garaemon

device	device id	patched firm	openni_launch	openni2_launch
Xtion Pro	id600	no	OK	OK
Xtion Pro	id600	yes
Xtion	id600	no
Xtion	id600	yes
Xtion Pro	id601	no
Xtion Pro	id601	yes	NG	OK
Xtion	id601	no	NG	OK
Xtion	id601	yes

garaemon

function eview() {
    emacsclient -e "(find-file-read-only \"$1\")"
}

garaemon

Ubuntuでkinect2を読む

• libfreenect2を使います
• 現状実行できない気がするのでこのforkを使ってみてください (@garaemon/work-on-ubuntu)
• USB3.0のインターフェースに相性があるので、動作確認がなされているものを使いましょう. 参考
  • transcendのカードで動作確認しています
• kenelは3.11以上のものを使いましょう。

インストール方法

garaemon

image_width: 1280
image_height: 960
camera_name: 14137639
camera_matrix:
  rows: 3
  cols: 3
  data: [1214.40086106745, 0, 608.015171891804, 0, 1210.28487583331, 473.81047351168, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1

garaemon

$ git checkout groovy-devel
Branch groovy-devel set up to track remote branch groovy-devel from origin.
Switched to a new branch 'groovy-devel'
$ ls
amcl/                clear_costmap_recovery/  dwa_local_planner/  .gitignore   move_base/            nav_core/   robot_pose_ekf/   voxel_grid/
base_local_planner/  CMakeLists.txt           fake_localization/  Makefile     move_base_msgs/       navfn/      rotate_recovery/
carrot_planner/      costmap_2d/              .git/               map_server/  move_slow_and_clear/  README.rst  stack.xml
$ grep -iIrn inflated_obstacles *
costmap_2d/include/costmap_2d/costmap_2d_publisher.h:96:      std::vector< std::pair<double, double> > raw_obstacles_, inflated_obstacles_, unknown_space_;

garaemon

applications@pr1012:/opt/ros/hydro/bin$ python -m cProfile roslaunch jsk_pr2_startup pr2.launch
... logging to /home/applications/.ros/log/d7548c62-7f52-11e4-8eb4-001517c3b779/roslaunch-pr1012-8786.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/applications/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://pr1012:33907/
remote[c2-0] starting roslaunch
remote[c2-0]: creating ssh connection to c2:22

garaemon

- git: {local-name: rtm-ros-robotics/openrtm_common/openrtm_aist_core, uri: 'https://github.com/start-jsk/openrtm_aist_core.git'}
- git: {local-name: rtm-ros-robotics/openrtm_common/openhrp3, uri: 'https://github.com/start-jsk/openhrp3.git'}
- git: {local-name: rtm-ros-robotics/openrtm_common/rtshell_core, uri: 'https://github.com/start-jsk/rtshell_core.git'}
- git: {local-name: rtm-ros-robotics/openrtm_common/hrpsys, uri: 'https://github.com/start-jsk/hrpsys.git'}
- git: {local-name: rtm-ros-robotics/rtmros_common, uri: 'https://github.com/start-jsk/rtmros_common.git'}
- git: {local-name: rtm-ros-robotics/rtmros_tutorials, uri: 'https://github.com/start-jsk/rtmros_tutorials.git'}
- git: {local-name: rtm-ros-robotics/rtmros_gazebo, uri: 'https://github.com/start-jsk/rtmros_gazebo.git'}
- svn: {local-name: rtm-ros-robotics/openrtm_apps, uri: 'https://rtm-ros-robotics.googlecode.com/svn/trunk/openrtm_apps.git'}
- svn: {local-name: rtm-ros-robotics/agentsystem_ros_tutorials, uri: 'https://rtm-ros-robotics.google

garaemon

#!/usr/bin/env python

# 1. estimation_config.launch
#    i) include leg or not, bool
#   ii) use chain in 2nd calibration, bool
#  iii) calibrate joint or not, bool

# 2. free_cb_locations.yaml
#    i) include leg or not, bool

garaemon

- git: {local-name: jsk-ros-pkg/openrave_planning, uri: 'https://github.com/jsk-ros-pkg/openrave_planning.git'}
- git: {local-name: jsk-ros-pkg/jsk_visualization, uri: 'https://github.com/jsk-ros-pkg/jsk_visualization.git'}
- git: {local-name: jsk-ros-pkg/jsk_smart_apps, uri: 'https://github.com/jsk-ros-pkg/jsk_smart_apps.git'}
- git: {local-name: jsk-ros-pkg/jsk_roseus, uri: 'https://github.com/jsk-ros-pkg/jsk_roseus.git'}
- git: {local-name: jsk-ros-pkg/jsk_robot, uri: 'https://github.com/jsk-ros-pkg/jsk_robot.git'}
- git: {local-name: jsk-ros-pkg/jsk_recognition, uri: 'https://github.com/jsk-ros-pkg/jsk_recognition.git'}
- git: {local-name: jsk-ros-pkg/jsk_pr2eus, uri: 'https://github.com/jsk-ros-pkg/jsk_pr2eus.git'}
- git: {local-name: jsk-ros-pkg/jsk_planning, uri: 'https://github.com/jsk-ros-pkg/jsk_planning.git'}
- git: {local-name: jsk-ros-pkg/jsk_model_tools, uri: 'https://github.com/jsk-ros-pkg/jsk_model_tools.git'}
- git: {local-name: jsk-ros-pkg/jsk_demos, uri: 'https://github.com/jsk-ros-pkg/jsk_

garaemon

<launch>
  <node name="tilt_scan_to_scan"
        pkg="laser_filters" type="scan_to_scan_filter_chain"
        output="screen">
     <remap from="scan" to="/multisense/lidar_scan" />
     <rosparam subst_value="true">
       scan_filter_chain:
       - name: shadows
         type: laser_filters/ScanShadowsFilter
         params: