davetcoleman

dev:roslaunch clam_moveit_config move_group.launch
... logging to /home/dave/.ros/log/b294026e-4899-11e2-a9c7-d43d7e05aeaf/roslaunch-ros_monster-2339.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ros_monster:36871/

SUMMARY
========

davetcoleman

Linking CXX executable /home/dave/ros/clam/devel/lib/clam_vision/calibrate_kinect_checkerboard
CMakeFiles/calibrate_kinect_checkerboard.dir/src/detect_calibration_pattern.cpp.o: In function `PatternDetector::detectPattern(cv::Mat&, Eigen::Matrix<float, 3, 1, 0, 3, 1>&, Eigen::Quaternion<float>&, cv::Mat&)':
detect_calibration_pattern.cpp:(.text+0x427): undefined reference to `cv::SimpleBlobDetector::Params::Params()'
detect_calibration_pattern.cpp:(.text+0x446): undefined reference to `cv::SimpleBlobDetector::SimpleBlobDetector(cv::SimpleBlobDetector::Params const&)'
detect_calibration_pattern.cpp:(.text+0x4a7): undefined reference to `cv::_InputArray::_InputArray(cv::Mat const&)'
detect_calibration_pattern.cpp:(.text+0x4d0): undefined reference to `cv::findCirclesGrid(cv::_InputArray const&, cv::Size_<int>, cv::_OutputArray const&, int, cv::Ptr<cv::FeatureDetector> const&)'
detect_calibration_pattern.cpp:(.text+0x536): undefined reference to `cv::_InputArray::_InputArray(cv::Mat const&)'
detect_calibration_p

davetcoleman

cmake_minimum_required(VERSION 2.8.3)
project(clam_controller)

# Load catkin and all dependencies required for this package
find_package(catkin REQUIRED COMPONENTS 
  roscpp 
  rospy 
  dynamixel_hardware_interface 
  std_msgs 
  sensor_msgs)

davetcoleman

INFO: moved translation [0, 0, -1/10000] to right end
INFO: moved translation [0, 0, 41/1000] to left end
INFO: moved translation on intersecting axis [0, 0, 0] to left
INFO: [[1, 0, 0, 0],[0, 1, 0, 0],[0, 0, 1, 91/1000]]
INFO: [[cos(j0), -sin(j0), 0, 0],[sin(j0), cos(j0), 0, 0],[0, 0, 1, 0]]
INFO: [[0, -1, 0, 0],[0, 0, 1, 21/10000],[-1, 0, 0, 0]]
INFO: [[cos(j1), -sin(j1), 0, 0],[sin(j1), cos(j1), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 0, -1, -603/5000],[0, 1, 0, 0],[1, 0, 0, -1/500]]
INFO: [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 0, 1, 0],[20637527*250425907520675729**(1/2)/250425907520675729, -500000000*250425907520675729**(1/2)/250425907520675729, 0, 0],[500000000*250425907520675729**(1/2)/250425907520675729, 20637527*250425907520675729**(1/2)/250425907520675729, 0, 7/200]]

davetcoleman

require 'formula'

class Terminator < Formula
  url 'http://launchpad.net/terminator/trunk/0.96/+download/terminator_0.96.tar.gz'
  homepage 'http://www.tenshu.net/p/terminator.html'
  md5 '070e3878336b341c9e18339d89ba64fe'

  depends_on 'gettext' => :build, 'intltool' => :build
  depends_on 'pygtk'
  depends_on 'vte'

davetcoleman

brew install pygtk
==> Installing pygtk dependency: jpeg
==> Downloading http://www.ijg.org/files/jpegsrc.v8d.tar.gz
######################################################################## 100.0%
==> ./configure --prefix=/usr/local/Cellar/jpeg/8d
==> make install
ln: libjpeg.dylib: Permission denied
Error: The linking step did not complete successfully
The formula built, but is not symlinked into /usr/local
You can try again using `brew link jpeg'

davetcoleman

Eigen::Affine3d RvizVisualTools::convertXYZRPY(std::vector<double> transform6)
{
  if (transform6.size() != 6)
  {
    ROS_ERROR_STREAM_NAMED("rviz_visual_tools","Incorrect number of variables passed for 6-size transform");
    throw;
  }

  // Eigen::AngleAxisd roll_angle (transform6[3], Eigen::Vector3d::UnitZ());                                                                                                                                                                   
  // Eigen::AngleAxisd pitch_angle(transform6[4], Eigen::Vector3d::UnitX());                                                                                                                                                                   

davetcoleman

#include <std_msgs/Bool.h>

// Initialize the ROS topic for recieving a stop command
std::size_t queue_size = 10;                                                                                                                                                                                                                                                      
stop_perception_sub_ = nh_.subscribe("/perception/stop_perception", queue_size, &Manipulator::stopPerceptionCallback, this);                                                                                                                                                      


void Manipulator::stopPerceptionCallback(const std_msgs::Bool::ConstPtr& msg)
{
  // The robot has finished moving the camera around

davetcoleman

repositories:
  hrl_kinematics:
    type: git
    url: git@github.com:davetcoleman/hrl_kinematics.git
    version: 4b97c35e0dbba688b1a58da57dd831b4e803ac1f
  moveit_core:
    type: git
    url: git@bitbucket.org:davetcoleman/moveit_core.git
    version: 04812a04c804db774cd6ccaad8d5ec3b8db2e1f1
  moveit_hrp2:

davetcoleman

bool getParameter(const std::string &param_name, std::string &value)
{
  // Load a param                                                                                                                                                                                                                                                                 
  if (!nh.hasParam(param_name))
  {
    ROS_ERROR_STREAM_NAMED("shelf","Missing parameter '" << param_name << "'. Searching in namespace: " << nh.getNamespace());
    return false;
  }
  nh.getParam("shelf_distance_from_baxter", value);
  return true;