"I don't want to run a piece of code on any of my devices that somebody else wrote outside of sandbox ever again." oxide-and-friends.transistor.fm/episodes/pre...

Cubic bezier curve circle approximation www.youtube.com/watch?v=pqCP...

I found rust uom ('units of measure' - docs.rs/uom/latest/u...) through sguaba (@jonhoo.eu github.com/helsing-ai/s...) but now I want to make `InverseLength + <inverse_meter>` and next `AngleLengthPerSecond + <radian_meter_per_second>` - so far I'm half way there github.com/lucasw/misc_...

"We can talk about this in kind of our founder mode episode that we about the importance of trust and clarity. And if you've got trust and clarity, then I think you can have autonomy... I think autonomy is important because I think that's when people do the best work"

Jolt Physics v5.4.0 is out! Check out the release notes here: github.com/jrouwe/JoltP...

About a month ago, I gave a talk at the Rust Amsterdam meetup about Sguaba (the type-safe spatial math Rust crate), and the recording of that is now online for anyone who wants their head to hurt with frames of reference and coordinate transforms 😅 youtu.be/kESBAiTYMoQ

The 'Rust for Robotics' video is now on youtube: youtu.be/1zLLuWbnuN8?...

It's been a month since #rustconf 2025, but the buzz is still strong! 🦀 Revisit the magic via these videos on the @rustfoundation.org YouTube channel, incl. sessions, keynotes, & this highlight reel: www.youtube.com/watch?v=Hw_I... +Don’t miss these event pics 📸 www.flickr.com/photos/rustf...

The Jolt Physics 'VehicleConstraintsTest C++ wrapped in rust using cxx- it's working as well as I need it to though I'm not sure if wheel friction is right (are wheels spinning faster than vehicle speed over the ground?). The build process isn't ideal but is workable. github.com/lucasw/jolt_...

A soon-to-be-released book about iRobot: 'Dancing with Roomba: Cracking the Robot Riddle and Building an Icon' dancingwithroomba.com - via @weeklyrobotics.bsky.social (www.weeklyrobotics.com)

Starting over with getting a Jolt physics vehicle simulation into rust- going to try to put a big chunk of it into C++, then use cxx to manage that through a high level interface to supply inputs, step the sim, and get new state after the step update.

Rustconf main room

I didn't get far with vehicle physics using bevy & rapier physics when I tried a few months ago, but now diving back in- I need physics and I'm willing to wrap C++ for rust, perhaps with bullet, but it turns out there's Jolt github.com/jrouwe/JoltP... and jolt-rust github.com/SecondHalfGa...

Getting sntpc working within embassy was harder than expected, maybe I went about it the wrong way because I ended up forking sntpc to make a very slightly different version of `sntp_process_response()`. github.com/lucasw/misc_...

Can send udp packets out of the stm32h753 with embassy now github.com/lucasw/misc_... (and the blinky leds are still blinking, which means the async is still asyncing)

Rust STM32 GPIOs Tutorial #RustLang #EmbeddedRust #STM32 #GPIO #AsyncRust #EmbassyRs #ProbeRs #RetroROM #Microcontrollers theoasisbbs.com/rust-stm32-g...

My stm32 rust project has sntpc integration github.com/lucasw/misc_... - sntp_send_request() + sntp_process_response(), results are reported over udp in postcard packets. The systick clock drifts by about 0.3%, it was 50 seconds fast after letting it run for nearly five hours- good enough.

Starting to trade udp postcard encoded messages with an stm32 nucleo 144 dev board (stm32h753 in particular) github.com/lucasw/misc_... There are some issues with broadcasting, maybe I need a newer smoltcp? I could try updating it in github.com/lucasw/nucle...

Had a gig wrap up a little earlier than expected, I should have availability starting July or so. As always: if you need help with Embedded, Rust, or similar things, shoot me a message! If you're a user of postcard, p-rpc, or are interested in the more experimental new ergot: shoot me a message!

Serialize and deserialize multiple struct types and transmit with udp in rust with postcard- the example isn't no_std but I'm going to try something similar no-std next: github.com/lucasw/misc_... - there's more boilerplate around the use of the enum than I'd prefer though

www.meetup.com/seattle-rust... - the next SRUG (Seattle Rust User Group) meetup: "This event is no longer taking place at Microsoft Reactor, it has been moved to Amazon Oscar in Seattle. It is also now taking place on Thursday August 14."

nalgebra with no_std got me the error "the trait `RealField` is not implemented for `f32` ... required for `f32` to implement `SimdRealField`" when trying to make a Rotation2 with an angle. Solution: use libm: nalgebra = { version = "0.33.2", default-features = false, features = ["libm"] }

no_std bezier curves in rust github.com/dorianprill/... and I have a branch here that visualizes tangent and curvature (1.0 / radius) github.com/lucasw/strok..., example curve using plotters below. Next thing to do is make some adjustments to the closest point finding.

