diff --git a/auth.conf b/auth.conf new file mode 100644 index 0000000000000000000000000000000000000000..cc085ac374f991d84e30ad9bf330e5f783ee4b3b --- /dev/null +++ b/auth.conf @@ -0,0 +1,3 @@ +machine https://artifact.tecnalia.com/artifactory/tecnalia-robotics-debian +login andres.montano@tecnalia.com +password AKCp8jQcqPn8BQrgnqSShfsqvkS4vMbJL5WNYduVAcxaH7kbpVCyQsLnQgEhr4UeQNZoSgwwk diff --git a/developer.code-workspace b/developer.code-workspace index 0f6093494899917eaa77232156b72ea60ac08af2..bcf40612edabfd8e0ba4d259eeed9990f2aaa9e0 100644 --- a/developer.code-workspace +++ b/developer.code-workspace @@ -4,7 +4,4 @@ "path": "." } ], - "settings": { - "ros.distro": "noetic" - } } \ No newline at end of file diff --git a/dockerfiles/DevenvMelodic.Dockerfile b/dockerfiles/DevenvMelodic.Dockerfile index 52f3f45401d6c374249ce8d19e367ea98817857f..6772c60c13862cb43d2aad91f5e0d9b78388e886 100644 --- a/dockerfiles/DevenvMelodic.Dockerfile +++ b/dockerfiles/DevenvMelodic.Dockerfile @@ -51,6 +51,11 @@ RUN sh -c "echo \ 'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \ >> /etc/apt/sources.list.d/tecnalia.list" +# RUN sh -c "echo \ +# 'deb https://artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \ +# >> /etc/apt/sources.list.d/tecnalia.list" +# COPY auth.conf /etc/apt/ + # Import the key in order to be able to use the packages from the repository RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897 @@ -121,7 +126,12 @@ RUN apt-get install -y \ RUN apt-get install -y \ ros-melodic-realsense2-camera \ - ros-melodic-eigen-conversions + ros-melodic-eigen-conversions \ + ros-melodic-abb-driver \ + libqd-dev \ + ros-melodic-swri-profiler \ + ros-melodic-force-torque-sensor-controller \ + ros-melodic-effort-controllers RUN apt-get install -y \ libdouble-conversion-dev @@ -145,13 +155,17 @@ RUN apt-get install -y \ python-pip \ graphviz \ xdot \ - ros-melodic-image-view + ros-melodic-image-view \ + libcanberra-gtk-module \ + libcanberra-gtk3-module \ + wget \ + terminator # set the zsh theme -ENV ZSH_THEME agnoster +#ENV ZSH_THEME agnoster # run the installation script -RUN wget https://github.com/robbyrussell/oh-my-zsh/raw/master/tools/install.sh -O - | zsh || true +#RUN wget https://github.com/robbyrussell/oh-my-zsh/raw/master/tools/install.sh -O - | zsh || true # Update final image RUN apt-get update && apt-get -y upgrade && apt-get -y autoremove @@ -165,4 +179,4 @@ ENTRYPOINT ["/ros_entrypoint.sh"] CMD ["zsh"] # Switch back to dialog for any ad-hoc use of apt-get -ENV DEBIAN_FRONTEND= \ No newline at end of file +ENV DEBIAN_FRONTEND= diff --git a/dockerfiles/auth.conf b/dockerfiles/auth.conf new file mode 100644 index 0000000000000000000000000000000000000000..cc085ac374f991d84e30ad9bf330e5f783ee4b3b --- /dev/null +++ b/dockerfiles/auth.conf @@ -0,0 +1,3 @@ +machine https://artifact.tecnalia.com/artifactory/tecnalia-robotics-debian +login