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View cart_path_planner.cpp:108
std::string ik_tip_string = "tooltip0"; // TODO: make this a rosparam
ik_tip_link_ = robot_model_->getLinkModel(ik_tip_string);
View rpy_to_affine3d
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());
View perception stop command
#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
View vcs export --exact
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:
View gist:a6957db7e51814d4a331
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;
View verticle_approach_test.cpp
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, University of Colorado, Boulder
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
View gist:7dfe9a4238f38c90b631
Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffe1222700 (LWP 18779)]
0x00007fffd1abde86 in occupancy_map_monitor::PointCloudOctomapUpdater::cloudMsgCallback (this=0xb92080, cloud_msg=...) at /home/dave/ros/ws_moveit/src/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp:244
244 if (!isnan(*iter_x) && !isnan(*iter_y) && !isnan(*iter_z))
(gdb) bt
#0 0x00007fffd1abde86 in occupancy_map_monitor::PointCloudOctomapUpdater::cloudMsgCallback (this=0xb92080, cloud_msg=...) at /home/dave/ros/ws_moveit/src/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp:244
#1 0x00007fffd1ae7d74 in boost::_mfi::mf1<void, occupancy_map_monitor::PointCloudOctomapUpdater, boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const> const&>::operator() (this=0x15edc78, p=0xb92080, a1=...)
at /usr/include/boost/bind/mem_fn_template.hpp:165
#2 0x00007fffd1ae468a in boost::_bi::list2<boost::_bi::value<occupancy_map_
View bloom_log
[bloom] bloom version 0.5.11
[debug] track_branches(['bloom', 'master'], None)
[debug] Tracking branches: []
[debug] Checking out to indigo-devel
[debug] Requested checkout reference is the same as the current branch
[debug] track_branches(['bloom'], None)
[debug] Tracking branches: []
[debug] Checking out to indigo-devel
[debug] Requested checkout reference is the same as the current branch
[debug] /home/dave/ros/ws_moveit_other/src/moveit_simple_grasps:$ git ls-tree bloom:CONTENT_MOVED_TO_MASTER_BRANCH
@davetcoleman
davetcoleman / Eigen
Last active Aug 29, 2015
Eigen Points
View Eigen
void simpleTest()
{
Eigen::Vector3d ballBlue, ballRed;
tf::pointMsgToEigen(pt1,ballBlue);
tf::pointMsgToEigen(pt2,ballRed);
// //Get distance between points
// Vector3 dist = ballBlue.Position - ballRed.Position;
Eigen::Vector3d dist = ballBlue - ballRed;
// dist.Normalize();
dist.normalize();
@davetcoleman
davetcoleman / urdfdom files
Created Feb 14, 2014
tree (file system) output of src/urdfdom
View urdfdom files
tree
.
├── build
│   ├── CMakeCache.txt
│   ├── CMakeFiles
│   │   ├── CMakeCCompiler.cmake
│   │   ├── cmake.check_cache
│   │   ├── CMakeCXXCompiler.cmake
│   │   ├── CMakeDetermineCompilerABI_C.bin
│   │   ├── CMakeDetermineCompilerABI_CXX.bin