Setting up LUKS + LVM on a UEFI laptop
Author: lukomski
PS5 camera on Linux
At last a Playstation camera that does not require soldering custom cables – comes with USB 3.0!
Change KDE Plasma language back to english
Quick fix for Plasma changing whole language to the same as in regional settings.
MicroPython on STM32 – old Nucleo STM32-F401RE and STM32F4DISC with F407VG
As the title says – the sheer hilarity of trying to have fun with uPython on Nucleo.
Slackware – docker + nvidia
TL;DR 1. grab Slackbuild 2. as root: source /etc/profile.d/go.sh ./docker.SlackBuild docker run Mods necessary to jump with the current Slackbuild to a 19.03.5: version githash install -D -m 0755 $(readlink -f bundles/latest/dynbinary-daemon/dockerd) $PKG/usr/bin/dockerd install -D -m 0755 $(readlink -f bundles/dynbinary-daemon/dockerd) $PKG/usr/bin/dockerd If you encounter: … docker-ce-19.03.5/components/packaging/static/ docker-ce-19.03.5/components/packaging/static/Makefile docker-ce-19.03.5/components/packaging/static/gen-static-ver docker-ce-19.03.5/components/packaging/static/hash_files docker-ce-19.03.5/components/packaging/static/scripts/ docker-ce-19.03.5/components/packaging/static/scripts/build-cli-plugins docker-ce-19.03.5/components/packaging/systemd/ docker-ce-19.03.5/components/packaging/systemd/docker.service docker-ce-19.03.5/components/packaging/systemd/docker.socket Removing…
WSL Ubuntu 20.04 and export DISPLAY
I have to work with WSL on Windows 10. Don’t judge me.
Functions and figures in Matlab
This is a funny one – how to make a Matlab figure do some stuff on-demand with key presses and GUI elements.
A Quick and Dirty Guide to PyQt5
A Quick and Dirty Guide to PyQt5 So far I have seen a lot of guides that introduce the PyQt5 as the saviour of humanity, the holy hand grenade of all the GUIs out there, but I have not yet seen a guide where… well, you start with a basic stuff. Where you abuse the…
Intel Realsense d435i + qemu virtual machine
It works. Just remember about forwarding with a proper xhci host.
ROS Melodic on Slackware 14.2 – adventure continues!
So yesterday I wanted to post my notes from around October on how to install ROS Melodic on a Slackware 64bit system – yes, I’m boring, but honestly I like compiling ROS. It’s like an unhealthy, nerve-wrecking, time-consuming addiction that makes you smile in the end just for this one minute and it’s all worth…
Designing compound planetary gearboxes in OpenSCAD
During my recent works with SEA (Series Elastic Actuators) I was using motors with gearboxes and was happy – as happy as a researcher can be in that scenario. So not very much. All my gearboxes are scrapped from different servos, be it small 9g 1$ blue servo (SG-90) or a “slightly” more expensive Dynamixel…
OptiTrack Motion Capture in ROS – rigid bodies and 3D points
This is one of the older things I did, but did not have enough time to make it into a post. So: the aim is to get a working stream of data from OptiTrack system into ROS Kinetic. A small catch: get individual points as well as rigid bodies.
SARAH – Screwless (Almost) Robotic Anthropomorphic Hand
A bit of honesty – I made this project by accident. True story.
Jekyll install and htaccess for old WordPress links
Just notes on installing jekyll, because I keep forgetting how.
[NotesToMyself] ROS client-server on different machines
assume that 192.168.0.100 is the server and 192.168.0.153 is the client with Matlab console on the server: export ROS_IP=192.168.0.100 export ROS_MASTER_URI=http://192.168.0.100:11311 roscore (and same with rosrun turtlesim turtlesim_node on another console) matlab: setenv(‘ROS_MASTER_URI’,’http://192.168.0.100:11311′) setenv(‘ROS_IP’,’192.168.0.153′) rosinit robotctrl = rospublisher( ‘/turtle1/cmd_vel’ ) robotpose = rossubscriber( ‘/turtle1/pose’ ) twist = rosmessage(robotctrl.MessageType) twist.Linear.X = 1 send(robotctrl,twist) pause(0.1) state =…
[Fail] IOMMU and VFIO GPU Passthrough on a HP Zbook 14 laptop with dual graphics
(RAW, unedited dump of my notes that ends in a glorious failure) Goals for today: IOMMU groups on Zbook 14 G1 + Slackware 14.2 GPU passthrough for a second graphics card (some kind of a Radeon) (maybe) Looking Glass to copy framebuffer to the Intel GPU
Matlab R2017b – the MATLABWindow issue
I almost forgot, while discussing libpam last time, that the top reason for Matlab R2017b crashing in flames and destruction on Slackware 14.2 is actually MATLABWindow (and the Chromium underneath) that are causing problems. Solution? As always, cheat with libraries.
Matlab R2017b + Slackware 14.2 = libpam.so.0 missing
Installing newer versions of Matlab on not-PAM-ified linux requires supplying libpam.so.0 somewhere.
New robot for teaching… a 3D delta printer
So, lately during the summer I wanted to have some new robots for the students to work on. You know, some motors, couple of sensors, built-in Arduino-like electronics, that kinda stuff. And after about a week of searching I found a perfect robot … a 3D printer.
Wii Whiteboard test = NEC projector + Wii Remote + Linux
Just a first trial of using python-whiteboard with a stock Wii Remote (those things run on bluetooth) and a screen projector on a wall. As an infrared pen – a TV remote.
