Ryohei Ueda 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_;

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

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

hydroで最新のPCLを使う

PClはboost 1.48以上じゃないとだめ、hydroのaptは1.46を使っている。
つまり、hydroをソースからコンパイルすればいけるはず。
hydro関連を全て削除、boost-1.48をインストールする。

sudo aptitude install libboost1.48-dev

pclのコンパイル

git clone git@github.com:PointCloudLibrary/pcl

	- 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_

	#!/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

	- 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

	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

	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

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