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Commit 3c18c4e3 authored by Johannes Mey's avatar Johannes Mey
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autoformat code

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.clang-format
+ 9
− 9
View file @ 3c18c4e3
......@@ -51,15 +51,15 @@ BreakBeforeBraces: Custom
# Control of individual brace wrapping cases
BraceWrapping: {
AfterClass: 'true'
AfterClass: 'true'
AfterControlStatement: 'true'
AfterEnum : 'true'
AfterFunction : 'true'
AfterNamespace : 'true'
AfterStruct : 'true'
AfterUnion : 'true'
BeforeCatch : 'true'
BeforeElse : 'true'
IndentBraces : 'false'
AfterEnum: 'true'
AfterFunction: 'true'
AfterNamespace: 'true'
AfterStruct: 'true'
AfterUnion: 'true'
BeforeCatch: 'true'
BeforeElse: 'true'
IndentBraces: 'false'
}
...
CMakeLists.txt
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− 4
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......@@ -104,10 +104,10 @@ find_package(catkin REQUIRED COMPONENTS
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES ccf_immersive_sorting
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
# INCLUDE_DIRS include
# LIBRARIES ccf_immersive_sorting
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
......
config/config_scene_ceti-table-1-empty-coloured.yaml
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− 3
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......@@ -22,15 +22,15 @@
{ 'id': 'table-top', 'pos': { 'z': 0.885 },'size': { 'length': 0.8,'width': 0.8,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'left_panel', 'pos': { 'z': 0.885, 'y': -0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'right_panel', 'pos': { 'z': 0.885, 'y': 0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# { 'id': 'front_panel', 'pos': { 'z': 0.885, 'x': 0.6525 },'size': { 'length': 0.5,'width': 0.7,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# { 'id': 'front_panel', 'pos': { 'z': 0.885, 'x': 0.6525 },'size': { 'length': 0.5,'width': 0.7,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# bins width/depth/height 28.5*19*15.5
# their height is 89 + 7.75 = 0.9675 m
# the width is 31.8 or 63.6
# if they stand on a panel edge, they stand at 40 + 0.5 + 14.25 = 54.75
# their x location is N*19 + 9.5 - 35 = N*20 - 25.5 = -25.5 and -5.5 and 14.5 if they have 1 cm distance
{ 'id': 'binBlue', 'type': 'BIN','pos': { 'x': -0.23,'y': 0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
{ 'id': 'binRed', 'type': 'BIN','pos': { 'x': -0.23,'y': 0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
{ 'id': 'binBlue', 'type': 'BIN','pos': { 'x': -0.23,'y': 0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
{ 'id': 'binRed', 'type': 'BIN','pos': { 'x': -0.23,'y': 0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
{ 'id': 'binGreen', 'type': 'BIN','pos': { 'x': -0.23,'y': -0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
{ 'id': 'binYellow','type': 'BIN','pos': { 'x': -0.23,'y': -0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { r: 1, 'g': 1 } },
......
config/config_scene_ceti-table-1-empty-grey.yaml
+ 3
− 3
View file @ 3c18c4e3
......@@ -22,15 +22,15 @@
{ 'id': 'table-top', 'pos': { 'z': 0.885 },'size': { 'length': 0.8,'width': 0.8,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'left_panel', 'pos': { 'z': 0.885, 'y': -0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'right_panel', 'pos': { 'z': 0.885, 'y': 0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# { 'id': 'front_panel', 'pos': { 'z': 0.885, 'x': 0.6525 },'size': { 'length': 0.5,'width': 0.7,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# { 'id': 'front_panel', 'pos': { 'z': 0.885, 'x': 0.6525 },'size': { 'length': 0.5,'width': 0.7,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# bins width/depth/height 28.5*19*15.5
# their height is 89 + 7.75 = 0.9675 m
# the width is 31.8 or 63.6
# if they stand on a panel edge, they stand at 40 + 0.5 + 14.25 = 54.75
# their x location is N*19 + 9.5 - 35 = N*20 - 25.5 = -25.5 and -5.5 and 14.5 if they have 1 cm distance
{ 'id': 'D','type': 'BIN','pos': { 'x': -0.23,'y': 0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.2, 'g': 0.2, 'b': 0.2 } },
{ 'id': 'C','type': 'BIN','pos': { 'x': -0.23,'y': 0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.4, 'g': 0.4, 'b': 0.4 } },
{ 'id': 'D','type': 'BIN','pos': { 'x': -0.23,'y': 0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.2, 'g': 0.2, 'b': 0.2 } },
{ 'id': 'C','type': 'BIN','pos': { 'x': -0.23,'y': 0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.4, 'g': 0.4, 'b': 0.4 } },
{ 'id': 'B','type': 'BIN','pos': { 'x': -0.23,'y': -0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.6, 'g': 0.6, 'b': 0.6 } },
{ 'id': 'A','type': 'BIN','pos': { 'x': -0.23,'y': -0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8, 'b': 0.8 } },
......
