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RyodoTanaka / eigen_vector_push_back.cpp
Created February 18, 2020 05:41
Eigen Vector push_back
#include <Eigen/Core>
namespace Eigen {
namespace Vector {
template <class T>
inline void push_back(Eigen::Matrix<T,Eigen::Dynamic,1>& v, const T d) {
Eigen::Matrix<T,Eigen::Dynamic,1> tmp = v;
v.resize(tmp.size() + 1);
v.head(tmp.size()) = tmp;
v[v.size()-1] = d;
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RyodoTanaka / controller.yaml
Last active February 3, 2017 09:04
Gazebo + ROS で自分だけのロボットをつくる 7. 実際にlaunchしてみる ref: http://qiita.com/RyodoTanaka/items/af834ed767589a02e27a
fourth_robot:
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
diff_drive_controller:
type : "diff_drive_controller/DiffDriveController"
left_wheel : 'left_wheel_joint'
right_wheel : 'right_wheel_joint'
publish_rate: 25.0 # default: 50
@RyodoTanaka
RyodoTanaka / controller.yaml
Last active December 19, 2016 16:20
Gazebo + ROS で自分だけのロボットをつくる 6. ros_controlについて ref: http://qiita.com/RyodoTanaka/items/e7feb74d0e29a8598f48
# fourth_robot:
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
diff_drive_controller:
type : "diff_drive_controller/DiffDriveController"
left_wheel : 'left_wheel_joint'
right_wheel : 'right_wheel_joint'
publish_rate: 50.0 # default: 50
@RyodoTanaka
RyodoTanaka / <your_robot_name>_control.launch
Last active December 19, 2016 16:20
Gazebo + ROS で自分だけのロボットをつくる 5. GazeboとROSの連携 ref: http://qiita.com/RyodoTanaka/items/6fa7e45f98b55376a95b
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find fourth_robot_control)/config/controller.yaml" command="load"/>
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager"
type="spawner" ns="fourth_robot" output="screen"
args="joint_state_controller
diff_drive_controller"/>
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RyodoTanaka / display.launch
Last active September 18, 2017 08:17
Gazebo + ROS で自分だけのロボットをつくる 4.URDFファイルをつくる ref: http://qiita.com/RyodoTanaka/items/174e82f06b10f9885265
<launch>
<arg name="model" />
<arg name="gui" default="False" />
<param name="robot_description" textfile="$(arg model)" />
<param name="use_gui" value="$(arg gui)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" required="true" />
</launch>
@RyodoTanaka
RyodoTanaka / Makefile
Last active March 1, 2016 19:05
コマンドラインからArduinoの書き込みなどを行う (Arduino-Makefile を使う 編) ref: http://qiita.com/RyodoTanaka/items/49df36f4cd95f8f9e939
# Arduinoのボードの種類
BOARD_TAG = uno
# シリアルポートの設定
MONITOR_PORT = /dev/ttyACM0
# ボーレートの設定
MONITOR_BAUDRATE = 9600
# 独自のライブラリの追加
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RyodoTanaka / file0.txt
Last active February 26, 2016 20:09
コマンドラインからArduinoの書き込みなどを行う (ino を使う 編) ref: http://qiita.com/RyodoTanaka/items/9480fbe4999dbf8cc25e
$ sudo pip install ino
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RyodoTanaka / file0.txt
Last active November 15, 2018 01:37
複数のPCでROSを使う時の設定 ref: https://qiita.com/RyodoTanaka/items/860c79e76991f7e04ef3
$ source rosaddress.bash
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RyodoTanaka / rosaddress.bash
Last active January 29, 2016 14:25
rosaddressコマンド追加用bash
#!/bin/bash
function _func_rosserver() {
if [ -z "$eth0_addr" ]; then
echo "No eth0 connection..."
if [ -z "$wlan0_addr" ]; then
echo "No wlan0 connection..."
export ROS_MASTER_URI=http://localhost:11311
unset ROS_HOST_NAME
unset ROS_IP
echo ""