Compile the same code twice, once with f32 and the other with f64, and then access it like my_package::f32::foo and my_package::f64::foo (maybe glam or others do something similar? I was going to look if I couldn't get it working but it worked) github.com/lucasw/cloth...

Optional function as parameter to another function pub fn foo<F: Fn(f64) -> f64>( ... my_fn: Option<&F> ) call it with None like this: foo(..., None::<fn(f64) -> f64>.as_ref())

"2007: Scott Hassan and Steve Cousins found Willow Garage... it would create the PR2 research robot and the wildly successful ROS operating system. ROS is used to this day by enthusiastic researchers and frustrated companies who can’t figure out how to migrate off of it."

🎤 #rustconf Session Announcement: Yang Zhou “Rust for Robotics: Safer, Faster Systems for Autonomous Applications” → rustconf.com/schedule/#1480 #rustlang

github.com/lucasw/cloth... is a rust adaptation of a subset of github.com/ebertolazzi/..., for generating clothoid curves

In rerun a stripchart is called a SeriesLines, where 1d points are appended to a plot at the current set time (like the default behavior of every plot in plotjuggler) rerun.io/docs/referen...

arxiv.org/abs/2506.02373 -> uses Sensirion MICS6814 metal oxide (MOX) sensors

Quickly view all CompressedImage topics in an mcap using mcap_view - github.com/lucasw/mcap_... - I'll make it support regular Image next (which is more work, it's less code to decode jpg bytes that interpret raw bytes in any of several formats). The example is using a tartandrive2 figure8 excerpt.

Get a tartandrive2 file down to a reasonable size (from 18GB): `mcap filter figure_8_0.bag.mcap -o figure_8_0_excerpt.mcap --start-secs 1699993440` - but it is slow, it is iterating through 300K messages (underlying cli code is written in go, could it be faster in rust or loading 18GB is just slow?)

🗄️ What powers all this: multi-modal data, which we provide to everyone through TartanDrive 2.0, a large-scale off-road driving dataset for self-supervised learning tasks. Check out the data here: theairlab.org/TartanDrive2/ (4/5)

🛻🌳 Autonomous Off-Road Driving – No Labels, No Prior Map, & No GPS! Our self-supervised stack enables an ATV to navigate forests, snow, & nighttime. (1/5) More details: theairlab.org/offroad/ Full video: youtu.be/7t4EQj8BIdY #cmurobotics #robotics #autonomy @cmurobotics.bsky.social

`Cargo.toml: unused manifest key: bin.0.src` because accidentally used `[[bin]] ... src = src/bin/foo.rs` instead of `path = `

www.youtube.com/watch?v=7s1y... RB-FIQUS outdoor autonomous mobile robot

This week in #rust 600 https://this-week-in-rust.org/blog/2025/05/21/this-week-in-rust-600/#rust#rustlang

We mapped 7,016 sq ft of IKEA and built this flythrough in real time, fully on-device, using Nvidia Orin Nano 4GB & 5 RGB cameras Our autonomous stack, written primarily in #Rust, powers robust day/night SLAM, high-res dynamic obstacle detection & low-latency planning. #robotics

I adapted foxglove mcap-videoify to read ros1 sensor_msgs/CompressedImage and output an mcap of the same messages in h264 (their version was using protobuf and their own messages definitions)- also I added a roslibrust node to decode the same h264 live and publish as Image github.com/lucasw/mcap-...

in ubuntu 22.04: apt-get install python3-topic-tools python3 -c "from topic_tools.srv import MuxSelect" ImportError: cannot import name 'MuxSelect' from 'topic_tools.srv' (unknown location) ... apt-get install apport ubuntu-bug python3-topic-tools bugs.launchpad.net/ubuntu/+sour...

www.meetup.com/seattle-rust... SlateDB - An object store native embedded key-value store (Beginner). Speaker: Vignesh C. Cool Things You Can Do With Pattern Matching and Destructuring, (Beginner-Intermediate). Speaker: Lowell T.

Rerun (rerun.io) is honestly a must have in your robotics workflow, especially if you have data from multiple modalities! I found it a few months ago and use it almost every single day either to monitor a process online or to inspect some of the data I logged.

Issue #39 is Live! www.theembeddedrustacean.com/p/the-embedd...

filtra.io/rust/intervi... - Carter Shultz from AMP talking about rust & robotics

Record and play back ros1 messages to and from the mcap format much like the rosbag clip tool, written in rust using roslibrust- it needs improvements especially with playback but mostly happy with it so far: github.com/lucasw/mcap_...