John Vial
@johnvial.bsky.social
Small Robotics Tips For Beginners | get started at http://startcreatingrobots.com | PhD In Robotics
If you wanna just do robotics instead of docker stuff, you can try my free 5 day email course here:
https://startcreatingrobots.com
It uses docker, but you don't really have to know much besides just installing it and forget.
https://startcreatingrobots.com
It uses docker, but you don't really have to know much besides just installing it and forget.
Start Creating Robots in 5 Days
Signup for a 5 day email course to get yourself up and running with ROS
startcreatingrobots.com
May 20, 2025 at 2:13 AM
If you wanna just do robotics instead of docker stuff, you can try my free 5 day email course here:
https://startcreatingrobots.com
It uses docker, but you don't really have to know much besides just installing it and forget.
https://startcreatingrobots.com
It uses docker, but you don't really have to know much besides just installing it and forget.
But for docker running on Linux it's different.
The linux kernel is designed to allow docker style programs to run as efficiently as possible.
So a 10-15% performance loss for a big gain in reproducibility and control over your programs environment is worth it, especially in robotics.
The linux kernel is designed to allow docker style programs to run as efficiently as possible.
So a 10-15% performance loss for a big gain in reproducibility and control over your programs environment is worth it, especially in robotics.
May 20, 2025 at 2:13 AM
But for docker running on Linux it's different.
The linux kernel is designed to allow docker style programs to run as efficiently as possible.
So a 10-15% performance loss for a big gain in reproducibility and control over your programs environment is worth it, especially in robotics.
The linux kernel is designed to allow docker style programs to run as efficiently as possible.
So a 10-15% performance loss for a big gain in reproducibility and control over your programs environment is worth it, especially in robotics.
Now, that might sound like a lot, but it's nothing near what I thought it might be. A lot of people's mental models around docker are rooted in using virtual machines. Virtual machines need to simulate all the parts of the computer, and naturally are much slower.
May 20, 2025 at 2:13 AM
Now, that might sound like a lot, but it's nothing near what I thought it might be. A lot of people's mental models around docker are rooted in using virtual machines. Virtual machines need to simulate all the parts of the computer, and naturally are much slower.
https://github.com/johnny555/docker-benchmark
If your computer is anything like mine, you'll find that the difference between being inside of the container vs outside is around 10-15%.
If your computer is anything like mine, you'll find that the difference between being inside of the container vs outside is around 10-15%.
GitHub - johnny555/docker-benchmark
Contribute to johnny555/docker-benchmark development by creating an account on GitHub.
github.com
May 20, 2025 at 2:13 AM
https://github.com/johnny555/docker-benchmark
If your computer is anything like mine, you'll find that the difference between being inside of the container vs outside is around 10-15%.
If your computer is anything like mine, you'll find that the difference between being inside of the container vs outside is around 10-15%.
So if you're thinking about upgrading your old ROS 1 system to ROS 2, using an AI agent is probably a good idea.
I just did it for converting an old OLED driver node to ROS 2 for my Krytn robot, and it worked really well!
I just did it for converting an old OLED driver node to ROS 2 for my Krytn robot, and it worked really well!
May 6, 2025 at 9:22 AM
So if you're thinking about upgrading your old ROS 1 system to ROS 2, using an AI agent is probably a good idea.
I just did it for converting an old OLED driver node to ROS 2 for my Krytn robot, and it worked really well!
I just did it for converting an old OLED driver node to ROS 2 for my Krytn robot, and it worked really well!
So if you want to do something outlandish like start creating robots, here's a free email course I put together, just for you!
https://startcreatingrobots.com
https://startcreatingrobots.com
Start Creating Robots in 5 Days
Signup for a 5 day email course to get yourself up and running with ROS
startcreatingrobots.com
May 5, 2025 at 1:05 AM
So if you want to do something outlandish like start creating robots, here's a free email course I put together, just for you!
https://startcreatingrobots.com
https://startcreatingrobots.com
- Have a super computer in your pocket that entertains you on a whim.
- Can use robots so you don't have to wreck your body with physical labour your whole life.
- Can use robots so you don't have to wreck your body with physical labour your whole life.
May 5, 2025 at 1:05 AM
- Have a super computer in your pocket that entertains you on a whim.
- Can use robots so you don't have to wreck your body with physical labour your whole life.
- Can use robots so you don't have to wreck your body with physical labour your whole life.
You currently:
- Live much much longer than your ancestors.
- Have instant access to the entire human knowledge to this point.
- Have an AI assistant ready to explain it to you like you're 5 years old.
- Live much much longer than your ancestors.
- Have instant access to the entire human knowledge to this point.
- Have an AI assistant ready to explain it to you like you're 5 years old.
May 5, 2025 at 1:05 AM
You currently:
- Live much much longer than your ancestors.
