Robotics-Flight week 1 and 2

准备看点Coursera课程

• Coursera: robotics-flight
  • Week 1
    • State Estimation
      • obtaub reliable estimates of position and velocity
    • SLAM(Simultaneous Localization And Mapping)
    • Control for trajectory tracking in a simple second-order system
      • PD control
        • $u(t) = x’’^{des}(t)+K_ve’(t)+K_pe(t)$
      • PID control (proportion integration differentiation)
        • $u(t) = x’’^{des}(t)+K_ve’(t)+K_pe(t)+K_i\int_0^t{e(\tau)d\tau}$
        • 
        • code Here
        • 
  • Week2
    • rotation matrix
      • is orthogonal matrix
      • all vector is 1
      • $R^{-1} = R^T$

Ubuntu chromedriver remote browser

• apt install libnss3

  • fix [Service chromedriver unexpectedly exited. Status code was: 127]

• wget https://dl.google.com/linux/direct/google-chrome-stable_current_amd64.deb
• apt install ./google-chrome-stable_current_amd64.deb
• try to use nginx reserve proxy to handle 9200 port

location /chrome/ {
        proxy_pass http://127.0.0.1:9222/;
        proxy_http_version 1.1;
        proxy_set_header Upgrade $http_upgrade;
        proxy_set_header Connection "upgrade";
        proxy_set_header Origin "";
        proxy_set_header Host "[********]";  # cause chrome use host as ws address
        sub_filter '/json' '/chrome/json';
        sub_filter_types *;
        sub_filter_once off;
}

what is the next

• This request has been blocked; this endpoint must be available over WSS.