andres.montano@tecnalia.com +password AKCp8jQcqPn8BQrgnqSShfsqvkS4vMbJL5WNYduVAcxaH7kbpVCyQsLnQgEhr4UeQNZoSgwwk diff --git a/dockerfiles/id_rsa_TecnaliaUB20 b/dockerfiles/id_rsa_TecnaliaUB20 new file mode 100644 index 0000000000000000000000000000000000000000..e36fe9166f963b7f59cb85cba504067b64dcd80e --- /dev/null +++ b/dockerfiles/id_rsa_TecnaliaUB20 @@ -0,0 +1,27 @@ +-----BEGIN OPENSSH PRIVATE KEY----- +b3BlbnNzaC1rZXktdjEAAAAABG5vbmUAAAAEbm9uZQAAAAAAAAABAAABFwAAAAdzc2gtcn +NhAAAAAwEAAQAAAQEAwZWlebIhINUGIgcjBg38QMfjMOue8odSi8t+6Z+K1G2NCVhvboQb +doEzyywA68CfxbQhLvx+trHMHXBJsfl/q92CtgLrrMqC766cHQtpJtK4jxb4i8mW6T+T7D +ezqIKyCq5pbEC2q0fE3pYLbKrF4fLi8cB5j2Qcvo9SbAGTjx9zbCNdNhsTxvFMZXzKcZfv +/qnw0wdYexFwWU4GGqEs3XR9OesZW1jtT8Mydc8j2gJC5UAxr3TlxzbEr1u+3jRqBmodsn +dqrpnkjTCUEPHPN1qzus1gqxHwBCdrGzEnJe5iOn3MxKRNpYXHDnf5g5TIkftwsYIsqKmL +JrO4MMcapQAAA8C839mMvN/ZjAAAAAdzc2gtcnNhAAABAQDBlaV5siEg1QYiByMGDfxAx+ +Mw657yh1KLy37pn4rUbY0JWG9uhBt2gTPLLADrwJ/FtCEu/H62scwdcEmx+X+r3YK2Auus +yoLvrpwdC2km0riPFviLyZbpP5PsN7OogrIKrmlsQLarR8TelgtsqsXh8uLxwHmPZBy+j1 +JsAZOPH3NsI102GxPG8UxlfMpxl+/+qfDTB1h7EXBZTgYaoSzddH056xlbWO1PwzJ1zyPa +AkLlQDGvdOXHNsSvW77eNGoGah2yd2qumeSNMJQQ8c83WrO6zWCrEfAEJ2sbMScl7mI6fc +zEpE2lhccOd/mDlMiR+3CxgiyoqYsms7gwxxqlAAAAAwEAAQAAAQEAuoBUyvjdR8dTwEbF +7Fhe9X5eGEx4dsn+seXcoHFvjBb7MMy9lmi6GKKDZrM/M+IBS7St35ms7pA+yQHcThXEda +zT+Ey6B1+XZBkCGE1dAeUzn8+OpwYRWShCd+p2MNuxce70bDGwizV6qsM9wHSKbpPVJvm7 +Y3Uc6E4mJx4hrlj+kYZBSA7PwzjjBq1UAVjTJcTnoZkvB/OT2iC6h2Nhi58AZ0WY2G1am5 +PBFl5fQKA5rTPlarCpKllKr+oJ/z+VsRdKZTFwWFG+Cll2lxCro6mLEMWJT1evqkot6tqm +/D7a3KtDvDKibd1YuI788k9AVFael5hqvIjKHa/H13g/hQAAAIB1Ws5ZjKA4uofcWCZ7X5 +Ppesp58Ie8UqiTGqgJhKqmZbZDswqCNYaak1EAfX6CQDitokqgZoMmH5x/DkEXBA172az8 +OmeqYDcTVdPztaIfKFxwiV+iiMBE3jXjuuk+OtIxxU6YSw7xGyRnv+AHvjAq2+Dttv3NNw +kNz7cDxVv8HAAAAIEA4txAIsk+RI6+h7GAbG3hlkA787h3w4JcS7rzj0vbjm6WU1vKeS1m +QdZsqxVnCLKNWTclqGppi714B1JNJarEDnPsXpp7ix9Y2GhvVhQAYzzd3UlrPN2lLD9nHG +vUSqbIV7kQvKs4A9X1uQEF17Mk4y2JUOhnd3A3rAR8W/lq/rMAAACBANpzM9EyQwVv0OHs +AYvS9xZmRXx3mOSFawwIckL5UhrpZN0T2Ju+Y+zh16vpXxYT7ZU/GZru2CjbO8ghrN0sms +jjXxFauwGnvkIrhyguOZoeK8SjW3UnQeVeYfUND51gO7uAKAx/Oy1XgBoYTAaBcQp5DRwG +sFTbNVjFrPr/1y1HAAAACFVidW50dTIwAQI= +-----END OPENSSH PRIVATE KEY----- diff --git a/dotfiles/.zshrc b/dotfiles/.zshrc index 650698773b85df647ee39ae5d2aadc8500f55d7c..f641f26d7b04d43242b675653175667e22bbe2b5 100644 --- a/dotfiles/.zshrc +++ b/dotfiles/.zshrc @@ -107,7 +107,13 @@ setopt no_share_history # alias zshconfig="mate ~/.zshrc" # alias ohmyzsh="mate ~/.oh-my-zsh" -export ROS_DISTRO="noetic" +# Create a cache folder if it isn't exists +if [ ! -d "$HOME/.cache/zsh" ]; then + mkdir -p $HOME/.cache/zsh +fi + +# Define a custom file for compdump +export ZSH_COMPDUMP="$HOME/.cache/zsh/zcompdump-$HOST-$ZSH_VERSION" export EDITOR="code -r" diff --git a/dotfiles/docker.bash b/dotfiles/docker.bash index 3a52da200ecbdc021eaa9d059b6fa6ce13dcfd11..5dcff22123f7bf060768694f68d60612198382f8 