VictorLee ZhenshengLee

Debug ROS2 C++ node on VSCode (Ubuntu)

Description

This is a small tutorial on how to debug a ROS2 C++ node usign VSCode.

Requeriments

This implementation was done using:

Commit jupyter notebooks code to git and keep output locally

Add a filter to git config by running the following command in bash inside the repo:

git config filter.strip-notebook-output.clean 'jupyter nbconvert --ClearOutputPreprocessor.enabled=True --to=notebook --stdin --stdout --log-level=ERROR'

Create a .gitattributes file inside the directory with the notebooks
Add the following to that file:

Steps to create Textured Mesh from Point Cloud using Meshlab

Get your PointCloud into MeshLab

Import the pointcloud file in ".ply" file format in Meshlab. Before importing make sure you do some pre-processing / cleaning on point cloud so as to ease the process of meshing.

Point Cloud Simplification and Normals Computation

Next we need to reduce the number of point samples for smooth meshing.
- So go to Filters -> Point Set -> Point Cloud Simplification. Enter Number of samples circa 5% of original number of points. Make sure Best Sample Heuristic is checked.
After point cloud simplification, make sure to select Simplified point cloud in the Show Layer Dialog on the right hand side. If not visible, it can be opened by navigating to View -> Show Layer Dialog. Now we need to compute normals for point set.
So go to Filters -> Point Set -> Compute normals for point sets . Enter Neighbour num between 10 - 100. Initially try with 10 and

Docker Hub 镜像加速器

国内从 Docker Hub 拉取镜像有时会遇到困难，此时可以配置镜像加速器。

Dockerized 实践 https://github.com/y0ngb1n/dockerized

1️⃣ Docker daemon 配置代理（推荐）

参考 Docker daemon 配置代理

Effective Modern CMake

Getting Started

For a brief user-level introduction to CMake, watch C++ Weekly, Episode 78, Intro to CMake by Jason Turner. LLVM’s CMake Primer provides a good high-level introduction to the CMake syntax. Go read it now.

After that, watch Mathieu Ropert’s CppCon 2017 talk Using Modern CMake Patterns to Enforce a Good Modular Design (slides). It provides a thorough explanation of what modern CMake is and why it is so much better than “old school” CMake. The modular design ideas in this talk are based on the book [Large-Scale C++ Software Design](https://www.amazon.de/Large-Scale-Soft

How to add more to Git Bash on Windows

Git for Windows comes bundled with the "Git Bash" terminal which is incredibly handy for unix-like commands on a windows machine. It is missing a few standard linux utilities, but it is easy to add ones that have a windows binary available.

The basic idea is that C:\Program Files\Git\mingw64\ is your / directory according to Git Bash (note: depending on how you installed it, the directory might be different. from the start menu, right click on the Git Bash icon and open file location. It might be something like C:\Users\name\AppData\Local\Programs\Git, the mingw64 in this directory is your root. Find it by using pwd -W). If you go to that directory, you will find the typical linux root folder structure (bin, etc, lib and so on).

If you are missing a utility, such as wget, track down a binary for windows and copy the files to the corresponding directories. Sometimes the windows binary have funny prefixes, so

注意：本文内容适用于 Tmux 2.3 及以上的版本，但是绝大部分的特性低版本也都适用，鼠标支持、VI 模式、插件管理在低版本可能会与本文不兼容。

Tmux 快捷键 & 速查表 & 简明教程

启动新会话：

tmux [new -s 会话名 -n 窗口名]

恢复会话：

	# One liner
	wget --recursive --page-requisites --adjust-extension --span-hosts --convert-links --restrict-file-names=windows --domains yoursite.com --no-parent yoursite.com

	# Explained
	wget \
	--recursive \ # Download the whole site.
	--page-requisites \ # Get all assets/elements (CSS/JS/images).
	--adjust-extension \ # Save files with .html on the end.
	--span-hosts \ # Include necessary assets from offsite as well.
	--convert-links \ # Update links to still work in the static version.

	/*
	# Released under MIT License

	Copyright (c) 2017 insaneyilin.

	Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
	associated documentation files (the "Software"), to deal in the Software without restriction,
	including without limitation the rights to use, copy, modify, merge, publish, distribute,
	sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
	furnished to do so, subject to the following conditions:

	#include <thread>
	#include <chrono>
	#include <vector>
	#include <signal.h>
	#include <boost/asio.hpp>
	#include <boost/thread.hpp>

	namespace
	{
	bool keepGoing = true;