config/config_scene_ceti-table-2.yaml
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......@@ -29,14 +29,14 @@
# the width is 31.8 or 63.6
# if they stand on a panel edge, they stand at 40 + 0.5 + 8.5 = 49 and 49 + 1 + 17 = 67
# their x location is 12 - 35 = -23
{ 'id': 'binBlue', 'type': 'BIN','pos': { 'x': -0.23,'y': 0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
{ 'id': 'binRed', 'type': 'BIN','pos': { 'x': -0.23,'y': 0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
{ 'id': 'binBlue', 'type': 'BIN','pos': { 'x': -0.23,'y': 0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
{ 'id': 'binRed', 'type': 'BIN','pos': { 'x': -0.23,'y': 0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
{ 'id': 'binGreen','type': 'BIN','pos': { 'x': -0.23,'y': -0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
{ 'id': 'bigYellow','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.940300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
{ 'id': 'bigGreen' ,'type': 'BOX','pos': { 'x': 0.10,'y': 0.30,'z': 0.940300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
{ 'id': 'bigBlue' ,'type': 'BOX','pos': { 'x': 0.20,'y': -0.10,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'z': 0.7071068, 'w':0.7071068 },'color': { 'b': 1 } },
{ 'id': 'bigRed' ,'type': 'BOX','pos': { 'x': 0.15,'y': 0.10,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'z': 0.7071068, 'w':0.7071068 },'color': { 'r': 1 } },
{ 'id': 'bigYellow','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.940300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
{ 'id': 'bigGreen' ,'type': 'BOX','pos': { 'x': 0.10,'y': 0.30,'z': 0.940300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
{ 'id': 'bigBlue' ,'type': 'BOX','pos': { 'x': 0.20,'y': -0.10,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'z': 0.7071068, 'w': 0.7071068 },'color': { 'b': 1 } },
{ 'id': 'bigRed' ,'type': 'BOX','pos': { 'x': 0.15,'y': 0.10,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'z': 0.7071068, 'w': 0.7071068 },'color': { 'r': 1 } },
{ 'id': 'smallRed','type': 'BOX','pos': { 'x': 0.30,'y': -0.25,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
{ 'id': 'smallYellow','type': 'BOX','pos': { 'x': 0.25,'y': 0.25,'z': 0.921100 },'size': { 'length': .0318, 'width': .0318,'height': 0.062200 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
......
config/config_scene_ceti-table-placeworld.yaml
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This diff is collapsed.