Partial disassembly of the Tiertime Up Plus 2
(sarcasm warning) Due to a recent massive surge of interest in the blog and the sheer terror of somebody actually reading it (yes, I’m looking at you Ola and Gosia), here we go with a rather pointless post – a quick autops… I mean, precise dissection of a 3D printer – Tiertime / PP3DP Up…
Rant: roscore + rviz + 64bit – strange error in librviz_default_plugin.so
Today I encountered a strangest error of them all. A missing library that exists. A library that noone calls. Noone requires. Noone depends on it. Noone mentions in their src. Yet when you remove it, the program breaks. How, on the deepest ponds of hell I ask, how?! Cherry on the top: it is missing…
ROS packages for Slackware 14.2 and serious p— in the a…bdomen-related orifices
Since as of today nobody has packaged the ROS into Slackware packages, time to do it! And invent new curse-words that shall be timeless as the invention of flugelhorn itself.
Working with AS5048a on Arduino with Matlab plots
Goal: postprocess what absolute magnetic angle measurement sensor (woah) AS5048a returns with Matlab in order to see plots and make animations. First result: what in the name of valhalla is the Matlab serial doing?! Second result: works.
Crazyflie on Slackware 14.2
The adventures with the Crazyflie on Linux Slackware 14.2 begins! … with troubles 🙂 The goal is to get it going with Python, then with Matlab, then with Simulink, then with a mount that will bind it nicely to the ground with 3DOF gimbal. Let’s start with drivers and Python.
Fixing problems with Matlab + serial connection + fprintf + string variables
So, last night I had a problem with a simple walking quadruped robot. The whole problem circles the differences between: fprintf( robot, ‘250 250\n’) fprintf( robot, test1) fprintf( robot, ‘%s’, test1)
Using mouse for control in Matlab
So, it basically boils down to an old problem: how do I get some user-controlled inputs in Matlab? Keyboard handling in real-time is basically nonexistant, joystick is alright, but the most easy way to get some input and freedom of controlling things is – to poll the mouse position. Spoiler alert: xy = get( 0,…
Quick Matlab guide to the unicycle control
Let’s get going with a short series of tutorials dedicated to nonlinear control examples with Matlab/Octave implementation. First to go: unicycle.
Git tutorial
Good one for working with github: http://rogerdudler.github.io/git-guide/
Beautiful plots in Latex
Quick links: https://github.com/matlab2tikz/matlab2tikz – Matlab to TikZ (Latex graphics) conversion tool for plots https://www.sharelatex.com/learn/TikZ_package – TikZ documentation – general graphics https://www.sharelatex.com/learn/Pgfplots_package – Pgfplots documentation – plotting tool inside Latex Modifications and examples below.
Plot names in Matlab – using the ‘Tag’ property
Did you know you can tag the plots in Matlab for easier searching? Because I fuckin’ didn’t. Why so brutal? Well, after 6 years of writing your PhD in Matlab you CAN become furious when you realise instead of keeping the links to the currently opened plots in a global variables and different lists you…
Planar biped robot – Matlab control of a Bioloid walking robot
This one is a simple experiment done to test if the Dynamixel motor in an open loop (no internal PID) are fast enough when controlled by Matlab/USB-serial so that a HZD-based method will work.
Matlab interface for Dynamixel motors and Bioloid robot
This is an old one, but is working quite nice and should be still useful for working with Dynamixel motor (AX-12+, AX-12A). The goal was to have a nice toolbox used for direct control of Dynamixel motors using USB2Dynamixel or any other USB-Serial (half-duplex, ~1Mbps) adapter.
YUI – Yet-another Unicycle Interface, esp8266 + lua, nodemcu + matlab
This is an old one – a simple two-wheeled robot (unicycle) based on microcontroller esp8266 (with internal Wifi, in a stamp-like footprint, cool!), two servos, battery and with Matlab connectivity. How it works? Youtube:
YARP, iCub + Matlab
All hail the mighty Matlab! … when it works Ok, YARP and iCub-main are up and working, time for the jewel in the crown of every applied math-robotisct… robosicis… robotics mathematician: Matlab
YARP, iCub on Slackware 14.2
Time for iCub! … shit. According to the icub manual: CREATE_OPTIONAL_CARRIERS, set to ON ENABLE_yarpcar_bayer_carrier, set to ON ok, back to yarp/build/ make uninstall cd .. && mkdir build2 && cd build2 cmake -DCREATE_GUIS=on -DCREATE_LIB_MATH=on -DCREATE_OPTIONAL_CARRIERS=on -DENABLE_yarpcar_bayer_carrier=on ../ make -j4 make install Done, what now? Clone the repo, cmake: cmake -DCMAKE_BUILD_TYPE=Release -DENABLE_icubmod_cartesiancontrollerclient=on -DENABLE_icubmod_cartesiancontrollerserver=on -DENABLE_icubmod_gazecontrollerclient=on ../…
locate database
Just a quick reminder to myself how to update the locate database: /usr/bin/updatedb -c /etc/updatedb.conf
YARP install on Slackware 14.2
And now it’s time for YARP! First fetch ACE from the official website and read the ACE_INSTALL.html inside the .tar.gz. Oh, it’s a lengthy and not-so-easy one. Step by step:
ROS Kinetic on Slackware 14.2
And this will actually result in: working Gazebo working rviz, rqt working roscore Not bad? So, let us go:
ROS Kinetic on Slackware 14.1
Ok, what I am showing here is VERY experimental and is a sketch of how I got to the point of a working ROS on a Slackware … 14.2, because of cmake mainly.