jhurliman’s gists

jhurliman / killgpu.sh

Created May 4, 2023 03:53

Shell alias to kill all processes using the GPU. Only for headless NVIDIA GPU machines!

alias killgpu='nvidia-smi --query-compute-apps=pid --format=csv,noheader | xargs --no-run-if-empty sudo kill'

jhurliman / rosbag2-benchmark-humble-nano2gb.csv

Created October 4, 2022 20:32

rosbag2 benchmark results - ROS2 Humble on NVIDIA Jetson Nano 2GB

We can make this file beautiful and searchable if this error is corrected: It looks like row 8 should actually have 9 columns, instead of 5 in line 7.

	messages,batch_size,plugin_config,name,avg_byte_throughput,max_arena_size,max_in_use_size,max_mmap_size,close_time
	large,small,mcap_default,messages=large;batch_size=small;plugin_config=mcap_default,360230333.3234964,999424,1677968,1007616,0.000673866
	large,small,mcap_nocrc,messages=large;batch_size=small;plugin_config=mcap_nocrc,360378541.6077541,1003520,1677456,1007616,0.000643136
	large,small,mcap_zstd,messages=large;batch_size=small;plugin_config=mcap_zstd,359844528.64106107,999424,1677280,1007616,0.000597093
	large,small,mcap_nochunking,messages=large;batch_size=small;plugin_config=mcap_nochunking,360667650.147003,999424,1677280,1007616,0.00059126
	large,small,sqlite_default,messages=large;batch_size=small;plugin_config=sqlite_default,335139326.56812894,1134592,2165904,0,0.000458133
	large,small,sqlite_resilient,messages=large;batch_size=small;plugin_config=sqlite_resilient,223319138.0299207,1134592,2161408,0,0.00205389
	large,medium,mcap_default,messages=large;batch_size=medium;plugin_config=mcap_default,359

jhurliman / rosbag2-benchmark-humble-tx2.csv

Created October 4, 2022 07:02

rosbag2 benchmark results - ROS2 Humble on NVIDIA Jetson TX2

We can make this file beautiful and searchable if this error is corrected: It looks like row 8 should actually have 9 columns, instead of 4 in line 7.

	messages,batch_size,plugin_config,name,avg_byte_throughput,max_arena_size,max_in_use_size,max_mmap_size,close_time
	large,small,mcap_default,messages=large;batch_size=small;plugin_config=mcap_default,198406545.84777477,999424,1896784,1007616,0.001389235
	large,small,mcap_nocrc,messages=large;batch_size=small;plugin_config=mcap_nocrc,198753701.76083803,999424,1895968,1007616,0.00135346
	large,small,mcap_zstd,messages=large;batch_size=small;plugin_config=mcap_zstd,196985836.29268298,999424,1896112,1007616,0.001433238
	large,small,mcap_nochunking,messages=large;batch_size=small;plugin_config=mcap_nochunking,195853825.78654373,999424,1896112,1007616,0.001555497
	large,small,sqlite_default,messages=large;batch_size=small;plugin_config=sqlite_default,232529684.43262097,1409024,2166544,0,0.000428092
	large,small,sqlite_resilient,messages=large;batch_size=small;plugin_config=sqlite_resilient,169399347.25798884,1404928,2161056,0,0.004874539
	large,medium,mcap_default,messages=large;batch_size=medium;plugin_config=mcap_defaul

jhurliman / WebGLCompute.ts

Created October 4, 2022 01:12

WebGL2 compute shaders using transform feedback

	/**
	* Matches against GLSL shader outputs.
	*/
	const VARYING_REGEX = /[^\w](?:varying\|out)\s+\w+\s+(\w+)\s*;/g

	/**
	* Adds line numbers to a string with an optional starting offset.
	*/
	const lineNumbers = (source: string, offset = 0): string => source.replace(/^/gm, () => `${offset++}:`)

jhurliman / LruCache.ts

Created September 28, 2022 20:55

LRU cache in TypeScript

	class LruCache<T> {
	private values = new Map<string, T>();

	constructor(private maxEntries = 10) {}

	public get(key: string): T \| undefined {
	const entry = this.values.get(key);
	if (entry != undefined) {
	this.values.delete(key);
	this.values.set(key, entry);

jhurliman / ros2-galactic-src.Dockerfile

Created September 13, 2022 16:51

Build ROS2 Galactic from source in an Ubuntu 20.04 container

	FROM ubuntu:focal

	ARG USER=jhurliman
	ARG BASE_DIR=/home/$USER/Documents/Code/ros2/ros2_galactic

	SHELL ["/bin/bash", "-c"]
	ENV DEBIAN_FRONTEND noninteractive

	RUN apt-get update && apt-get install -y locales
	RUN locale-gen en_US en_US.UTF-8

jhurliman / SettingsManager.ts

Last active June 16, 2022 19:29

Foxglove Studio high-level settings API

	// This Source Code Form is subject to the terms of the Mozilla Public
	// License, v2.0. If a copy of the MPL was not distributed with this
	// file, You can obtain one at http://mozilla.org/MPL/2.0/

	import { produce } from "immer";

	import {
	SettingsTreeAction,
	SettingsTreeNode,
	SettingsTreeRoots,

jhurliman / Dockerfile

Last active May 9, 2022 23:20

Build depthai-ros from source (OAK-D Luxonis DepthAI)

	FROM ros:noetic-ros-core-focal

	# Install dependencies for depthai, ros, and build
	RUN apt-get update && apt-get install -y \
	build-essential \
	cmake \
	git \
	libjpeg-dev \
	libopencv-dev \
	libpng-dev \

jhurliman / IndexedInstancedMesh.ts

Created March 17, 2022 00:44

Extends THREE.js InstancedMesh with the ability to reference instances by a string key and add/remove instances with dynamic buffer resizing

	import * as THREE from "three";

	type UserData = { [key: string]: unknown };

	const INITIAL_SIZE = 4;

	const tempMat4 = new THREE.Matrix4();
	const tempColor = new THREE.Color();

	/**

jhurliman / ros2-topic-pub-examples.sh

Created March 7, 2022 22:37

ros2 topic pub examples

	# volatile, no history
	ros2 topic pub -r 0.5 --qos-durability volatile --qos-reliability reliable /chatter std_msgs/msg/String '{data: hello}'

	# transient_local, history of 5
	ros2 topic pub -r 0.5 --qos-durability transient_local --qos-reliability reliable --qos-depth 5 --qos-history keep_last /chatter std_msgs/msg/String '{data: hello}'

	# foxy compatible transient_local
	ros2 topic pub -r 0.5 --qos-durability transient_local --qos-reliability reliable /chatter std_msgs/msg/String '{data: hello}'

	# /tf_static

John Hurliman jhurliman