config/config_scene_virtual-tag-table-grey.yaml
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......@@ -9,18 +9,18 @@
# idea: all elements are sorted by name
{ 'id': 'A','type': 'BIN','pos': { 'x': -0.35,'y': -0.6,'z': 0.65 },'size': { 'length': 0.3,'width': 0.3,'height': 0.3 },'orientation': { 'w': 1 },'color': { 'r': 0.2, 'g': 0.2, 'b': 0.2 } },
{ 'id': 'B','type': 'BIN','pos': { 'x': -0.35,'y': -0.2,'z': 0.65 },'size': { 'length': 0.3,'width': 0.3,'height': 0.3 },'orientation': { 'w': 1 },'color': { 'r': 0.4, 'g': 0.4, 'b': 0.4 } },
{ 'id': 'C','type': 'BIN','pos': { 'x': -0.35,'y': 0.2,'z': 0.65 },'size': { 'length': 0.3,'width': 0.3,'height': 0.3 },'orientation': { 'w': 1 },'color': { 'r': 0.6, 'g': 0.6, 'b': 0.6 } },
{ 'id': 'D','type': 'BIN','pos': { 'x': -0.35,'y': 0.6,'z': 0.65 },'size': { 'length': 0.3,'width': 0.3,'height': 0.3 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8, 'b': 0.8 } },
{ 'id': 'C','type': 'BIN','pos': { 'x': -0.35,'y': 0.2,'z': 0.65 },'size': { 'length': 0.3,'width': 0.3,'height': 0.3 },'orientation': { 'w': 1 },'color': { 'r': 0.6, 'g': 0.6, 'b': 0.6 } },
{ 'id': 'D','type': 'BIN','pos': { 'x': -0.35,'y': 0.6,'z': 0.65 },'size': { 'length': 0.3,'width': 0.3,'height': 0.3 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8, 'b': 0.8 } },
{ 'id': 'bigBlue', 'type': 'BOX','pos': { 'x': 0.3,'y': -0.60000,'z': 0.58 },'size': { 'length': .15, 'width': .30,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'b': 0.8 } },
{ 'id': 'bigGreen', 'type': 'BOX','pos': { 'x': 0.3,'y': -0.200000,'z': 0.58 },'size': { 'length': .15, 'width': .30,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'g': 0.8 } },
{ 'id': 'bigRed', 'type': 'BOX','pos': { 'x': 0.3,'y': 0.200000,'z': 0.58 },'size': { 'length': .15, 'width': .30,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'r': 0.8 } },
{ 'id': 'bigYellow','type': 'BOX','pos': { 'x': 0.3,'y': 0.600000,'z': 0.58 },'size': { 'length': .15, 'width': .30,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8 } },
{ 'id': 'bigRed', 'type': 'BOX','pos': { 'x': 0.3,'y': 0.200000,'z': 0.58 },'size': { 'length': .15, 'width': .30,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'r': 0.8 } },
{ 'id': 'bigYellow','type': 'BOX','pos': { 'x': 0.3,'y': 0.600000,'z': 0.58 },'size': { 'length': .15, 'width': .30,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8 } },
{ 'id': 'smallBlue', 'type': 'BOX','pos': { 'x': 0.6,'y': -0.200000,'z': 0.54 },'size': { 'length': .15, 'width': .15,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'b': 0.8 } },
{ 'id': 'smallGreen', 'type': 'BOX','pos': { 'x': 0.6,'y': 0.000000,'z': 0.54 },'size': { 'length': .15, 'width': .15,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'g': 0.8 } },
{ 'id': 'smallRed', 'type': 'BOX','pos': { 'x': 0.6,'y': 0.200000,'z': 0.54 },'size': { 'length': .15, 'width': .15,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'r': 0.8 } },
{ 'id': 'smallYellow','type': 'BOX','pos': { 'x': 0.6,'y': 0.400000,'z': 0.54 },'size': { 'length': .15, 'width': .15,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8 } },
{ 'id': 'smallGreen', 'type': 'BOX','pos': { 'x': 0.6,'y': 0.000000,'z': 0.54 },'size': { 'length': .15, 'width': .15,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'g': 0.8 } },
{ 'id': 'smallRed', 'type': 'BOX','pos': { 'x': 0.6,'y': 0.200000,'z': 0.54 },'size': { 'length': .15, 'width': .15,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'r': 0.8 } },
{ 'id': 'smallYellow','type': 'BOX','pos': { 'x': 0.6,'y': 0.400000,'z': 0.54 },'size': { 'length': .15, 'width': .15,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8 } },
{ 'id': 'virtual-arm','type': 'ARM','pos': { },'size': { },'orientation': { 'w': 1 },'color': { } }
] }
config/make_tag/README.md
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# make_tag
taken from [https://github.com/berndpfrommer/tagslam](https://github.com/berndpfrommer/tagslam/blob/master/src/make_tag.py) under Apache 2.0 license.
