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ROSMASTER R2📖
1.Preparation and First Trial
  • 1.1 Accessories introduction
  • 1.2 Precautions for battery
  • 1.3 First Trial
2.Assembly steps
  • Installaction Video
3.ROS1-Remote control course
  • 3.1 APP remote control
  • 3.2 Model aircraft remote control
  • 3.3 Handle remote control
4.ROS1-Hardware course
  • 4.1 About expansion board_V3.0
  • 4.1 About expansion board_V1.0
  • 4.2 STM32 Development environment
  • 4.3 Button to control the buzzer to whistle
  • 4.4 FreeRTOS application
  • 4.5 Serial communication
  • 4.6 SBUS model aircraft remote control
  • 4.7 CAN bus communication
  • 4.8 RGB colorful light bar
  • 4.9 Timer interrupt to control PWM servo
  • 4.10 Control serial port servos
  • 4.11 Nine-axis attitude sensor to obtain data
  • 4.12 Control motor
  • 4.13 Timer captures the encoder data
  • 4.14.1 Kinematic Analysis of Mecanum Wheel
  • 4.14.2 Kinematics Analysis of Ackermann Car
  • 4.15 PID control robot movement
5.ROS1-Basic course
  • 5.1 Update the firmware
  • 5.2 Turn off the self-starting process at startup
  • 5.3 Install the Rosmaster driver library
  • 5.4 Buzzer whistle
  • 5.5 Control PWM servo
  • 5.6 RGB colorful light bar special effects display
  • 5.7 Control motor
  • 5.8 Control robot movement
  • 5.9 Control Serial Servo
6.ROS1-Linux operating system
  • 6.1 Virtual machine installation and use
  • 6.2 Linux basics
  • 6.3 Remote control
  • 6.4 Multi-machine communication configuration
  • 6.5 Static IP and hotspot mode
  • 6.6 Bind the device ID
  • 6.7 Web page real-time monitoring
  • 6.8 Expansion tutorial
  • 6.9.1 Jetson Nano write sytem
  • 6.9.2 Jetson Xavier NX write system
  • 6.9.3 Jetson TX2 NX write system
  • 6.9.4 Raspberry Pi write system
7.ROS1-Docker-pi5
  • 1、Docker overview and docker installation
  • 2、Common commands for docker image containers
  • 3、Docker images deeply understand and publish images
  • 4、Docker hardware interaction and data processing
  • 5、Enter the bot's docker container
  • 6、Robot development environment construction in Docker
  • 7、How customers can update docker images in the future
8.ROS1-ROS basic course
  • 1.ROS introduction
  • 2.ROS installation
  • 3.ROS common command tools
  • 4.ROS workspace
  • 5.ROS function package
  • 6.ROS node
  • 7.ROS topic publisher
  • 8.ROS topic subscribers
  • 9.ROS service client
  • 10.ROS service server
  • 11.ROS action client
  • 12.ROS action server
  • 13.ROS custom message reception
  • 14.ROS-launch file
  • 15.ROS-TF transformation
  • 16.ROS parameter service
  • 17.ROS-rviz use
  • 18.ROS-rqt tool usage
  • 19.Topic message recording and playback
  • 20.urdf model introduction
  • 21.gazebo introduction
  • 22.ROS distributed communication
9.ROS1-OpenCV courses
  • 9.1 Getting started with Open Source CV
  • 9.2 Geometric transformation
  • 9.3 Image processing and drawing text line segments
  • 9.4 Image beautification
  • 9.5 Opencv application
  • 9.6 AR vision
  • 9.7 AR QR code
  • 9.8 ROS+Opencv foundation
  • 9.9 ROS+Opencv application
  • 9.10 Data transformation and point cloud
  • 9.11 MediaPipe development
10.ROS1-Robot control course
  • 10.1 PID algorithm theory
  • 10.2 Robot PID debugging
  • 10.3 Robot information release
  • 10.4 Robot keyboard control
  • 10.5 Robot handle control
  • 10.6 Robot state estimation
  • 10.7 Robot calibration
  • 10.8 Robot URDF model
11.ROS1-Depth camera course
  • 11.1 How to use the Astra camera
  • 11.2 Astra camera calibration
  • 11.3 Astra Color Tracking
