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#!/usr/bin/env python

# Author: christoph.roesmann@tu-dortmund.de
# Modifier: Donghee Han, hdh7485@kaist.ac.kr

import rospy, math
from geometry_msgs.msg import Twist
from ackermann_msgs.msg import AckermannDriveStamped
from ackermann_msgs.msg import AckermannDrive

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<launch>
  <!-- The planning and execution components of MoveIt! configured to run -->
  <!-- using the ROS-Industrial interface. -->
 
  <!-- Non-standard joint names:
       - Create a file [robot_moveit_config]/config/joint_names.yaml
           controller_joint_names: [joint_1, joint_2, ... joint_N] 
       - Update with joint names for your robot (in order expected by rbt controller)
       - and uncomment the following line: -->
  <rosparam command="load" file="$(find fanuc_lrmate200id_support)/config/joint_names_lrmate200id.yaml" />

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"""
Please Modify the path to .msg file. 

usage; 

python3 visualize_openvslam_map.py path_to.msg output_file.pcd
"""

import msgpack
import matplotlib.pyplot as plt

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"""
Please Modify the path to .msg file. 

usage; 

python3 visualize_openvslam_map.py path_to.msg
"""

import msgpack
import matplotlib.pyplot as plt

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import cv   #bazı cv fonksiyonları lazım karşılığı olan cv2 fonksiyonlarını bilmediğimden 
import cv2
global imghsv
import numpy
import serial     
import binascii   
import imutils         

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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
  <xacro:include filename="$(find fanuc_resources)/urdf/common_materials.xacro"/>

  <xacro:macro name="fanuc_lrmate200id" params="prefix">
    <!-- links: main serial chain -->
    <link name="${prefix}base_link">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>

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# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved.
import cv2
import torch
import numpy as np
from torchvision import transforms as T

from maskrcnn_benchmark.modeling.detector import build_detection_model
from maskrcnn_benchmark.utils.checkpoint import DetectronCheckpointer
from maskrcnn_benchmark.structures.image_list import to_image_list
from maskrcnn_benchmark.modeling.roi_heads.mask_head.inference import Masker

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# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved.
import argparse
import cv2

import numpy as np
import glob

from maskrcnn_benchmark.config import cfg
from predictor import COCODemo

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## 1. Run ROS Nodes with Python3

This will need a seperate ros workspace which is built againist python3. In following steps there is instructions on how to create and build workspace against python3

### 1.0 install necessery tools for python3
```bash
sudo apt-get install python3-pip python3-yaml
sudo pip3 install rospkg catkin_pkg
sudo apt-get install python-catkin-tools python3-dev python3-numpy
```