100644 --- a/dotfiles/docker.bash +++ b/dotfiles/docker.bash @@ -20,16 +20,12 @@ function dsr() { docker stop $1;docker rm $1 } -function runscan() { - rocker --home --user --nvidia --x11 --ssh --git --name scannplan scan_and_plan:latest $1 -} - function rundoc() { - rocker --home --user --nvidia --x11 --ssh --git --volume /dev/video0:/dev/video0 --privileged --name melodic devenv:melodic $1 + rocker --home --user --nvidia --x11 --ssh --git --volume /dev/video0:/dev/video0 --privileged --name melodic --network host devenv:melodic $1 } -function runbezier() { - rocker --home --user --nvidia --x11 --ssh --git --volume /dev/video0:/dev/video0 --privileged --name bezier devenv:bezier $1 +function runmelodic() { + rocker --home --user --nvidia --x11 --ssh --git --name melodic devenv:melodic $1 } function runnoetic() { @@ -40,7 +36,7 @@ function runkinetic() { rocker --home --user --nvidia --x11 --ssh --git --name kinetic devenv:kinetic $1 } -function drma { +function drma() { docker rm $(docker ps -a -f status=exited -q) } diff --git a/For_Ubuntu20_04.adoc b/notes/For_Ubuntu20_04.adoc similarity index 100% rename from For_Ubuntu20_04.adoc rename to notes/For_Ubuntu20_04.adoc diff --git a/notes/ManuWind_ScanNPlan.md b/notes/ManuWind_ScanNPlan.md new file mode 100644 index 0000000000000000000000000000000000000000..e2674f3a53e233f4f1c9e63e4fc6c83e487e4142 --- /dev/null +++ b/notes/ManuWind_ScanNPlan.md @@ -0,0 +1,75 @@ +# ManuWind - Scan and Plan DEMO + +**Note** This project works on Kinetic. + +1. Download the [godel_fanuc_config package](https://git.code.tecnalia.com/tecnalia_robotics/rosin/godel_fanuc_config/-/tree/Jon-O-laser-integration): + ```` + mkdir -p ~/ros/kinetic/scannplan_ws/src + cd ~/ros/kinetic/scannplan_ws/src + git clone git@git.code.tecnalia.com:tecnalia_robotics/rosin/godel_fanuc_config.git + ```` + +2. Checkout the Jon-O-laser-integration branch. + + ```` + cd godel_fanuc_config + git checkout Jon-O-laser-integration + ```` + +3. Install the additional ros packages using .rosinstall: + + ```` + cd ~/ros/kinetic/scannplan_ws/src + + wstool init + wstool merge godel_fanuc_config/.rosinstall + wstool update + rosdep install -iy --from-paths . + + catkin build + ```` + +**Note** The package quelltech_laser_scanner_driver requires an Internet connection during the building process. + +**Note** Zivid camera requires [SDK 1.8.1](https://www.zivid.com/downloads/revisions/1.8.1): + +- [zivid 1.8.1+6967bc1b-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid_1.8.1+6967bc1b-1_amd64.deb) + +- [zivid-studio 1.8.1+6967bc1b-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-studio_1.8.1+6967bc1b-1_amd64.deb) + +- [zivid-tools 1.8.1+6967bc1b-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-tools_1.8.1+6967bc1b-1_amd64.deb) + +- [zivid-telicam-driver 3.0.1.1-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-telicam-driver_3.0.1.1-1_amd64.deb) + +- ros-kinetic-zivid-camera 1.0.0-0xenial + +## Docker image + +Command to build the docker image to work on a host with Ubuntu 20.04: + +```` +docker build -t scan_and_plan --build-arg USER_API_KEY_ARTIFACTS_TECNALIA="$(cat ~/.ssh/user_api_key_artifacts_tecnalia)" -f ScanNPlan.Dockerfile . +```` +<!