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    pil_image = Image.open('Image.jpg').convert('RGB')
    open_cv_image = np.array(pil_image)
    # opencv to PIL image
    cv2.cvtColor(open_cv_image, cv2.cv.CV_BGR2RGB)
    cv2_im = cv2.cvtColor(open_cv_image,cv2.COLOR_BGR2RGB)
    pil_im = Image.fromarray(cv2_im)
    #pil_im.show()

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#!/usr/bin/env python

import rospy
from sensor_msgs.msg import Image, CompressedImage

import fcntl, sys, os
from v4l2 import *
import time
import scipy.misc as misc
import numpy as np

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#!/usr/bin/env python

# Author: Sammy Pfeiffer

import rospy
from std_msgs.msg import String
from pal_detection_msgs.msg import PersonDetections, PersonDetection, FaceDetections, FaceDetection
#from pal_user_io_msgs.msg import Input
from pal_control_msgs.msg import MotionManagerActionGoal, MotionManagerAction, MotionManagerGoal
import actionlib

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


import rospy
from sensor_msgs.msg import Joy
from control_msgs.msg import JointTrajectoryControllerState
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint

JOY_TOPIC = "/joy"

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#! /usr/bin/env python
# -*- coding: utf-8 -*-
"""
Created on 05/09/15
@author: sampfeiffer
interactive_marker_posestamped.py contains...
"""
__author__ = 'sampfeiffer'

# based on https://github.com/ros-visualization/visualization_tutorials/blob/indigo-devel/interactive_marker_tutorials/scripts/basic_controls.py

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start ROS

roscore

Upload robot description urdf to param server

roslaunch marco_description upload_marco.launch

Also:

rosparam set /robot_description "`rosrun xacro xacro.py robot.urdf`"

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From http://stackoverflow.com/questions/6758963/find-and-replace-with-sed-in-directory-and-sub-directories

find ./ -type f -exec sed -i -e 's/apple/orange/g' {} \;

This changes all ocurrences of apple to orange in the folder and subfolders from "."

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#!/usr/bin/env python

import subprocess
import tempfile
import os
import signal


class ShellCmd:
    """Helpful class to spawn commands and keep track of them"""

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sam@zenb:~/Pictures/abudhabi/test$ ls -lah
total 2,7M
drwxrwxr-x 2 sam sam 4,0K oct 16 21:25 .
drwxrwxr-x 3 sam sam 4,0K oct 16 21:25 ..
-rw-rw-r-- 1 sam sam 781K oct 16 21:25 2_ar.PNG
-rw-rw-r-- 1 sam sam 150K oct 16 21:25 3_ar.PNG
-rw-rw-r-- 1 sam sam 280K oct 16 21:25 4_ar.PNG
-rw-rw-r-- 1 sam sam 590K oct 16 21:25 5_ar.PNG
-rw-rw-r-- 1 sam sam 493K oct 16 21:25 6_ar.PNG
-rw-rw-r-- 1 sam sam 174K oct 16 21:25 7_ar.PNG

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#! /usr/bin/env python
# -*- coding: utf-8 -*-
"""
Created on 11/16/15

@author: sampfeiffer

generate_collisions.py link_1 link_2 link_3

Generates the lines to add to the moveit config <robot>.srdf in