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@LotsOfCaffeine ROS works with C++, but I can choose what features I want (I think anything from 11 to 20). Deployment in robotics in normally in C++ and not python. The current python code is way too slow, and I am more experienced in optimizing in C/C++.
Yes, it's real-time as it's meant to navigate within human crowd. -
@NickyBones ah well that's fair, though I'm gonna be quite honest, I'm not too fond of all language features of modern C++.
The "C with classes" approach has some good things about it (except when it comes to collections).
I guess robotics means a lot of image processing? -
@LotsOfCaffeine Yes, we are on the perception side so Lidars and RGB-D cameras. But the next step in the pipeline is planning, and after that is arm manipulation which are also quite compute intense (and happily, not my problem).
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@LotsOfCaffeine I think we can leverage the inheritance to make it easier to switch between sensor and sensor model types, and for writing better interface between different groups working on the same project. This is a bit of a joint engineering project so we need the modularity.
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@NickyBones I see, sounds like a quite exciting project though
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@LotsOfCaffeine We had a meeting with the other uni groups regarding sensors, and it was obvious most of them are research people who never actually worked with hardware or did anything remotely sensible product-wise.
"Can we have a rotating head with a camera on?"
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@NickyBones rotating head with a camera on?
I mean, first of all, not a radar dish
Second of all, what? -
@Oktokolo It's 2D Lidars :) They are fairly small (about the size of a tea cup). You can see them placed diagonally from each other. The YouBot is also not big, but a bit heavy.
Related Rants
No questions asked
So I integrated the second Lidar, and did a small quantitative evaluation - the localization succeeded in 133 out of 135 scenarios.
The next step is to tentatively port all my python code to C++. So I started this today, and while I always hate on Python and say I like C++, porting all this code looks so damn painful....
rant
c++
python
ros
localization
cv
robotics