"It worked on my laptop" hits robotics harder than most fields. One teammate runs Ubuntu 22.04 , another is stuck on Ubuntu 20.04 , and the robot ships with something older. Then you add ROS1 vs ROS2 conflicts , OpenCV version drift, and GPU drivers that only behave on one machine. After a few late nights, your "simple" demo becomes a dependency crime scene. Docker fixes the environment part of that problem. It packages the OS userspace, libraries, ROS distro, Python depende

If you've only seen RRT * in diagrams or simulation, it can feel like a tidy math problem. Then you try it on real hardware, with real servos, and you learn what matters fast: sampling-based planning can create a path, but your robot still needs a full pipeline to move safely and smoothly. This post walks through a hands-on test of RRT* (Rapidly-exploring Random Tree Star) on a DIY 5-degree-of-freedom robot manipulator. It starts with a simple 2D "toy" example so you can see

Motion using Jacobians Have you ever tuned a controller in ROS 2 and thought, "Why is my end effector off by a few cm?" Or maybe your Cartesian jog feels smooth in RViz, but the real robot twitches. In many cases, the missing piece is the robot Jacobian . The Jacobian is the math that connects joint motion to tool motion. It sits under velocity control, inverse kinematics (IK), and even force or compliance control. If you can predict how joint speeds change the tool's motion,

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