taken
from [https://github.com/berndpfrommer/tagslam](https://github.com/berndpfrommer/tagslam/blob/master/src/make_tag.py)
under Apache 2.0 license.
base tags (0-3):
```
python make_tag.py --draw_box --nx 2 --ny 2 --no-symm_corners --tsize 0.08 --borderbits 1 --startid 0 --tspace 0.03 --tfam t36h11 tags.pdf
```
large tags (4-27):
```
python make_tag.py --draw_box --nx 3 --ny 4 --no-symm_corners --tsize 0.052 --borderbits 1 --startid 4 --tspace 0.03 --tfam t36h11 tags.pdf
python make_tag.py --draw_box --nx 3 --ny 4 --no-symm_corners --tsize 0.052 --borderbits 1 --startid 16 --tspace 0.03 --tfam t36h11 tags.pdf
```
small tags (28-75):
```
python make_tag.py --draw_box --nx 6 --ny 8 --no-symm_corners --tsize 0.024 --borderbits 1 --startid 28 --tspace 0.06 --tfam t36h11 tags.pdf
```
\ No newline at end of file
config/make_tag/make_tag.py
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This diff is collapsed.
config/objects.yaml
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......@@ -8,27 +8,27 @@
# for i in range(5,13): print("{ 'id': 'object4x2x%.1f','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': %f },'orientation': { 'w': 1 },'color': { 'r': '1'} }," % (i/2, (i*96+46)/10000));
# for i in range(5,13): print("{ 'id': 'object2x2x%.1f','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': %f },'orientation': { 'w': 1 },'color': { 'r': '1'} }," % (i/2, (i*96+46)/10000));
{ 'id': 'smallRed65' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.062200 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
{ 'id': 'smallRed70' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
{ 'id': 'bigRed7' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
{ 'id': 'bigRed10' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
{ 'id': 'bigRed13' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
{ 'id': 'smallRed65' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.062200 },'orientation': { 'w': 1 },'color': { 'r': '1' } },
{ 'id': 'smallRed70' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': '1' } },
{ 'id': 'bigRed7' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'r': '1' } },
{ 'id': 'bigRed10' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'r': '1' } },
{ 'id': 'bigRed13' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'r': '1' } },
{ 'id': 'smallYellow58','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.062200 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
{ 'id': 'smallYellow40','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
{ 'id': 'smallYellow46','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
{ 'id': 'bigYellow8' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
{ 'id': 'bigYellow14' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.119800 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
{ 'id': 'smallYellow58','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.062200 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1' } },
{ 'id': 'smallYellow40','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1' } },
{ 'id': 'smallYellow46','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1' } },
{ 'id': 'bigYellow8' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1' } },
{ 'id': 'bigYellow14' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.119800 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1' } },
{ 'id': 'smallBlue64' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'b': '1'} },
{ 'id': 'bigBlue5' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'b': '1'} },
{ 'id': 'bigBlue15' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.119800 },'orientation': { 'w': 1 },'color': { 'b': '1'} },
{ 'id': 'smallBlue64' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'b': '1' } },
{ 'id': 'bigBlue5' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'b': '1' } },
{ 'id': 'bigBlue15' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.119800 },'orientation': { 'w': 1 },'color': { 'b': '1' } },
{ 'id': 'smallGreen52' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
{ 'id': 'smallGreen59' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
{ 'id': 'smallGreen71' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
{ 'id': 'bigGreen4' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
{ 'id': 'bigGreen11' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