-- Testing ddeploy +Using [ddeploy](https://git.code.tecnalia.com/tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy) + +ddeploy --name scan_and_plan_nvidia --distro kinetic -b tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-nvidia-devel:kinetic -s . --keep-source +Generates: clinfo error + +ddeploy --name scan_and_plan_nvidia_cuda --distro kinetic -b nvidia/cuda:11.3.0-base-ubuntu16.04 -s . --keep-sources +Generate: Missing sources etc... +--> + +Command to launch the docker image using [rocker](https://github.com/osrf/rocker) + +```` +rocker --privileged --devices /dev/bus/usb --nvidia --x11 --home --git --ssh scannplan +```` +<!-- If --user flag is passed as argument when the container is launched with rocker then sudo privileged is required to access to the Zivid camera. --> + +Commands to launch the demo: +```` +source /opt/ros/kinetic/setup.bash +source ~/ros/kinetic/scannplan_ws/devel/setup.bash +roslaunch godel_cr7ial_workspace_support cr7ial_blending.launch sim_laser:=false sim_sensor:=false use_sim:=false +```` \ No newline at end of file diff --git a/notes/ROS 2.md b/notes/ROS 2.md new file mode 100644 index 0000000000000000000000000000000000000000..e645ac4656231a9426fa744f4312c9e4f21b9541 --- /dev/null +++ b/notes/ROS 2.md @@ -0,0 +1,106 @@ +ROS 2 + +Create package + +ros2 pkg create --build-type ament_python cartographer_slam --dependencies rclpy + +rosbridge + +source ~/catkin_ws/devel/setup.bash +roslaunch load_params load_params.launch + +source /opt/ros/noetic/setup.bash +source /opt/ros/foxy/setup.bash +ros2 run ros1_bridge parameter_bridge + + +Gazebo simulator + +source ~/simulation_ws/devel/setup.bash +roslaunch rb1_base_gazebo ros2_workshop_rb1.launch + + +Program + +source ~/ros2_ws/instal/setup.bash +ros2 launch exercise_robot exercise_robot.launch.py + +Service + +ros2 service call /launch_robot std_srvs/srv/Empty {}\ + +Mapping + +Localization + +Path Planning + +Launching path planning in ROS Nav2 +To launch path planning you need to launch several nodes. On top of that, you need to have some other nodes required for path planning: + +REQUIREMENTS + +Prior to launching the path planning system, you need to have running the following nodes: + +You need to have the nav2_map_server node running +You need to have the nav2_amcl node running +You need to have the nav2_lifecycle_manager node running +TO LAUNCH PATH PLANNING + +You need to launch 4 more nodes: + +The planner +The controller +The manager of recovery behaviors +The behavior tree navigator + +MoveIT2 +ros2 launch