708yamaguchi

#!/usr/bin/env roseus

(ros::load-ros-manifest "nav_msgs")
(ros::load-ros-manifest "apriltag_ros")

;; (unless (boundp '*is-recording*)
;;   (setq *is-recording* nil))
(unless (boundp '*recorded-odom*)
  (setq *recorded-odom* nil))
(unless (boundp '*rarm-wrench-local*)

708yamaguchi

// M5Stack==2.0.7
// M5AtomS3==0.0.3
#include <M5AtomS3.h>

// LovyanGFX version is 1.1.12
#define LGFX_M5ATOMS3
#include <LovyanGFX.hpp>
#include <LGFX_AUTODETECT.hpp>

static LGFX lcd;

708yamaguchi

#!/usr/bin/env python3

from io import BytesIO
from PIL import Image
import serial
import sys
import time
import numpy as np

def convertToJpeg(im):

708yamaguchi

<launch>

  <node pkg="rosbag" type="play" name="play_rosbag"
        args="/home/naoya/Downloads/on_table.bag --loop" />

  <group ns="raw">
    <include file="$(find audio_to_spectrogram)/launch/data_to_spectrum.launch">
      <arg name="data_topic" value="/imu"/>
      <arg name="expression_to_get_data" value="m.linear_acceleration.x" />
      <arg name="data_sampling_rate" value="200" />

708yamaguchi

#include <stdio.h>
#include <stdint.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/i2c-dev.h>

#include <time.h>

// See Circuitpython code

708yamaguchi

#!/usr/bin/env python3

# Mainly copied from
# https://github.com/iory/i2c-for-esp32/blob/master/examples/radxa_with_atom_s3/radxa_send_string_for_display.py

import os
import socket
import time

import board

708yamaguchi

rock@radxa-zero:~$ gpioinfo
gpiochip0 - 85 lines:
	line   0:      unnamed       unused   input  active-high 
	line   1:      unnamed       unused   input  active-high 
	line   2:      unnamed       unused   input  active-high 
	line   3:      unnamed       unused   input  active-high 
	line   4:      unnamed       unused   input  active-high 
	line   5:      unnamed       unused   input  active-high 
	line   6:      unnamed       unused   input  active-high 
	line   7:      unnamed       unused   input  active-high 

708yamaguchi

rock@radxa-zero:~$ sudo gpioinfo
gpiochip0 - 85 lines:
	line   0:      unnamed       unused   input  active-high 
	line   1:      unnamed       unused   input  active-high 
	line   2:      unnamed       unused   input  active-high 
	line   3:      unnamed       unused   input  active-high 
	line   4:      unnamed       unused   input  active-high 
	line   5:      unnamed       unused   input  active-high 
	line   6:      unnamed       unused   input  active-high 
	line   7:      unnamed       unused   input  active-high 

708yamaguchi

(require "package://pr2eus/pr2-interface.l")
(unless (boundp '*ri*)
  (pr2-init))
(unless (boundp '*tfl*)
  (setq *tfl* (instance ros::transform-listener :init)))

(defun get-marker-pose (id)
  (setq base-to-marker
        (send *tfl* :lookup-transform
              (format nil "base_footprint")

708yamaguchi

from copy import deepcopy
import math
from cv_bridge import CvBridge
import rospy
from sensor_msgs.msg import Image
import numpy as np

# See
# https://github.com/AprilRobotics/apriltag/blob/e6cd3c7afdc23814f38a6b537904a41c393fc305/example/apriltag_demo.c#L172-L184
# https://github.com/AprilRobotics/apriltag/issues/235