Davide Faconti
@facontidavide
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Doing robotics for fun and profit.
Spain
Joined May 2011
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I spent the week in Pune, India, to visit
@getpeppermint
(Peppermint Robotics).
Thanks for having me, and keep up the good work 💪
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I haven't written here in a while, butsomebody may find this useful:
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If you want to learn robotics (or learn something new) you have no excuses...
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I have never seen a better video of "robotics in the lab VS real world robotics"
Some serious
#SubTChallenge
prelim day 2 shenanigans right here:
@CSIRORobotics
' drone gets wrecked by airborne plastic that it sucks off of a nearby shelf, clearing the way for Team Explorer's drone which launches from the same spot but only kicks up some leftover shreds
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1 month ago I started my journey as solo consultant, supporting robotic companies, and it is going very well!
I am already fully booked and I have many more opportunities in the pipeline 😎
#BehaviorTreeCPP
and
#Groot2
keep growing, too.
My only constraint is time 🥲
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ROS, I love you, and I always will, but this is unfortunately true:
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Using PCL in ROS?
I am about to make your code more efficient (weekend project).
Considerable speed up in pcl::fromROSMsg()
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Using Vim instead of a proper IDE makes 90% of the user less productive.
The self-deception of being a badass developer is the real reason why people use it.
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Interesting thread about robotic companies on Reddit.
What do you think?
My experience hasn't been that bad (can't complain, really), but I agree that non technical managers struggle to understand why certain tasks take much more than THEY expected.
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People doing 3D perception in robotics.
How useful would it be, in your project, to have a lossless pointcloud compression system (working under the hood) to reduce the bandwidth used when streaming or the size of your rosbags?
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Just found this. Open3D (as a replacement of PCL) deserves more love!
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I am proud to announce that, today, is my first day at
@PickNikRobotics
.
I am very excited to join a company that built
#MoveIt
one of the most used software in the
#ROS
community.
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Apparently my
#BehaviorTree
library is used by many robotic companies.
Unfortunately, very few people contact me and I barely know how many they are.
If you use the library
Get in touch and let me know 😊
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A couple of years ago I tried to promote my GitHub Sponsor to sustain
#PlotJuggler
.
Failed miserably 😔
Today Plotjuggler is used by a large amount of companies and individuals, but no one wants to pay for something that is free.
Thread🧵👇
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We do this CONSTANTLY in robotics
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I spent the weekend benchmarking
#Bonxai
to get ready for my presentation at
#ROSCon2023
I compared it to
#octomap
using the Kitti dataset and the results are great 😍:
- 10x times faster
- 1/2 memory used
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Soooo... Today was my first day at
@dexoryHQ
I always wanted to work with giant robots...
For the time being, 12 meters will do!
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I am sometimes surprised by the number of OnlyFans professionals following me on X.
I guess they are interested in C++ and robotics? 🤔
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Cooking robot done right.
I once talked to a startup that wanted to use a dual robotic arms and vision to cook, including chopping onions 😕
Beastro is approximately 12 ft. long by 6 ft. wide and 7 ft. tall, and weighs 1,790 lbs. It can make 45 dishes an hour including Italian and Asian cuisines, as well as soups, salads and more.
Video source:
@KitchenRobotics
#robotics
#foodtech
#cooking
#tech
#innovation
#future
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I am pleased to announce the Beta-3 of Groot 2, the
#BehaviorTreeCPP
integrated development environment!
This version contains a feature-complete editor and it is the result of a lot of hard work. I hope people find it useful 😁
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The main reason why I am not working on humanoid robots is that I am unable to lie about their usefulness and ability to adapt to different tasks.
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I could not resist, sorry 🙏.
⚠️We don't know who needs to hear this, but it is "ROS 2" not "ROS2"!⚠️
We can't stress this enough. We use "ROS 2" in all of our official docs, communications, and in our official brand guide.
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VC:
"you should focus on Product-Market fit, and start with a specific use case, before expanding into a broader market". 🧐
Also VCs:
"Building humanoid robots? Shut up and take my money" 💵
🤦♂️
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Sometimes I think about the fact that, 15 years ago, people knew me as one of the pioneers in
#humanoid
robotics.
Today, I am known as the guy that added memes to
#PlotJuggler
.
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One of the most important things I learned, is that you should avoid thinking in terms of "zero sum games".
You can make your business successful, helping others at the same time.
You can elevate, without asking for anything in return.
Empathy and kindness do pay off.
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WOW 🤯
#PlotJuggler
just received a huge donation from
@AWSOpen
.
The only way I can celebrate is with a meme
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I think I just smashed
#octomap
by a 10x factor (in terms of CPU utilization) 😶.
Need more tests to fully support this claim, but I am very excited
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Knowing Robotics (algorithm) and knowing ROS are two orthogonal skills even if, arguably, both necessary.
Don't believe who tells you that they are the same thing.
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I have never realized how bad the serialization of PointCloud messages in ROS is/was.
Hopefully, I will be able to do something about it, soon.
Sample rosbag using a Velodyne:
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To all humanoid robotics startups announcing their VC funding round.
Show me a video of your biped robot walking, and then we talk...
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Me in 2007: "People will remember me as one of the pioneers in humanoid robotics" 🤩.
Me in 2024: people know me as the guy who added memes to a data-plotting app... 😶
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Aaaand... It is a wrap!
Today was my last day at
@PickNikRobotics
.
I wish I could say that I can finally take some time off, but those open source projects are not maintaining themselves.
