Modified Gram-Schmidt vs Householder QR: A Performance Showdown in Eigen
I submitted a Modified Gram-Schmidt QR decomposition to Eigen and a maintainer asked: why? Here’s the benchmark data that answered the question.
Posts
Fixing a CI Pipeline on a Jetson Xavier — 15 Failures to Green
A day-long battle fixing a CI pipeline that builds Docker images on a self-hosted Jetson Xavier runner. From stale git submodules to GCC-15 assembler errors, expired tokens, DNS failures inside Docker, and deleted upstream branches — every layer of the stack had something broken.
Fixing an Infinite Loop in Eigen's 128-bit Integer Division
How a missing overflow check in Eigen’s TensorUInt128 division operator caused an infinite loop for any dividend above 2^127 — and the one-line fix that stopped it.
How GCC's std::fill_n Silently Regressed Eigen's AutoDiffScalar Performance
A performance optimization in Eigen’s fill path assumed all scalar types are equal. GCC’s libstdc++ disagreed — and AutoDiffScalar paid the price.
Migrating PX4's ROS Integration Tests from Gazebo Classic to SIH
PX4’s MAVSDK tests were migrated to SIH but the ROS integration tests were left behind on Gazebo Classic. This post documents the complete migration — the config changes, the CI pipeline surgery, the parameter name pitfall that silently broke GlobalPositionInterfaceTest, and how to reproduce the full 14-test suite locally in Docker.
Running px4-ros2-interface-lib Integration Tests Against PX4 SITL: A Deep Technical Journey
A detailed technical account of running px4-ros2-interface-lib integration tests against PX4 SITL — from discovering that the project’s CI never runs them, through three different simulator backends, five distinct failure modes, and the surprising DDS payload mismatch that blocked everything. Every dead end documented.
Running Unity 2019.4 Headless in Docker with GPU Rendering, RTSP Camera Streaming, and MAVLink
A detailed technical account of containerizing a Unity 2019.4 drone simulation with GPU-accelerated rendering, dual RTSP camera streaming via FFmpeg/mediamtx, and MAVLink drone control — including every obstacle encountered and how it was solved.
Fixing GCC False-Positive Warnings in Eigen: A Deep Dive into -Warray-bounds at -O3
How a GCC 13 false-positive -Warray-bounds warning in Eigen’s TensorContraction led to a lesson about if constexpr, C++14 portability, and the right way to suppress compiler warnings in a large codebase.