- Have instant access to the entire human knowledge to this point.
- Have an AI assistant ready to explain it to you like you're 5 years old.
- Live much much longer than your ancestors.
- Have instant access to the entire human knowledge to this point.
- Have an AI assistant ready to explain it to you like you're 5 years old.
Imagine if you still had to fly out emergency staff to site because your humanoids stopped working.
April 29, 2025 at 2:19 AM
Imagine if you still had to fly out emergency staff to site because your humanoids stopped working.
But it takes more than a single demo to be willing to invest the hundreds of millions of dollars in a humanoid rollout. You'll want rigorous testing, and demonstration over hundreds of hours to be sure that the robot won't break at a critical moment.
April 29, 2025 at 2:19 AM
But it takes more than a single demo to be willing to invest the hundreds of millions of dollars in a humanoid rollout. You'll want rigorous testing, and demonstration over hundreds of hours to be sure that the robot won't break at a critical moment.
So far companies like Figure have demonstrated humanoids working in factory lines, companies like Agility robotics have them working in warehouses.
April 29, 2025 at 2:19 AM
So far companies like Figure have demonstrated humanoids working in factory lines, companies like Agility robotics have them working in warehouses.
That's the big promise I see with humanoid robots. They'll allow us to take people out of harms way and operate facilities completely unmanned, but not without operators.
April 29, 2025 at 2:19 AM
That's the big promise I see with humanoid robots. They'll allow us to take people out of harms way and operate facilities completely unmanned, but not without operators.
P.s. if you're interested in robotics, but don't quite understand what I'm talking about here, you might find my Free 5 Day email course quite useful.
It'll give you the background you need to get started quickly.
Check it out:
https://startcreatingrobots.com
It'll give you the background you need to get started quickly.
Check it out:
https://startcreatingrobots.com
Start Creating Robots in 5 Days
Signup for a 5 day email course to get yourself up and running with ROS
startcreatingrobots.com
April 15, 2025 at 12:00 AM
P.s. if you're interested in robotics, but don't quite understand what I'm talking about here, you might find my Free 5 Day email course quite useful.
It'll give you the background you need to get started quickly.
Check it out:
https://startcreatingrobots.com
It'll give you the background you need to get started quickly.
Check it out:
https://startcreatingrobots.com
Hopefully this helps someone out there struggling with getting their SO-ARM100 setup on MoveIt.
April 15, 2025 at 12:00 AM
Hopefully this helps someone out there struggling with getting their SO-ARM100 setup on MoveIt.
But after a lot of frustration I finally found a solution
The TRAC_IK plugin!
I just needed to change the kinematics.yaml file and you're good to go.
You can check out the docs here:
https://moveit.picknik.ai/humble/doc/examples/trac_ik/trac_ik_tutorial.html
The TRAC_IK plugin!
I just needed to change the kinematics.yaml file and you're good to go.
You can check out the docs here:
https://moveit.picknik.ai/humble/doc/examples/trac_ik/trac_ik_tutorial.html
TRAC-IK Kinematics Solver — MoveIt Documentation: Humble documentation
moveit.picknik.ai
April 15, 2025 at 12:00 AM
But after a lot of frustration I finally found a solution
The TRAC_IK plugin!
I just needed to change the kinematics.yaml file and you're good to go.
You can check out the docs here:
https://moveit.picknik.ai/humble/doc/examples/trac_ik/trac_ik_tutorial.html
The TRAC_IK plugin!
I just needed to change the kinematics.yaml file and you're good to go.
You can check out the docs here:
https://moveit.picknik.ai/humble/doc/examples/trac_ik/trac_ik_tutorial.html
This led to frustratingly cryptic error messages, the solver either failed to find a goal pose or failed to find a trajectory. But it wasn't clear what was causing this.
Did I have a configuration issue, was it a malformed message or something else.
Did I have a configuration issue, was it a malformed message or something else.
April 15, 2025 at 12:00 AM
This led to frustratingly cryptic error messages, the solver either failed to find a goal pose or failed to find a trajectory. But it wasn't clear what was causing this.
Did I have a configuration issue, was it a malformed message or something else.
Did I have a configuration issue, was it a malformed message or something else.
But the robot arm I was using (the SO-ARM100) had only 5 Degrees of freedom. This meant that there were many positions that were just not possible for the arm to position itself.
And I found that with MoveIT's the default Inverse Kinematic solver doesn't work that well.
And I found that with MoveIT's the default Inverse Kinematic solver doesn't work that well.
April 15, 2025 at 12:00 AM
But the robot arm I was using (the SO-ARM100) had only 5 Degrees of freedom. This meant that there were many positions that were just not possible for the arm to position itself.
And I found that with MoveIT's the default Inverse Kinematic solver doesn't work that well.
And I found that with MoveIT's the default Inverse Kinematic solver doesn't work that well.