

原创 BlueROV-6: Quick Start of Dronekit and Connect Dronekit to the Vehicle

Quick Start of Dronekit(Simulator): http://python.dronekit.io/guide/quick_start.htmlsudo pip install dronekit or sudo -H pip install dronekitsudo pip install dronekit-sitl or sudo -H pip

2017-05-04 18:44:02 537

原创 Tensorflow-1: csv文件读写与分批训练

今天尝试了一下读写csv文件并使用tensorflow训练数据，很方便。程序训练的一个单隐藏层的网络，程序中所用到的m3c_data_train.csv和m3c_data_test.csv文件都是由17列若干行的数据组成，17列包括输入12列、输出4列和用来打乱数据用的随机列。# -*- coding: utf-8 -*-import tensorflow as tfimport nu

2017-04-29 22:28:23 6425 3

原创 BlueROV-5: Install APM Planner 2 on Rasberry Pi

Install APM Planner 2 on the rasberry pi systemhttp://plane.ardupilot.com/planner2/docs/installation-for-linux.htmlhttp://discuss.ardupilot.org/t/download-latest-apm-planner-2-0-20-and-other-r

2017-04-29 01:00:52 736

原创 BlueROV-4: DroneKit, MAVLink and Companion Computers

http://python.dronekit.io/About DroneKit:DroneKit-Pythonallows developers to create apps that run on an onboardcompanioncomputer and communicate with the ArduPilot flightcontroller using a low

2017-04-27 12:33:40 1269

原创 BlueROV-3: Fathom-S Tether Interface Board Set and Batteries

Fathom-S Tether Interface Board Set is for connecting the fathom and camera chip.https://www.bluerobotics.com/store/electronics/fathom-s-r1/ Finished this step:Searched the typ

2017-04-26 15:08:15 1083

原创 BlueROV-2: Basic ESC Documentation: Speed Controller

http://docs.bluerobotics.com/besc/Quick Start:Connect the three motor wires to the motor. The order of connections does not matter, however, switching any two wires will change the d

2017-04-25 11:34:04 778

原创 BlueROV-1: Meeting Notes and List of Things We Need

Two high level goals:Autonomy Autonomy with inertial tracking of the robotSpecifics:Figure out power supply for the thrustersUPS? Power supply for the electronicsAvoi

2017-04-25 11:27:32 575