josephcoombe

<!-- 
https://stackoverflow.com/a/53759308
https://answers.gazebosim.org//question/6416/using_a_urdf_in_gazebo-package-uris-not-described/?answer=6419#post-id-6419
https://answers.ros.org/question/195402/creating-custom-gazebo-world-files-from-sdfsdaes-for-use-with-roslaunch/?answer=357489#post-id-357489
-->

<package>
  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <buildtool_depend>catkin</buildtool_depend>

josephcoombe

@echo off
setlocal enableDelayedExpansion

set r_library_relative_path=R\library
echo %r_library_path%
for /d %%i in ("%~dp0%r_library_relative_path%\*") do (
  echo %%~nxi
  findstr /b License: %%i\DESCRIPTION
  echo.
)

josephcoombe

# References:
#   https://stackoverflow.com/a/2186639/8670609

import os
import fnmatch

def recursive_glob(treeroot, pattern):
    results = []
    for base, dirs, files in os.walk(treeroot):
        goodfiles = fnmatch.filter(files, pattern)

josephcoombe

<gazebo reference='joint_name'>
  <preserveFixedJoint>true</preserveFixedJoint>
</gazebo>

josephcoombe

# Python xml.etree with xpath
#
# References:
#  The ElementTree XML API: https://docs.python.org/2/library/xml.etree.elementtree.html

import xml.etree
from xml.etree.ElementTree import Element
from xml.etree import ElementTree as ET
from xml.dom import minidom

josephcoombe

# Install Google Cartographer and Local Protobuf Version
#
# Based on:
#   install_cartographer_proto_locally.sh: https://gist.github.com/l1va/630043c4a23e6b3f5c73c088ba6b62d5
#
# References:
#   Cartographer ROS Integration: https://google-cartographer-ros.readthedocs.io/en/latest/index.html
#   Compiling Cartographer ROS: https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html
#   This file was generated by an older version of protoc - #625: https://github.com/googlecartographer/cartographer_ros/issues/625
#   Issue8557 - subprocess PATH semantics and portability: https://bugs.python.org/issue8557

josephcoombe

#!/usr/bin/env python
# -*- coding: utf-8 -*-

# Python: Get str objects instead of Unicode from JSON 
# using object_hook
#
# Taken from:
#  Source: https://stackoverflow.com/a/33571117

import json

josephcoombe

# Python: Print nested dictionaries
#
# Taken from:
#  https://stackoverflow.com/a/3314411/8670609

import json
print(json.dumps({'a':2, 'b':{'x':3, 'y':{'t1': 4, 't2':5}}}, 
                 sort_keys=True, indent=4))

# {

josephcoombe

# SSH from Windows 10 using Python subprocess + built-in OpenSSH
#
# Alternatives to using subprocess include:
#  Fabric: http://www.fabfile.org/
#  Paramiko: http://www.paramiko.org/
#
# References:
#   OpenSSH in Windows 10: https://blogs.msdn.microsoft.com/commandline/2018/01/22/openssh-in-windows-10/
#   The only simple way to do SSH in Python today is to use subprocess + OpenSSH...: https://gist.github.com/bortzmeyer/1284249
#   Issue8557 - subprocess PATH semantics and portability: https://bugs.python.org/issue8557