Thomas Jespersen

libvtkproj4-6.2.so.6.2.0 - Compile issues on Ubuntu 16.04 with Kinetic

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Hi. I am having some compile issues related to `libvtkproj4-6.2.so.6.2.0` not found. This usually has something to do with the PCL library, so I have removed the IO module and...

USB problems on Jetson TX2 when using both D435 and T265

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Hi. I am currently trying to set up both the D435 and T265 on a Jetson TX2 platform with JetPack 4.4.1 (Ubuntu 18.04 with ROS Melodic). I have connected both...

Performance considerations - using TensorRT?

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It seems like you are not using TensorRT for inference? Wouldn't you be able to get better performance by using TensorRT rather than Keras for inference? What is the current...

'T265 SLAM_ERROR Speed' resulting in failure mode and unresponsible device

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| Required Info | | |---------------------------------|------------------------------------------- | | Camera Model | T265 | | Firmware Version | 0.2.0.926 | | Operating System & Version | Ubuntu 18.04 | | Kernel...

The steady state LQR torque computed at: https://github.com/mindThomas/Kugle-Embedded/blob/master/KugleFirmware/Libraries/Modules/Controllers/LQR/LQR.cpp#L194-L221 is computed differently than what was derived in the report and implemented in the MATLAB and Simulink script: https://github.com/mindThomas/Kugle-MATLAB/tree/master/Controllers/BalanceLQR

The comment at line: https://github.com/mindThomas/Kugle-Embedded/blob/master/KugleFirmware/Libraries/Modules/Parameters/Parameters.h#L122-L123 is incorrect, since the gains relates to the error dynamics involving quaternion error and angular velocity error, not quaternion derivative error.

Robot mass is way too low: https://github.com/mindThomas/Kugle-Embedded/blob/master/KugleFirmware/Libraries/Modules/Parameters/Parameters.h#L320-L323 Parameters should be: Mb = 14.31 + 1.844 = 16.154 Jbx = 4.1612 Jby = 4.1727 Jbz = 0.1003