rethink-imcmahon

#! /usr/bin/python
# Copyright (c) 2015, Rethink Robotics, Inc.

# Using this CvBridge Tutorial for converting
# ROS images to OpenCV2 images
# http://wiki.ros.org/cv_bridge/Tutorials/ConvertingBetweenROSImagesAndOpenCVImagesPython

# Using this OpenCV2 tutorial for saving Images:
# http://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_gui/py_image_display/py_image_display.html

rethink-imcmahon

#! /usr/bin/python
# Copyright (c) 2016 Rethink Robotics, Inc.

# rospy for the subscriber
import rospy
# ROS Image message
from sensor_msgs.msg import Image

def image_callback(msg, pub):
    pub.publish(msg)

rethink-imcmahon

#include "ros/ros.h"
#include "baxter_core_msgs/JointCommand.h"
int main(int argc, char **argv)
{
  ros::init(argc, argv, "baxter_left_arm_joint_pub");
  ros::NodeHandle n;
  ros::Publisher left_cmd_pub = n.advertise<baxter_core_msgs::JointCommand>("/robot/limb/left/joint_command", 1);
  // publish at at least 5 Hz, or else Baxter switches back to Position mode and holds position
  ros::Rate loop_rate(100);
  baxter_core_msgs::JointCommand cmd;

rethink-imcmahon

<?xml version="1.0" ?>
<launch>
 <!-- Load the URDF into the ROS Parameter Server -->
 <param name="robot_description" command="cat '$(find your_robot_description)urdf/your.urdf'" />

 <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen" args="_use_gui:=true"/>

 <!-- Publish a static transform between the world and the base of the robot -->
 <node pkg="tf2_ros" type="static_transform_publisher" name="base_to_world" args="0 0 0 0 0 0 1 world base" />

rethink-imcmahon

time:
  secs: 1449783752
  nsecs: 232993
link: 'torso'
joint: 'pedestal_fixed'
urdf: '<?xml version="1.0" ?>
<robot name="pedestal">
    <link name="pedestal">
            <visual>
              <origin xyz="0 0 0" rpy="0 0 0" />

rethink-imcmahon

time:
  secs: 1449703751
  nsecs: 232993
link: 'torso'
joint: 'pedestal_fixed'
urdf: '<robot name="pedestal">
  <link name="block">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="40" />

rethink-imcmahon

<?xml version="1.0" ?>
<launch>
 <!-- Load the URDF into the ROS Parameter Server -->
 <!-- param name="robot_description" command="cat '$(find baxter_description)/urdf/baxter.urdf'" / -->
 <!-- param name="robot_base_description" command="cat '/data/users/imcmahon/dev/mrsp_ws/baxter_urdf.xml'" / -->
 <param name="robot_description"
     command="$(find xacro)/xacro.py --inorder $(find baxter_description)/urdf/baxter.urdf.xacro" />
<!-- param name="use_sim_time" type="bool" value="true"/-->

 <!-- node pkg="rosbag" type="play" name="player" output="screen" args="-i-clock -l /data/users/imcmahon/dev/mrsp_ws/joint_states_increasing_2015-06-12-14-39-06.bag"/ -->

rethink-imcmahon

  "file-types": {
      '.launch': 'text.xml'
      '.world': 'text.xml'
      '.xacro': 'text.xml'
      '.urdf': 'text.xml'
      '.msg': 'source.yaml'
      '.srv': 'source.yaml'
      'CMakeLists.txt': 'source.cmake'
      '.rosinstall': 'source.yaml'
  }

rethink-imcmahon

Breakpoint 1 at 0x403bfb: file /data/users/imcmahon/dev/ros_core_ws/src/ros_tutorials/roscpp_tutorials/timers/timers.cpp, line 59.
(gdb) s
The program is not being run.
(gdb) run
Starting program: /data/users/imcmahon/dev/ros_core_ws/devel/lib/roscpp_tutorials/timers 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff1880700 (LWP 23552)]
[New Thread 0x7ffff107f700 (LWP 23553)]
[New Thread 0x7ffff087e700 (LWP 23554)]

rethink-imcmahon

PWD=/data/users/imcmahon/dev/ros_core_ws/devel/lib/roscpp_tutorials
---Type <return> to continue, or q <return> to quit---q
Quit
(gdb) b 55
Breakpoint 1 at 0x403aee: file /data/users/imcmahon/dev/ros_core_ws/src/ros_tutorials/roscpp_tutorials/timers/timers.cpp, line 55.
(gdb) run
Starting program: /data/users/imcmahon/dev/ros_core_ws/devel/lib/roscpp_tutorials/timers 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff1881700 (LWP 6059)]