RobinCPC

[ROS] How to transform PMC robot step file to STL for rviz

1. load step to solidworks
2. move joint rotation center to the origin of world
   • moving distance may depend on DH table
   • ROS will move parts to desired position according ot URDF file
3. select needed parts (each joint may contain a lot of small part: screw or plate)
4. save as... STL
5. in advance option:

RobinCPC

OpenCV install command list:

Intall OpenCV 3.1 in Ubuntu 12.04 LTS

1. KEEP UBUNTU OR DEBIAN UP TO DATE

Open your terminal and execute:

$ sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade && sudo apt-get autoremove

RobinCPC

If run gvim in terminal. When gvim is loading slow and show following message:

** (gvim:20320): WARNING **: Unable to create Ubuntu Menu Proxy: Timeout was reached

Solution 1: Make the global menu for gvim work

To get global menu for gvim and to get rid of the warning message, add this to ~/.bashrc and restart the terminal:

function gvim () { (/usr/bin/gvim -f "$@" &) }

RobinCPC

# under $HOME
mkdir .fonts/		# if .fonts directory not exist
cd .fonts/
git clone https://github.com/powerline/fonts.git
cd fonts/
./install.sh

RobinCPC

void  PMC_SendCtrlMsg(MSG_TYPE Type, char Text[256], ...);    // variadic function Delcaration

void PMC_SendCtrlMsg(MSG_TYPE Type, char Text[256], ...)      // variadic function Definetion
{
	MsgQueue[MsgQueueIndex+1].rtMsgType = Type;
	
	//get final string according to parameters 
	char temp_text[256];
	sprintf(temp_text, Text);

RobinCPC

#
from math import *
import random

N = 1000

index =  int(random.random() * N)   # randomly pick a starting index

for i in range(N):
  index = (index + 1) % N   # keep index in side 0~1000

RobinCPC

#Using "raise" in python to warning user

def set(self, new_x, new_y, new_orientation):
    if new_x < 0 or new_x >= world_size:
        raise ValueError, 'X coordinate out of bound'
    if new_y < 0 or new_y >= world_size:
        raise ValueError, 'Y coordinate out of bound'
    if new_orientation < 0 or new_orientation >= 2 * pi:
        raise ValueError, 'Orientation must be in [0..2pi]'
    self.x = float(new_x)

RobinCPC

//Measuring performance of function more precisively.
// Include necessary file
#include <windows.h>

//  Add code to calculate the computing time of function more precsively
LARGE_INTEGER nFreq;
LARGE_INTEGER nBeginTime;
LARGE_INTEGER nEndTime;
double computing_time;
QueryPerformanceFrequency(&nFreq);