davetcoleman

std::string ik_tip_string = "tooltip0"; // TODO: make this a rosparam                                                                                                                                                                        
ik_tip_link_ = robot_model_->getLinkModel(ik_tip_string);

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;

davetcoleman

/*********************************************************************
 * 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:
 *

davetcoleman

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_

davetcoleman

[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

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

tree
.
├── build
│   ├── CMakeCache.txt
│   ├── CMakeFiles
│   │   ├── CMakeCCompiler.cmake
│   │   ├── cmake.check_cache
│   │   ├── CMakeCXXCompiler.cmake
│   │   ├── CMakeDetermineCompilerABI_C.bin
│   │   ├── CMakeDetermineCompilerABI_CXX.bin