  • 11.4 Astra Object Tracking
  • 11.5 Visual tracking autopilot
  • 11.6 Pure visual 2D mapping and navigation
  • 11.7 RTAB-Map 3D mapping navigation
  • 11.8 ORB_SLAM2 basics
  • 11.9 ORB_SLAM2_Octomap
12.ROS1-Lidar course
  • 11.1 Lidar basic-SLAM
  • 11.1 Lidar basic-EAI
  • 11.2 Lidar avoiding
  • 11.3 Lidar guard
  • 11.4 Lidar follow
  • 11.5 Patrol game
  • 11.6 gmapping mapping
  • 11.7 hector mapping
  • 11.8 karto mapping
  • 11.9 cartographer mapping
  • 11.10 rrt_exploration mappin
  • 11.11 AMCL
  • 11.12 Navigation and avoiding
  • 11.13 APP mapping and navigation
  • 11.14 TEB path planning algorithm
13.ROS1-Multi-robot control course
  • 13.1 Multi-machine handle control
  • 13.2 Multi-machine navigation
  • 13.3 Multi-machine formation
  • 13.4 Multi-machine surround
14.ROS1-Deep learning courses
  • 14.1 KNN recognizes handwritten digits
  • 14.2 Basic use of TensorFlow
  • 14.3 Basic use of PyTorch(jetson)
  • 14.4 yolov5 model training(jetson)
  • 14.5 yolov5+tensorrt acceleration(jetson)
  • 14.6 yolov4-tiny
15.ROS1-Voice control courses
  • 15.0 How to use old voice module in new image
  • 15.1 Introduction of voice control module-NEW
  • 15.2 Voice control module port binding-NEW
  • 15.1 Introduction of voice control module-Old
  • 15.2 Voice control module port binding-Old
  • 15.3 Voice control car movement
  • 15.4 Voice control Autopilot
  • 14.5 Voice control color recognition
  • 15.6 Voice control color tracking
  • 15.7 Voice control multi-point navigation
16.ROS1-Model training Autopilot
  • 16.0 ReadMe
  • 16.1 yolov5 to train traffic signs
  • 16.2 TensorRt acceleration identification mark
  • 16.3 Road sign indication function description
  • 16.4 Collect data
  • 16.5 Training model
  • 16.6 Model transformation and application
  • 16.7 AI Autopilot
17. ROS2-Remote control course
  • 1. APP remote control
  • 2. Model aircraft remote control
  • 3. Handle remote control
18.ROS2-Hardware course
  • 1. Expansion board introduction_V3.0
  • 1. Expansion board introduction_V1.0
  • 2. STM32 development environment build
  • 3. Key control buzzer sounding
  • 4. FreeRTOS applications
  • 5. Serial communication
  • 6. SBUS model airplane remote control
  • 7. CAN bus communication
  • 8. RGB colorful light bar
  • 9. Timer interrupt control PWM servos
  • 10. Control serial servos
  • 11. Nine-axis attitude sensor acquires data
  • 12. Control motor forward and reverse
  • 13. Timer Capture Encoder Data
  • 14. Theory of Robot Kinematics Analysis
  • 14.1.Mecanum wheel
  • 14.2.Ackerman
  • 14.3.4WD
  • 15. PID control of robot motion
19. ROS2-Basic course
  • 1. Update the firmware of the expansion board
  • 2.Close the large self-starting program at boot
  • 3. Install Rosmaster driver library
  • 4. Buzzer sounding
  • 5. Control PWM servo
  • 6. RGB colorful light bar special effects show
  • 7. Control motor forward and reverse
  • 8. Controlling robot motion
  • 9. Control serial servos
20. ROS2-Linux operating systemnew
  • 01. Virtual Machines
  • 02. Linux Basics
  • 03. Remote control
  • 04. Multi-computer communication configuration
  • 05. Static ip and hotspot mode
  • 06. Bind device ID
  • 07.Webpage real-time monitoring
  • 08. Expansion Tutorial
  • 09-1.Jetson Nano write system file
  • 09-2. Raspberry Pi write system file
  • 09-3.Orin write system
  • 10.Jetpack old system upgraded to SUPER systemnew
21.ROS2 -Docker(Nano Pi)
  • 1. docker overview and docker installation
  • 2. docker image container common command
  • 3. docker image in-depth understanding and publishing images
