DEV Community: andac

Bridging Gazebo Harmonic and Ros Iron

andac — Thu, 14 Mar 2024 01:08:15 +0000

Environment

Gazebo Harmonic

Ros Iron (ros2)

Install Gazebo

https://gazebosim.org/docs/harmonic/install_ubuntu

sudo apt-get update
sudo apt-get install lsb-release wget gnupg

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-harmonic

Run Gazebo

https://gazebosim.org/docs

# Start gazebo sim
gz sim -v 4 -r visualize_lidar.sdf

# Test control
gz topic -e -t /model/vehicle_blue/cmd_vel

gz topic -t /model/vehicle_blue/cmd_vel -m gz.msgs.Twist -p "linear: { x: 0.1 }”

Install Ros gz bridge

ros topic: /model/vehicle_blue/cmd_vel, Type geometry_msgs/msg/Twist

gz topic: /model/vehicle_blue/cmd_vel, Type gz.msgs.Twist

sudo apt install ros-iron-ros-gzharmonic-bridge

ros2 run ros_gz_bridge parameter_bridge /model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist

# Test
ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/Twist "linear: { x: 0.1 }”

Install keyboard control

sudo apt install ros-iron-teleop-twist-keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/model/vehicle_blue/cmd_vel

Rviz

Lidar Data

ros2 run ros_gz_bridge parameter_bridge /lidar2@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan --ros-args -r /lidar2:=/laser_scan

ros2 run ros_gz_bridge parameter_bridge /model/vehicle_blue/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V --ros-args -r /model/vehicle_blue/tf:=/tf

Start rviz

rviz2

Global Options -> Fixed Frame to vehicle_blue/lidar_link/gpu_lidar

Reference

https://docs.ros.org/en/iron/Tutorials/Advanced/Simulators/Gazebo/Gazebo.html

Setting up OpenGL dev environment in Window

andac — Sun, 03 Mar 2024 14:00:00 +0000

Recently I have been interested in graphic programming. I read a few tutorials and have found opengl is where I should start.

So I start setting up the opengl dev environment, but its not easy since I am using window (and vscode)...

Preparation

GLFW
- Precompiled
- https://www.glfw.org/download.html
GLAD
- https://glad.dav1d.de/
Vscode C++
- https://code.visualstudio.com/docs/cpp/config-mingw#_prerequisites
- Compiler: MinGW-w64 via MSYS2
  - pacman -S --needed base-devel mingw-w64-ucrt-x86_64-toolchain
- C/C++ Extension
- https://medium.com/@vivekjha92/setup-opengl-with-vs-code-82852c653c43
- Restart Vscode if needed

Setting up

glfw lib

https://www.glfw.org/docs/latest/build_guide.html#build_link_mingw

Static (I am using this)
- libglfw3.a
For DLL version
- add #define GLFW_DLL in the first line of code
- use the libglfw3dll.a one in lib

vscode task.json arg

Make sure the flag order is correct

"args": [
        "-fdiagnostics-color=always",
        "-g",
        "${file}",
        "-o",
        "${fileDirname}\\${fileBasenameNoExtension}.exe",
        "src/glad.c",
        "-I./include",
        "-L./lib",
        "-lglfw3",
        "-lgdi32",
      ]

file structure

Now I think I can start learning opengl :)

Here some problems I encountered when figuring how to setup the environment

lglfw3 not found

make sure the file structure is correct

"undefined reference to `glfwTerminate'"

linker problem
so make sure the compiler flag and order are correct

std::cout not working after adding glfw related functions

probably linker problem also
check the compiler flag and file structure are all correct

Ref

https://learnopengl.com/

https://stackoverflow.com/questions/22623087/undefined-reference-errors-when-linking-glfw-on-mingw

Combo Memo WIP: Part 2 - Data Structure (Combo notation)

andac — Sun, 28 Jan 2024 11:23:12 +0000

After defining the scope of the project, the next step is to design the implementation and data structure.