{ 'id': 'smallGreen52' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'g': '1' } },
{ 'id': 'smallGreen59' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'g': '1' } },
{ 'id': 'smallGreen71' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'g': '1' } },
{ 'id': 'bigGreen4' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': '1' } },
{ 'id': 'bigGreen11' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': '1' } },
{ 'id': 'arm','type': 'ARM','orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
] }
config/tags.yaml
+ 8
− 8
View file @ 3c18c4e3
......@@ -22,8 +22,8 @@
standalone_tags:
[
# { id: 0, size: .100, name: "tableMarkerTop" },
# { id: 1, size: .100, name: "tableMarkerFront" },
# { id: 25, size: .024, name: "smallRed" },
# { id: 1, size: .100, name: "tableMarkerFront" },
# { id: 25, size: .024, name: "smallRed" },
]
# ## Tag bundle definitions
# ### Remarks
......@@ -51,12 +51,12 @@ tag_bundles:
{
name: 'CETI_TABLE_ONE',
layout:
[
{ id: 0, size: .08, x: -0.3, y: -0.3, z: 0.890, qw: 0.707, qx: 0, qy: 0, qz: 0.707 },
{ id: 1, size: .08, x: -0.3, y: 0.3, z: 0.890, qw: 0.707, qx: 0, qy: 0, qz: 0.707 },
{ id: 2, size: .08, x: 0.3, y: -0.3, z: 0.890, qw: 0.707, qx: 0, qy: 0, qz: 0.707 },
{ id: 3, size: .08, x: 0.3, y: 0.3, z: 0.890, qw: 0.707, qx: 0, qy: 0, qz: 0.707 }
]
[
{ id: 0, size: .08, x: -0.3, y: -0.3, z: 0.890, qw: 0.707, qx: 0, qy: 0, qz: 0.707 },
{ id: 1, size: .08, x: -0.3, y: 0.3, z: 0.890, qw: 0.707, qx: 0, qy: 0, qz: 0.707 },
{ id: 2, size: .08, x: 0.3, y: -0.3, z: 0.890, qw: 0.707, qx: 0, qy: 0, qz: 0.707 },
{ id: 3, size: .08, x: 0.3, y: 0.3, z: 0.890, qw: 0.707, qx: 0, qy: 0, qz: 0.707 }
]
},
{ name: 'smallRed65', layout: [ { id: 65, size: .024, x: 0.016, y: 0, z: 0.0350, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
{ name: 'smallRed70', layout: [ { id: 70, size: .024, x: 0.016, y: 0, z: 0.0350, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
......
launch/cell-controllers/dummy-cell_ceti-table-1-placeworld.launch
+ 4
− 2
View file @ 3c18c4e3
<launch>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="address of the mqtt server for the connection to the controller"/>
<arg name="mqtt_server" default="tcp://127.0.0.1:1883"
doc="address of the mqtt server for the connection to the controller"/>
<arg name="connection_address" default="tcp://*:6576"/>
......@@ -10,7 +11,8 @@
<param name="arm" type="string" value="arm1"/>
<param name="other_cell" type="string" value="/ceti_cell_2_placeworld/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
<param name="scene" type="string"
value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
</node>
</launch>
launch/cell-controllers/dummy-cell_ceti-table-2-placeworld.launch
+ 4
− 2
View file @ 3c18c4e3
<launch>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
<arg name="mqtt_server" default="tcp://192.168.0.122:1883"
doc="address of the mqtt server for the connection to the controller"/>
<arg name="connection_address" default="tcp://*:6576"/>
......@@ -11,7 +12,8 @@
<param name="arm" type="string" value="arm2"/>
<param name="other_cell" type="string" value="/ceti_cell_placeworld/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
<param name="scene" type="string"
value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
</node>
</launch>
launch/cell-controllers/gazebo-cell_ceti-table-1-placeworld.launch
+ 4
− 2
View file @ 3c18c4e3
<launch>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/>
<arg name="mqtt_server" default="tcp://localhost:1883"
doc="address of the mqtt server for the connection to the controller"/>
<include file="$(find ccf)/launch/simulation_setup.launch"/>
......@@ -9,7 +10,8 @@
<param name="arm" type="string" value="arm1"/>
<param name="other_cell" type="string" value="/ceti_cell_2_placeworld/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
<param name="scene" type="string"
value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
</node>
</launch>
launch/cell-controllers/gazebo-cell_ceti-table-2-placeworld.launch
+ 5
− 3
View file @ 3c18c4e3
<launch>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
<arg name="mqtt_server" default="tcp://192.168.0.122:1883"
doc="address of the mqtt server for the connection to the controller"/>
<!-- robot IP used by the robot controller -->
<arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