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This might be a pivotal moment for the
#ROS2
community.
What was great about ROS1 is that "it just works". Sane default behavior.
Moving to ROS2 has been an exercise in frustration management 😕
This is a big a step in the right direction 💪
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- 20 years writing c++...
- author of a blog about optimizations in c++...
- maintainer of successful open source projects...
Job interviewer: can you solve this FizzBuzz problem?
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I can't take it anymore. I give up.
Peer pressure is too much.
In 2023, I will learn Rust 🦀
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My teenage daughter told me that her science teacher knows more about robotics than me.
I lament to communicate that I am giving her for adoption...
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Spoiler Alert:
#PlotJuggler
will soon have a new set of plugins called "Toolboxes" to easily create and manipulate data.
First one: super fast and intuitive Quaternion to Euler angle converter:
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Thanks again to everyone who voted for me this year in the category "Best ROS Developer".
It is great to see my work appreciated by the community.
They asked me if I wanted the trophy to be shipped, but I said: "Naah, I will come and get it!"
@_TheConstruct_
@_RicardoTellez_
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It's official. I will present BehaviorTree 4.0 in Japan, at ROSCon 2022
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Unfortunately, the time I can spend BehaviorTree.CPP is limited. 😟
If your company uses BehaviorTree.CPP and Groot at work consider becoming a sponsor.😄
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I am blown away by the amount of people that approached me at
#ROSCon2023
to thank me for my contribution to
#PlotJuggler
and
#BehaviorTreeCPP
.
Thanks for making me feel that my work is appreciated ❤️
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One of those "autonomous robots * that will not use its navigation sensors a single day in their life 😕
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Coming very soon. Can't remember the last weekend I spent without working on this...
#BehaviorTreeCPP
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I can't believe this... we are still very far from the goal.
Where are the companies using
#OpenCV
?
I will personally back it.
I use OpenCV in some of my projects and I believe in supporting open source.
Ask your company to become a supporter.
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In the
#robotics
community, many developers share their work as open source.
I think that, for an OSS developer, there is no better incentive than knowing that their software is used and appreciated by many people.
Here there are some tips to give your project more visibility :
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The brand new "Robotics" track at CPPCOn 2023
Excited to present
#BehaviorTreeCPP
to a larger and more diverse audience than usual!
Check the other talks here
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My worst nightmare as a roboticist.
I have been very vocal about this kind of catastrophic issues in the past, and it is unbelievable how so many people underestimate this danger.
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If a humanoid robot looks very "human" in terms of body proportions, it's because creators are satisfying their ego, instead of pragmatically focusing on building a machine that does a job.
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Version 3.6.0 of
#PlotJuggler
just released, introducing:
📈 MCAP support (
@foxglove
)
📈 Refactored Parser plugins
📈 Better Protobuf parsing
📈 Snap support (
@snapcraftio
)
📈 Parse natively ROS1 and ROS2 messages (without ROS installed on your computer)
📈 17 new memes 😆
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Tiny C++ thread-safe wrapper, that I build mostly for myself.
Maybe someone finds it useful.
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Pointcloud compression update.
Spatial Resolution: 100 microns (!)
PCL point type: XYZI, with no padding (16 bytes)
[My algorithm + LZ4] is smaller AND faster than LZ4 alone, and I am not even using multi-threading... yet
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Hi everyone!
I am finding myself having more spare time than expected 😅(wink wink).
If your
#robotic
company needs some "extra muscle 💪" in their team to execute a project or delegate some work, let me know and I will be happy to help!
Reposts are greatly appreciated 😉!
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Harassing Russian immigrants in your country isn't really a way to support Ukraine.
It just makes you an asshole.
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Field of
#robotics
in which I worked:
🦿 legged locomotion
🦾 motor control, industrial protocols
🤖 mechanical design (humanoid robots)
🧭 navigation, localization, path planning
✍️ manipulation
🤔 task planning
🧰 tooling
🏗️ software architecture
and now:
👀 perception
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3rd month using ROS2 and I am still spendinf 20% of my time fixing problems with ament and lauch files.
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I can remember when 10 years ago some people in academia said that 2D laser based SLAM was a "solved problem".
That was before graph SLAM was even a thing, if I remember correctly 🤔
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The last couple of days have been super productive 🦾
At
@dexoryHQ
we have huge maps and Nav2 used to require a lot of memory. But not anymore! 🥳
If you use Nav2, you will notice some big improvements soon!
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I was reading about Buddhism, when I found the perfect story to describe estimates in software development or project management...
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If you can't decide, BehaviorTree needs some love in 2022.
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I am coming to the conclusion that we have less tech entrepreneurs in Europe because we don't have garages.
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Interesting for outdoor robots?
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I feel personally attacked
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I am currently working on a tiny pet project about PointCloud compression (focused on data from LiDARs).
Would you help me benchmarking it?
Join the conversation here:
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Shower thought:
A lot of innovation in
#robotics
is made possible by startups that start developing a "product" but don't really understand the business case and fail more or less spectacularly.
They die, but their legacy moves forward the field of robotics.
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I am a
#roboticist
, the only God I believe in is the one that makes my demos succeed.
My goats are ready, and the sacrificial knife is sharpened.
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Weekend project completed!
MCAP editor... in the browser 😎
Change the number of topics, the time duration and the compression method, using an intuitive GUI.
What do you think
@foxglove
?
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Since most of the tutorials of OpenCV are in Python, I started programming in Python and... I feel as I am walking on thin ice.
Give me back my type system! My compilation time errors!
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