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| ## For Ubuntu 16.04 Xenial | |
| # Install Python3.7 | |
| sudo apt update | |
| sudo apt install software-properties-common | |
| sudo add-apt-repository ppa:deadsnakes/ppa | |
| sudo apt update | |
| sudo apt install python3.7 | |
| # Create virtual environment with python3.7 |
| tf::Transform | |
| ArucoMapping::arucoMarker2Tf(const aruco::Marker &marker) | |
| { | |
| cv::Mat marker_rotation(3,3, CV_32FC1); | |
| cv::Rodrigues(marker.Rvec, marker_rotation); | |
| cv::Mat marker_translation = marker.Tvec; | |
| cv::Mat rotate_to_ros(3,3,CV_32FC1); | |
| rotate_to_ros.at<float>(0,0) = -1.0; | |
| rotate_to_ros.at<float>(0,1) = 0; |
| ## Using Numpy functions result should be [-pi,pi] | |
| import numpy as np | |
| phases = np.arctan2(np.sin(phases), np.cos(phases)) | |
| ## equivalen to: | |
| phases = np.angle(np.exp(1j*phases)) | |
| ## Modulo approach | |
| phases = (( -phases + np.pi) % (2.0 * np.pi ) - np.pi) * -1.0 | |
| ## Programmatic approach in C++ |
| ''' | |
| /** this conversion uses conventions as described on page: | |
| * https://www.euclideanspace.com/maths/geometry/rotations/euler/index.htm | |
| * Coordinate System: right hand | |
| * Positive angle: right hand | |
| * Order of euler angles: heading first, then attitude, then bank | |
| * matrix row column ordering: | |
| * [m00 m01 m02] | |
| * [m10 m11 m12] | |
| * [m20 m21 m22]*/ |
~/px4_ws/src http://dev.px4.io/en/ros/mavros_installation.html~/px4_ws/src. git clone --recursive https://github.com/PX4/Firmware~/px4_ws/src: ln -s Firmware/Tools/sitl_gazebo mavlink_sitl_gazeboexport GAZEBO_MODEL_PATH=$HOME/px4_ws/src/mavlink_sitl_gazebo/models
export GAZEBO_RESOURCE_PATH=$HOME/px4_ws/src/mavlink_sitl_gazebo/worlds
| <launch> | |
| <include file="$(find raspicam_node)/launch/camera_module_v2_640x480_30fps_autocapture.launch" /> | |
| <node name="web_video_server" pkg="web_video_server" type="web_video_server" output="screen"/> | |
| </launch> |
| #!/bin/sh | |
| # Source | |
| sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' | |
| wget http://packages.ros.org/ros.key -O - | sudo apt-key add - | |
| sudo apt-get update | |
| # Install ros packages and dependencies | |
| sudo apt -y install ros-kinetic-desktop-full ros-kinetic-rqt python-rosinstall ros-kinetic-mavros ros-kinetic-web-video-server ros-kinetic-aruco-ros ros-kinetic-vision-opencv ros-kinetic-video-stream-opencv ros-kinetic-uvc-camera ros-kinetic-usb-cam ros-kinetic-test-mavros ros-kinetic-rviz-visual-tools ros-kinetic-rostopic ros-kinetic-roslaunch python-rosinstall python-rosinstall-generator python-wstool build-essential ros-kinetic-pyros python-rosdep | |
| # Init and source installation |
| #!/usr/bin/env python | |
| import math | |
| import rospy | |
| from sensor_msgs.msg import Image, JointState | |
| from simple_arm.srv import * | |
| class LookAway(object): | |
| def __init__(self): |
| #!/usr/bin/env python | |
| import math | |
| import rospy | |
| from std_msgs.msg import Float64 | |
| from sensor_msgs.msg import JointState | |
| from simple_arm.srv import * | |
| def at_goal(pos_j1, goal_j1, pos_j2, goal_j2): | |
| tolerance = .05 |