  • 4. docker hardware interaction and data processing
  • 5. Enter the docker container of the robot
  • 6. docker in the robot development environment build
  • 7. Customer's method of updating docker images in the future
22.ROS2- ROS2 Basic Tutorial
  • 1.Introduction to ROS2
  • 2.ROS2 install Humble
  • 3.ROS2 development environment
  • 4.ROS2 workspace
  • 5.ROS2 function package
  • 6.ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 Rqt Toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
23. ROS2-Robot control course
  • 1. PID algorithm theory
  • 2. Robot information release
  • 3. Robot control
  • 4. Robot state estimation
  • 5. Robot calibration
  • 6. URDF model
24. ROS2-Lidar course
  • 1-1. Introduction and use of SLAM lidar
  • 1-2. Introduction and use of 4ROS lidar
  • 2. Lidar obstacle avoidance fun gameplay
  • 3. Lidar tracking fun gameplay
  • 4. Patrol function play
  • 5. gmapping map building algorithm
  • 6. cartographer building algorithm
  • 7. Navigation and obstacle avoidance
  • 8. Rosmaster_R2 using the app to build maps
  • 9. Rosmaster_R2 navigating with the app
25. ROS2-OpenCV courses
  • 1. opencv basic course
  • 2. ROS+opencv application
  • 3. QR code creation and recognition
  • 4. AR Vision
  • 5. mediapipe fun gameplay
  • 6. Patrol line autopilot
26. ROS2-Depth camera courses
  • 1. Depth camera use
  • 2. Camera calibration
  • 3. Color tracking
  • 4. KCF object tracking
  • 5. ORB_SLAM2 Basics
  • 6. ORB_SLAM2 PCL mapping
  • 7. ORB_SLAM2 Octomap mapping
  • 8. RTAB-Map 3D mapping navigation
27.ROS2- Voice control courses
  • 0. How to use old voice module in new image
  • 1.1 Introduction to the module-New
  • 1.2 Voice Control Module Port Binding-New
  • 1.3 Introduction to the module-Old
  • 2. Voice control car movement
  • 3. Voice control autopilot
  • 4. Voice control color recognition
  • 5. Voice control color tracking
  • 6. Voice control multi-point navigation
28.Deep learning courses(SUPER)
  • 1.KNN recognizes handwritten digitsnew
  • 2.Basic use of TensorFlownew
  • 3.Basic use of PyTorch(jetson)new
  • 4.YOLOv11Model conversion(SUPER)new
  • 5.YOLOv11Dataset annotation(SUPER)new
  • 6.YOLOv11Model conversion + tensorrt acceleration(SUPER)new
  • 7.YOLOv11Object recognition(SUPER)new
29. ROS2-Multi-robot control
  • 1. Multi-robot control
  • 2. Multi-robot navigation
LLM tutorial
1.Development environment
  • 0. Model usage instructions
  • 1.Environments deployment
  • 2.Dialogue platform installation
2.Jetson Nano B01
  • 1.Qwen2 model
  • 2.TinyLlama model
  • 3.Phi-3 model
  • 4.Gemma model
  • 5.Orca Mini model
  • 6.StarCoder2 model
  • 7.DeepSeek-R1 model
  • 8.Expand LLaVA-Phi3
3.Jetson Orin NXNANO
  • 1.Llama3 model
  • 2.Qwen2 model
  • 3.Phi-3 model
  • 4.Gemma model
  • 5.WizardLM2 model
  • 6.Codellama model
  • 7.DeepSeek-R1 model
  • 8.Orca Mini model
  • 9.StarCoder2 model
  • 10.TinyLlama model
  • 11.Expand LLaVA
  • 12.Expand LLaVA-Phi3
4.Raspberry Pi 5B
  • 1.Meta AI Llama3 model
  • 2.Qwen2 model
  • 3.Phi-3 model
  • 4.Gemma model
  • 5.WizardLM2 model
  • 6.Meta AI Codellama model
  • 7.DeepSeek-R1 model
  • 8.Expand LLaVA
FAQ
  • 1.Using your own Jetson board, car cannot start normally
Download
  • RemoteCtrl_APP(iOS/Android)
  • Mapping_APP(iOS_Android)
  • Instruction Manual
  • SystemFile_ROS1
  • SystemFile_ROS2
  • SystemFile_ROS2_OrinNANOSUPER
  • SystemFile_ROS2_OrinNXSUPER
  • VM software
  • Code
  • Jetson_Boot_USB.tar.gz
  • Autopilot Annex
  • Other_Annex_File
  • LLM_SystemFile
  • ROS2_Basic_VM
Download ZIP