......@@ -9,12 +10,13 @@
<include file="$(find ccf)/launch/simulation_setup.launch"/>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_placeworld/command"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_2_placeworld" output="screen">
<param name="arm" type="string" value="arm2"/>
<param name="other_cell" type="string" value="/ceti_cell_placeworld/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
<param name="scene" type="string"
value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
</node>
</launch>
launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-coloured.launch
+ 4
− 2
View file @ 3c18c4e3
<launch>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/>
<arg name="mqtt_server" default="tcp://localhost:1883"
doc="address of the mqtt server for the connection to the controller"/>
<include file="$(find ccf)/launch/noop-sim_setup.launch"/>
......@@ -11,7 +12,8 @@
<param name="arm" type="string" value="arm"/>
<param name="scene_observer" type="string" value="object_locator/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-coloured.json"/>
<param name="scene" type="string"
value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-coloured.json"/>
</node>
</launch>
launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld-grey.launch
+ 4
− 2
View file @ 3c18c4e3
<launch>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/>
<arg name="mqtt_server" default="tcp://localhost:1883"
doc="address of the mqtt server for the connection to the controller"/>
<include file="$(find ccf)/launch/noop-sim_setup.launch"/>
......@@ -11,7 +12,8 @@
<param name="arm" type="string" value="arm"/>
<param name="scene_observer" type="string" value="object_locator/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-grey.json"/>
<param name="scene" type="string"
value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-grey.json"/>
</node>
</launch>
launch/cell-controllers/noop-sim-cell_ceti-table-1-placeworld.launch
+ 4
− 2
View file @ 3c18c4e3
<launch>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/>
<arg name="mqtt_server" default="tcp://localhost:1883"
doc="address of the mqtt server for the connection to the controller"/>
<!-- Use rviz -->
<arg name="use_rviz" default="true" doc="use rviz"/>
......@@ -16,7 +17,8 @@
<param name="arm" type="string" value="arm1"/>
<param name="other_cell" type="string" value="/ceti_cell_2_placeworld/scene/delta-update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
<param name="scene" type="string"
value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
</node>
</launch>
launch/cell-controllers/noop-sim-cell_ceti-table-2-placeworld.launch
+ 5
− 3
View file @ 3c18c4e3
<launch>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
<arg name="mqtt_server" default="tcp://192.168.0.122:1883"
doc="address of the mqtt server for the connection to the controller"/>
<include file="$(find ccf)/launch/noop-sim_setup.launch"/>
<param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_placeworld/command"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_2_placeworld" output="screen">
<param name="arm" type="string" value="arm2"/>
<param name="other_cell" type="string" value="/ceti_cell_placeworld/scene/delta-update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
<param name="scene" type="string"
value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-placeworld.json"/>
</node>
</launch>
launch/cell-controllers/robot-cell_ceti-table-1-emptyworld-coloured.launch
+ 4
− 2
View file @ 3c18c4e3
<launch>
<!-- MQTT server for communication with client cells -->
<arg name="mqtt_server" default="tcp://localhost:1883" doc="address of the mqtt server for the connection to the controller"/>
<arg name="mqtt_server" default="tcp://localhost:1883"
doc="address of the mqtt server for the connection to the controller"/>
<!-- robot IP used by the robot controller -->
<arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
......@@ -17,7 +18,8 @@
<param name="arm" type="string" value="arm"/>
<param name="scene_observer" type="string" value="object_locator/scene/update"/>
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-coloured.json"/>
<param name="scene" type="string"
value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1-empty-coloured.json"/>
</node>
</launch>
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