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#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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$ source rosaddress.bash |
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<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 $(find urdf_tutorial)/urdf.rviz" required="true" /> | |
</launch> |
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fourth_robot: | |
joint_state_controller: | |
type: joint_state_controller/JointStateController | |
publish_rate: 50 | |
diff_drive_controller: | |
type : "diff_drive_controller/DiffDriveController" | |
left_wheel : 'left_wheel_joint' | |
right_wheel : 'right_wheel_joint' | |
publish_rate: 25.0 # default: 50 |
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<launch> | |
<!-- Load joint controller configurations from YAML file to parameter server --> | |
<rosparam file="$(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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# 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 |
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# 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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$ sudo pip install ino |
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#!/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 "" |