RDaneelOlivav

<robot name="ar_2020">

	<!-- * * * Link Definitions * * * -->

    <link name="simple_box_base_link">
 	    <inertial>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <mass value="1.0" />
            <inertia ixx="0.0741666666667" ixy="0.0" ixz="0.0" iyy="0.0585416666667" iyz="0.0" izz="0.0260416666667"/>
        </inertial>

RDaneelOlivav

cmake_minimum_required(VERSION 2.8.3)
project(unit_3b_services_pkg)

## Here go all the packages needed to COMPILE the messages of topic, services and actions.
## Its only geting its paths, and not really importing them to be used in the compilation.
## Its only for further functions in CMakeLists.txt to be able to find those packages.
## In package.xml you have to state them as build
find_package(catkin REQUIRED COMPONENTS
  std_msgs
  message_generation

RDaneelOlivav

float64 side       # The distance of each side of the square
int32 repetitions    # The number of times BB-8 has to execute the square movement when the service is called
---
bool success         # Did it achieve it?

RDaneelOlivav

<?xml version="1.0"?>
<package>
  <name>my_mira_description</name>
  <version>0.0.0</version>
  <description>The my_mira_description package</description>

  <maintainer email="user@todo.todo">user</maintainer>

  <license>TODO</license>
  <buildtool_depend>catkin</buildtool_depend>

RDaneelOlivav

#!/usr/bin/env python
# license removed for brevity
import rospy
from std_msgs.msg import Float32

def talker():
    pub = rospy.Publisher('/pexod/vel_cmd', Float32, queue_size=1)
    rospy.init_node('hexapod_mover_node', anonymous=True)
    rate = rospy.Rate(1) # 10hz
    position = Float32()

RDaneelOlivav

This is the rosbot description package

RDaneelOlivav

<?xml version="1.0"?>
<robot name="mira">
    <link name="base_link">
        <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <cylinder radius="0.06" length="0.09"/>
        </geometry>
        </visual>
    </link>

RDaneelOlivav

#! /usr/bin/env python
import rospy
import time
import actionlib

from my_custom_action_msg_pkg.msg import CustomActionMsgFeedback, CustomActionMsgResult, CustomActionMsgAction
from std_msgs.msg import Empty

class MoveUpDownClass(object):

RDaneelOlivav

<launch>
  
  <arg name="rgb_raw_image_topic" default="/mira/mira/camera1/image_raw"/>
  <arg name="color_file_path" default="$(find my_blob_tracking_pkg)/color_files/colors.txt"/>
  
  <!-- Location of the cmvision color file -->
  <param name="cmvision/color_file" type="string" 
         value="$(arg color_file_path)" />

  <!-- Turn debug output on or off -->

RDaneelOlivav

[Colors]
(  254,  3,   3) 0.000000 10 RedBall

[Thresholds]
( 29:81, 85:111, 178:253 )