felixvd

//Author: Henning Sperr <henning.sperr@gmail.com>
// License: BSD 3 clause


// ==UserScript==
// @name         Matecat Review Hotkeys
// @namespace    http://tampermonkey.net/
// @version      0.2
// @description  try to take over the world!
// @author       Henning Sperr

felixvd

import pandas as pd
import re

indf = pd.read_excel("inputfile.xlsx")

# Build a data frame with source and target segments
df = pd.concat([indf.Japanese, indf.German], axis = 1)
df.columns = ["Source", "Target"]

# Check if model numbers in source are also in target and vice versa

felixvd

#include "ros/ros.h"
#include "std_msgs/String.h"
#include "iiwa_msgs/JointPosition.h"
#include "iiwa_msgs/JointQuantity.h"
#include "conversions.h"
#include "iiwa_ros.h"

/**
 * This is copied from the tutorial
 */

felixvd

bool moveToCartPose(geometry_msgs::PoseStamped pose, std::string robot_name, bool wait, std::string end_effector_link, double velocity_scaling_factor)
{
  moveit::planning_interface::MoveGroupInterface::Plan myplan;
  moveit::planning_interface::MoveItErrorCode 
    success_plan = moveit_msgs::MoveItErrorCodes::FAILURE, 
    motion_done = moveit_msgs::MoveItErrorCodes::FAILURE;

  moveit::planning_interface::MoveGroupInterface* group_pointer;
  group_pointer = robotNameToMoveGroup(robot_name);
  

felixvd

#pragma once

// This header file can be copied into the folder ur_modern_driver/include/ur_modern_driver 
// of the ur_modern_driver ROS package and included in your program for convenience.
// It waits for a program to be completed on the UR controller.
// Note that this is useful mostly for custom scripts. A move command sent through
// ur_modern_driver/MoveIt will stay active on the UR controller, and the wait will time out.

#include "ros/ros.h"
#include "ur_msgs/RobotModeDataMsg.h"

felixvd

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2019, Felix von Drigalski
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*

felixvd

<!-- Robot parameters that are separate for a_bot and b_bot -->
  <arg name="robot_ip_a" default="192.168.0.41"/>
  <arg name="robot_ip_b" default="192.168.0.42"/>
  <arg name="reverse_port_a" default="50001" />
  <arg name="script_sender_port_a" default="50002" />
  <arg name="reverse_port_b" default="50003" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
  <arg name="script_sender_port_b" default="50004" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
  <arg name="use_tool_communication_a" default="false"/>
  <arg name="use_tool_communication_b" default="false" doc="On e-Series robots tool communication can be enabled with this argument"/>
  <arg name="tool_device_name_a" default="/tmp/ttyUR_a"/>

felixvd

root@f092958e2d44:~/ws_moveit/src/moveit_tutorials# ./build_locally.sh 
Documenting a catkin package
Documenting moveit_tutorials located here: /root/ws_moveit/src/moveit_tutorials
{'sphinx': {'builder': 'sphinx', 'sphinx_root_dir': '.'}}
Catkin package, no need to generate python paths
Sphinx python path is: /root/ws_moveit/install/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages
sphinx-building moveit_tutorials [sphinx-build -a -E -b html . /root/ws_moveit/src/moveit_tutorials/build/html/.]
  cwd is /root/ws_moveit/src/moveit_tutorials
stdout:
Running Sphinx v1.6.7

felixvd

Lines 1714-1735:

  if (object.operation == moveit_msgs::CollisionObject::ADD && world_->hasObject(object.id))
    world_->removeObject(object.id);

  ROS_WARN_STREAM("Received collision object with id: " << object.id);
  ROS_WARN_STREAM("header.frame_id: " << object.header.frame_id);

  const Eigen::Isometry3d& world_to_object_header_transform = getTransforms().getTransform(object.header.frame_id);
  ROS_WARN_STREAM("world_to_object_header_transform: ");

felixvd

void add_one_to_int(int& number)
{
  // This increases the value of the parameter.
  // The value will persist outside of the function, because the reference is passed,
  // so the memory address is used.
  number++;
}

void add_one_to_int_using_pointer(int* number_pointer)
{