Welcome to ROSMASTER R2 repository

14.1 KNN recognizes handwritten digits

1 KNN recognizes handwritten digits

1 KNN recognizes handwritten digits 1.1 KNN(K-nearest neighbor algorithm) to recognize handwritten digits 1.1.1 Introduction to KNN 1.1.2 Taking the recognition of handwritten digits as an example to introduce the implementation of the KNN algorithm

1.1 KNN(K-nearest neighbor algorithm) to recognize handwritten digits

1.1.1 Introduction to KNN

  1. KNN(K-Nearest Neighbor) is a supervised learning method. Its working mechanism is very simple, and it does not need to train a training set. It is one of the simpler classical machine learning algorithms. Can handle regression and classification problems.
  2. method ideas

In the feature space, if most of the k nearest(that is, the nearest neighbors in the feature space) samples near a sample belong to a certain category, the sample also belongs to this category.

In official words, the so-called K-nearest neighbor algorithm is to give a training data set, for a new input instance, find the K instances closest to the instance in the training data set(that is, the K neighbors mentioned above).), the majority of these K instances belong to a certain class, and the input instance is classified into this class.

  1. working principle

There is a sample data set, also known as a training sample set, and each data in the sample set has a label, that is, we know the relationship between each data in the sample set and the category to which it belongs. After inputting data without labels, compare each feature in the new data with the features corresponding to the data in the sample set, and extract the classification labels of the most similar data(nearest neighbors) in the sample set. Generally speaking, we only select the top K most similar data in the sample data set, which is the origin of K in the K nearest neighbor algorithm, usually K is an integer not greater than 20. Finally, the classification with the most occurrences in the K most similar data is selected as the classification of the new data.

  1. KNN advantages and disadvantages
  • advantage

    Flexible usage, convenient for small sample prediction, high precision, insensitive to outliers, no data input assumptions

  • shortcoming

    Lack of training phase, unable to cope with multiple samples, high computational complexity and high space complexity

  1. KNN implementation steps:
  • Calculate distance

    Euclidean distance, that is

    image-20220222145000137

  • Sort by increasing distance

  • Select the K points with the smallest distance(generally no more than 20)

  • Determine the frequency of occurrence of the category in which the first K points belong, frequency = a category/k

  • Returns the category with the highest frequency in the top K points as the predicted classification of the test data

1.1.2 Taking the recognition of handwritten digits as an example to introduce the implementation of the KNN algorithm

  1. data set
  • Training set

    The training set is already classified data, you can refer to the directory ~/KNN/knn-digits/trainingDigits

    Note: The training set has been trained. If the user wants to train by himself, he needs to back up the original training set first. The number of training sets is large.

  • test set

The test set is used to test the algorithm, you can refer to the directory ~/KNN/knn-digits/testDigits

  1. use the drawing function under windows to make handwritten digital pictures
  • Open the drawing software, adjust the resolution to 32*32, or other resolutions, but it is best to draw to fill the entire interval, otherwise the error rate is very high.

image-20220222151155632

  • Hold down ctrl and slide the mouse wheel up to enlarge the picture to the maximum. Pick the Paint Bucket Tool and choose a black color to fill the entire screen.

    image-20220222151348607

  • Pick the Pencil Tool, choose White for the Color, and the Maximum Width for the Line Thickness. As shown below:

image-20220305122748713

After drawing, save it as a png image(this example takes 8.png as an example), and copy it to the project directory through the WinSCP tool

  1. Convert the image(.img) to text(.txt)
  • code

Code location: ~/KNN/img2file.py

​x
from  PIL  import  Image 
import  numpy  as  np 

 def img2txt(img_path, txt_name): 

    im  =  Image.open(img_path). convert('1'). resize((32, 32))   # type:Image.Image 

    data  =  np.asarray(im) 

    np.savetxt(txt_name, data, fmt = '%d', delimiter = '') 
img2txt("8.png", "./knn-digits/testDigits/8_1.txt") 

img_path: image file name

txt_name: After conversion, save it in the ~/KNN/knn-digits/testDigits directory, the name is 8_1.txt

  • run the program
xxxxxxxxxx
cd KNN 
python img2file.py 

After the program runs, a file named 8_1.txt will be generated in the KNN directory. Double-click to open it and you can see that this is the case.

image-20220222161205064

It can be seen that the part with the number 8 is roughly surrounded by a number 8.