Data Structure

mermaid graph

Game

GGST, SF6, Tekken

Character

Ram, Sol, Ky, May

Combo

combos for each character
f.S > 214P > 214P > dc > 623P

Move

Chaining moves in a combo 214 P, 236236 HS

Input

Individual input
2, 214, P, D, RC
I define input types directional and action here

Combo Notation

Combo notation is more complicated than I thought
c.S > 2H > 623P, c.S > jc, j.K > j.214S

You first have basic directional input and attack buttons

Down, Front, Back, etc... which = to 123456789
Attacks, and special mechanics, depending on the games
- P, K, HS, RC, ...

And then you have moves like dragon punch, quarter circle...

216, 236, ...

referring to dustloop, it also has different onditions

far, close
Charge
Delay
Cancel

> = Proceed from the previous move to the following move.
▷/land = Indicate that the player must land at that point in the sequence.
, = Link the previous move into the following move.
->/~ = Cancel the previous special into a follow-up special.
dl./delay = Delay the following move.
whiff/(whiff) = The move must whiff (not hit).
c. = Close
f. = Far
j. = Jumping/Aerial
hj./sj. = High Jump/Super Jump
jc = Jump Cancel
hjc/sjc = High Jump Cancel/Super Jump Cancel
dc/adc = Dash Cancel/Air Dash Cancel
CH = Counter Hit
AA = Anti-Air
IAS = Instant Air Special
[X] = Hold input.
]X[ = Release input.
(move) = Move is optional.
[X] or [Y] = Perform sequence X or Y.
[sequence] xN = Repeat sequence N amount of times.
(N) = Hit N of a move or move must deal N amount of hits.
IAD = Instant Air Dash
BRC = Blue Roman Cancel
RRC = Red Roman Cancel
PRC = Purple Roman Cancel
YRC = Yellow Roman Cancel
YYXRC = Dash Input X Roman Cancel in Y direction i.e: 22PRC
XRC~Q = Cancel the X Roman Cancel into Q i.e: RRC~5K
WS = Wall Stick/Wall Splat

Implementation

I decided to work on the combo string interpretation first and input class.

c.S > 2H > 623P, c.S > jc, j.K > j.214S

Parse Steps

Split the combo by >
Separate directional and moves input
- 216P -> 216 + P
Map each Input and render the icon

Difficulties

How to handle 216216HS -> 216 + 216 + HS
- As there are two directional Inputs
j.S, c.S, f.S
- Input has conditions, jump, close, far

TODO:

Refine the Combo string translation function, supporting all notations
Combo List add/ delete
Support Multiple Games/ Character
Combo List Save to cookie

Repo

https://github.com/andaccc/combo-memo

I have set the repo to public and host it on aws

Combo Memo - WIP : Part 1

andac — Mon, 15 Jan 2024 10:59:21 +0000

When I play fighting games, I find that I need some places to write down the combos I would use, but I cannot find a good place to do that.

There are websites that list out all the combos, but
1) the notation can be quite non-intuitive to understand.

For example

c.S > 2H > 236K, 2S > 41236H~H > 66RRC > IAD > j.236K > c.S > 6H > 41236H~H

2) There isn't a good place to store the combo list. I have tried excel, draw.io, but still the notation limited the readability.

So I want to make my own combo building website.

Goal

Make a simple website that can write and store fighting games' combos
Visualize combos as buttons, make it easy to read
Keep it small, get it done within 2~3 weeks (hopefully before Feb), no server-side features.

TODO

UI Design
Data Structure Design
Cookies Storage
Json export/ import
Multi-games layout support
Graphical buttons <-> notation string translation

Problems

Here are things I am still figuring out

How to support multiple games with game-specific input? (eg. GGST has RC), need to design a good data structure
Figuring out an easy-to-use UI
Combos can have shared elements instead of completely different from each other. More like a tree than a list. Any good way to visualize this?

Here is the very early prototype, I will set the repo to public once it is done ~70％

Ref

https://www.dustloop.com/w/GGST/Sol_Badguy/Combos#Combo_List
https://dev.to/dgvall/fighting-game-notation-made-easy-472n