Bruce Lee's Notes

Systems, programming, and engineering practice

Why Planning Uses Services While State and Assignments Use Topics

ROS2

Why Planning Uses Services While State and Assignments Use Topics Why do submit_task and plan_route use services, while robot_states, task_assignments, and task_statuses use topics? This looks like......

Posted by Bruce Lee on 2025-03-28

Robotics

Why the Project Has Not Chosen Nav2-First Integration

ROS2

Why the Project Has Not Chosen Nav2-First Integration A natural question about ~/project-a/ros2-fleet-coordinator/ is why a ROS 2 multi-robot project did not integrate Nav2 from the beginning. Maps......

Posted by Bruce Lee on 2025-03-25

Robotics

DDS Sandbox Restrictions and the Limits of ROS 2 Runtime Verification

ROS2

DDS Sandbox Restrictions and the Limits of ROS 2 Runtime Verification Some behavior that remains unverified in this project is blocked by restrictions on ROS 2 communication in the execution enviro......

Posted by Bruce Lee on 2025-03-24

Robotics

Why Conflict Detection and Reservations Are the Next Major Complexity Increase

ROS2

Why Conflict Detection and Reservations Are the Next Major Complexity Increase V1 has established a minimal loop: tasks enter the system, the manager assigns them, the planner returns routes, and a......

Posted by Bruce Lee on 2025-03-21

Robotics

robot_agent: Execution States and Waypoint Progression

ROS2

robot_agent: Execution States and Waypoint Progression After fleet_manager and path_planner, the third core module to examine is robot_agent. The manager assigns work, the planner turns it into a r......

Posted by Bruce Lee on 2025-03-17

Robotics

path_planner: Graph Model, BFS, and Route Stitching

ROS2

path_planner: Graph Model, BFS, and Route Stitching The current path_planner gives fleet_manager a route that is simple, stable, and explainable enough to close the task assignment loop. The planne......

Posted by Bruce Lee on 2025-03-15

Robotics

fleet_manager: Task Queue, Planner Dependency, and Assignment State Retention

ROS2

fleet_manager: Task Queue, Planner Dependency, and Assignment State Retention At this stage, fleet_manager is not an advanced scheduler. Its role is still the most important middle link in the V1 c......

Posted by Bruce Lee on 2025-03-10

Robotics

Unit Impulse and Unit Step in Continuous and Discrete Time

Signals and systems

Relationship Between Impulse and Step Signals In discrete time, the unit impulse is the first difference of the unit step: $ \delta[n] = u[n] - u[n-1] $ In continuous time, the unit impulse is the ......

Posted by Bruce Lee on 2025-01-08

Mathematics

Beyond Technical Depth: What Else Makes a Capable Engineer?

Keep working for a better life

About Me Welcome to my blog! This is where I collect my observations and notes on programming and technology. The main subjects range from implementation details to broader ideas about programming.......

Posted by Bruce Lee on 2024-10-10

Reflections

Task Contexts, Stack Initialization, and Context Switching

Engineering

About Me Welcome to my blog! This is where I collect my observations and notes on programming and technology. The main subjects range from implementation details to broader ideas about programming.......

Posted by Bruce Lee on 2024-10-01

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