  1. run the KNN recognition algorithm program
xxxxxxxxxx
In the ~/KNN directory, open a terminal and run 
python knn.py 
  • code

Code location: ~/KNN/knn.py

xxxxxxxxxx
#!/usr/bin/env python3 
# -*- coding: utf-8 -*- 
""" 
Created on Sun Apr 16 14:53:46 2017 

@author: jiangkang 
""" 

import  numpy 
import  operator 
import  os 
import  matplotlib.pyplot  as  plt 

 def img2vector(filename): 
    returnVect  =  numpy.zeros((1, 1024)) 
    file  =  open(filename) 
    for  i  in  range(32): 
        lineStr  =  file.readline() 
        for  j  in  range(32): 
            returnVect [ 0, 32  *  i  +  j ] =  int(lineStr [ j ]) 
    return  returnVect 

 def classifier(inX, dataSet, labels, k): 
    dataSetSize  =  dataSet.shape [ 0 ] 
    diffMat = numpy.tile(inX,(dataSetSize, 1)) -  dataSet 
    sqDiffMat = diffMat  **  2 
    sqDistances  =  sqDiffMat.sum(axis = 1) 
    distances  =  sqDistances  **  0.5 
    sortedDistIndicies  =  distances.argsort() 
    classCount  = {} 
    for  i  in  range(k): 
        voteIlabel  =  labels [ sortedDistIndicies [ i ]] 
        classCount [ voteIlabel ] =  classCount.get(voteIlabel, 0)  +  1 
    sortedClassCount  =  sorted(classCount.items(), key = operator.itemgetter(1), reverse = True) 
    return  sortedClassCount [ 0 ][ 0 ] 
#Train first, then test recognition, k represents the k value in the algorithm - select the top K most similar data in the sample data set, the k value is generally an integer not greater than 20 
 def handWritingClassTest(k): 
    hwLabels  = [] 
    trainingFileList = os.listdir('knn-digits/trainingDigits') training set data 
    m  =  len(trainingFileList) 
    trainingMat  =  numpy.zeros((m, 1024)) 
    for  i  in  range(m): 
        fileNameStr  =  trainingFileList [ i ] 
        fileStr  =  fileNameStr.split('.')[ 0 ] 
        classNumStr  =  int(fileStr.split('_')[ 0 ]) 
        hwLabels.append(classNumStr) 
        trainingMat [ i, :] =  img2vector("knn-digits/trainingDigits/%s"  %  fileNameStr) 
    testFileList = os.listdir('knn-digits/testDigits') test set data 
    errorCount  =  0.0 
    mTest  =  len(testFileList) 
    for  i  in  range(mTest): 
        fileNameStr  =  testFileList [ i ] 
        fileStr  =  fileNameStr.split('.')[ 0 ] 
        classNumStr  =  int(fileStr.split('_')[ 0 ]) 
        vectorTest  =  img2vector("knn-digits/testDigits/%s"  %  fileNameStr) 
        result  =  classifier(vectorTest, trainingMat, hwLabels, k) 
        print("The classification result is: %d, the real result is: %d"  %(result, classNumStr)) 
        if  result  !=  classNumStr : 
            errorCount  +=  1.0 
    '''fileStr = "2.txt" 
    classNumStr = int(fileStr.split('.')[0]) 
    vectorTest = img2vector("./2.txt") 
    result = classifier(vectorTest, trainingMat, hwLabels, 3)''' 
    print("Total number of errors: %d"  %  errorCount) 
    print("Error rate: %f"  %(errorCount / mTest)) 
    return  errorCount 

handWritingClassTest(1) 

  • run screenshot

image-20220222162113689

As shown in the figure, the identification is 8, and the identification is correct. If the recognition result is different from the real result, please copy the converted txt file to knn-digits/trainingDigits/ and name it as follows: 8_801.txt, and then retrain it to recognize it normally.

  • Program Description

    The name of the text file converted from the picture, taking 8_1 as an example, knn.py will parse the file name in the program, the underscore is the limit, the front 8 represents the real number, and the latter part can be customized, see the code,

    xxxxxxxxxx
     classNumStr = int(fileStr.split('_')[0]) 

Train first, then identify.

Multi-machine surround
Basic use of TensorFlow

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