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#!/usr/bin/env python
import rospy
from ca_msgs.msg import Bumper
from std_msgs.msg import Float32
from geometry_msgs.msg import Twist, Vector3

class MiClase():

  def __init__(self):
    rospy.init_node("node_name", log_level=rospy.INFO)

eborghi10

#include <tf/tf.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Pose2D.h>

ros::Publisher pub_pose_;

void odometryCallback_(const nav_msgs::Odometry::ConstPtr msg) {
    geometry_msgs::Pose2D pose2d;
    pose2d.x = msg->pose.pose.position.x;
    pose2d.y = msg->pose.pose.position.y;

eborghi10

<launch>
  <node name="mi_nodo_utn" pkg="mi_nuevo_paquete" type="mi_nodo.py" />

  <include file="$(find ca_gazebo)/launch/create_empty_world.launch"/>
</launch>

eborghi10

#!/usr/bin/env python
import numpy as np

# Define the position of the frame B w.r.t. A
a_T_b = np.array([[2, -1, 1]]).transpose()
# Define the orientation of the frame B w.r.t. A
theta = np.radians(-90)
c, s = np.cos(theta), np.sin(theta)
a_R_b = np.array(((c, -s), (s, c), (0, 0)))
# Homogeneous matrix between A and B

eborghi10

<launch>
  <!-- Spawn Gazebo -->
  <include file="$(find ca_gazebo)/launch/create_empty_world.launch"/>
  <!-- Change real-time factor of Gazebo to 2x-->
  <node pkg="ca_gazebo" type="set_properties" name="gazebo_physics_properties" output="screen">
    <param name="real_time_factor" value="2"/>
  </node>
  <!-- Run the node to move the robot -->
  <node pkg="ca_tools" type="kinematics.py" name="kinematics" output="screen"/>
</launch>

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import math
import rospy as ros
import sys
import time

from geometry_msgs.msg import Twist, Pose
from nav_msgs.msg import Odometry
from tf.transformations import euler_from_quaternion, quaternion_from_euler

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# Nice git prompt
PS1='\[\033[0;32m\]\[\033[0m\033[0;32m\]\u\[\033[0;36m\] @ \[\033[0;36m\]\h \w\[\033[0;32m\]$(__git_ps1)\n\[\033[0;32m\]└─\[\033[0m\033[0;32m\] \$\[\033[0m\033[0;32m\] ▶\[\033[0m\] '

eborghi10

# 0 is too far from ` ;)
set -g base-index 1

# Automatically set window title
set-window-option -g automatic-rename on
set-option -g set-titles on

set -g history-limit 10000

# split panes using | and -

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#!/usr/bin/env python
import rospy

name = "caught_exception"
rospy.init_node(name)

r = rospy.Rate(1.)
start = rospy.Time.now()
while not rospy.is_shutdown():
  rospy.logwarn(name)

eborghi10

• Download and install compiled binaries

wget http://demotomohiro.github.io/hardware/jetson_tk1/pkg/libjpeg-turbo_1.4.0_armhf.deb
wget http://demotomohiro.github.io/hardware/jetson_tk1/pkg/virtualgl_2.4_armhf.deb
wget http://demotomohiro.github.io/hardware/jetson_tk1/pkg/turbovnc_1.2.3_armhf.deb
sudo dpkg -i libjpeg-turbo_1.4.0_armhf.deb
sudo dpkg -i virtualgl_2.4_armhf.deb
sudo dpkg -i turbovnc_1.2.3_armhf.deb
sudo vi /etc/X11/xorg.conf