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(defun look-all ()
  (send *irtviewer* :look-all
        (send (geo::make-bounding-box
               (flatten (send-all (send *robot* :bodies) :vertices))) :grow 0.3)))

(defun init ()
  (unless (boundp '*h7*)
    (load "models/h7-robot.l")
    (setq *robot* (h7)))
  (unless (boundp '*room*)

k-okada

1,5d0
< <?xml version="1.0" encoding="utf-8"?>
< <!-- =================================================================================== -->
< <!-- |    This document was autogenerated by xacro from urdf.xacro                     | -->
< <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
< <!-- =================================================================================== -->
6a2
>   <!-- Head Link Simplified Collision Mesh -->
8d3
<   <!-- Joint for connection to parent -->

k-okada

(load "package://pr2eus/pr2.l")
(load "package://pr2eus/pr2-utils.l")
(if (not (boundp '*robot*))
    (setq *robot* (pr2)))
(send *robot* :look-at-hand :larm)
(send *robot* :larm :gripper :joint-angle 60)
(setq *table* (make-cube 800 1200 5 :pos #f(800 0 500))) (send *table* :set-color :white)
(setq *ray-target* (make-sphere 20)) (send *ray-target* :set-color :blue)
(setq *tabletop-target* (make-cylinder 5 100)) (send *tabletop-target* :set-color :green)
(objects (list *robot* *ray-target* *tabletop-target* *table*))

k-okada

;; from https://github.com/euslisp/jskeus/pull/595
(defmethod interpolator
  (:pass-time
   (dt)
   "process interpolation for dt[sec]"
   (when interpolatingp
     (setq position (send self :interpolation))
     (incf time dt)
     (setq segment-time (- time (if (= segment 0) 0 (nth (1- segment) time-list))))
     (when (eps> time (nth segment time-list) (* 0.1 dt))

k-okada

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Image1
        - /Image2
        - /Image3
        - /Image4

k-okada

Panels:
  - Class: rviz/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /PointCloud21
        - /Image1

k-okada

root@fetch1075:/home/fetch/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_fetch_robot/jsk_fetch_startup/scripts# hciconfig dev
hci0:	Type: BR/EDR  Bus: USB
	BD Address: A0:A8:CD:91:60:26  ACL MTU: 1021:5  SCO MTU: 96:5
	UP RUNNING PSCAN 
	RX bytes:5853052 acl:100980 sco:0 events:319 errors:0
	TX bytes:9328 acl:226 sco:0 commands:63 errors:0

root@fetch1075:/home/fetch/ros/indigo/src/jsk-ros-pkg/jsk_robot/jsk_fetch_robot/jsk_fetch_startup/scripts# hciconfig dev -a
hci0:	Type: BR/EDR  Bus: USB
	BD Address: A0:A8:CD:91:60:26  ACL MTU: 1021:5  SCO MTU: 96:5

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<launch>
  <include file="$(find realsense2_camera)/launch/rs_camera.launch">
    <arg name="enable_pointcloud" default="true" />
  </include>
  <node pkg="image_view2" type="image_view2" name="rs_camera_image_view"
        ns="/camera/color/">
    <remap from="image" to="image_raw" />
  </node>
  <node pkg="rviz" type="rviz" name="rviz" args="-d /home/mech-user/conf.rviz" />

k-okada

#!/usr/bin/env roseus
;;

(require :unittest "lib/llib/unittest.l")
(ros::roseus "test-roseus")

;(setq sys::*gc-hook* #'(lambda (a b) (format *error-output* ";; gc ~A ~A~%" a b)))

(init-unit-test)

k-okada

#!/usr/bin/env roseus
;;

(require :unittest "lib/llib/unittest.l")
(ros::roseus "test-roseus")

;(setq sys::*gc-hook* #'(lambda (a b) (format *error-output* ";; gc ~A ~A~%" a b)))

(init-unit-test)