mauricefallon

#!/usr/bin/env python
# controllers: trot_ros, static_walk_ros, freeze, free_gait_impedence_ros
# trot_ros: WalkingTrot, Stand
# static_walk: walk, stand
import sys
import time
import rospy
from rocoma_msgs.srv import SwitchController as rocomaSwitchController
from anymal_msgs.srv import SwitchController as anymalSwitchController
from joy_manager_msgs.msg import AnyJoy

mauricefallon

... logging to /home/mfallon/.ros/log/9fccb6f0-02aa-11e8-96fd-5cc5d4de4cf2/roslaunch-w541-21490.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/opt/ros/kinetic/share/anymal_sim/launch/sim.launch
started roslaunch server http://w541:44735/

SUMMARY
========

mauricefallon

close all
clear all
path ='/home/mfallon/logs/newer/01_short_experiment/ground_truth/';
r = importdata([path 'registered_poses.csv']);
s = importdata([path 'registered_poses_xyz_smoothed.csv']);
r = r.data;
s = s.data;
rt = r(:,1) + r(:,2)*1e-9;
rt = rt - rt(1);
st = s(:,1) + s(:,2)*1e-9;

mauricefallon

#!/usr/bin/env python
import rospy
from sensor_msgs.msg import *
import cv2
import numpy as np
import math

last_t = None
global last_t