my_moveit2_config my_planning_execution.launch.py launch_rviz:=true + +Action bridge +source /home/simulations/ros2_sims_ws/install/setup.bash +source install/setup.bash +ros2 run ros1_bridge action_bridge ros1 control_msgs FollowJointTrajectory /arm_controller/follow_joint_trajectory + +Parameter Bridge +source catkin_ws/devel/setup.bash +roslaunch load_params load_params.launch +source /home/simulations/ros2_sims_ws/install/setup.bash +ros2 run ros1_bridge parameter_bridge __name:=parameter_bridge + +Move group test +source ~/ros2_ws/install/setup.bash +ros2 launch moveit2_scripts test_trajectory.launch.py + + +- Translation: [-0.234, -0.171, 0.507] +- Rotation: in Quaternion [-0.706, 0.044, 0.707, 0.000] + + +The process for launching the ros1_bridge with the UR is a little different. Follow these steps: + + Execute in Shell #1 +roslaunch load_params load_params.launch +source ~/catkin_ws/devel/setup.bash +roslaunch load_params load_params.launch + Execute in Shell #2 +source /opt/ros/noetic/setup.bash +source /home/simulations/ros2_sims_ws/install/setup.bash +ros2 launch start_bridge start_bridge.launch.py + Execute in Shell #3 + + + + source ~/simulation_ws/devel/setup.bash + roslaunch rb1_base_gazebo ros2_workshop_ur3.launch + + source ~/catkin_ws/devel/setup.bash + roslaunch load_params load_params.launch + + source /opt/ros/noetic/setup.bash + source /home/simulations/ros2_sims_ws/install/setup.bash + ros2 launch start_bridge start_bridge.launch.py + + source /opt/ros/noetic/setup.bash + source /opt/ros/foxy/setup.bash + ros2 run ros1_bridge parameter_bridge __name:=parameter_bridge \ No newline at end of file diff --git a/notes/ScanNPlan_notes b/notes/ScanNPlan_notes new file mode 100644 index 0000000000000000000000000000000000000000..94d7a555e6e6bee98ed16847c29745fbfaa1eb44 --- /dev/null +++ b/notes/ScanNPlan_notes @@ -0,0 +1,19 @@ +1. Clone from git@git.code.tecnalia.com:tecnalia_robotics/rosin/godel_fanuc_config.git +2. Switch to branch Jon-O-laser-integration +3. Build ws with catkin build --continue-on-failure + Failures: + godel_surface_detection + descartes_moveit + irb2400_ikfast_manipulator_plugin + abb_irb1200_5_90_ikfast_manipulator_plugin +4. Change Affine3 by Isometry3 on: + descartes + cr7ial_descartes_ikfast_adapter + godel_process_planning + godel_robots +5. Add eigen_conversions as dependency in package godel_surface_detection (CMakeList.txt and package.xml) +6. Change boost::shared_ptr and boost::const_pointer_cast by std equivalents on: + irb2400_ikfast_manipulator_plugin + abb_irb1200_5_90_ikfast_manipulator_plugin +7. Deal with abb_irb2400_descartes issues +8. Install zivid-ros v1.1.0 diff --git a/notes/Sherlock_APP.md b/notes/Sherlock_APP.md new file mode 100644 index 0000000000000000000000000000000000000000..b2f580bf5b95d8545d8264360839dba4a31dd19c --- /dev/null +++ b/notes/Sherlock_APP.md @@ -0,0 +1,162 @@ +# Sherlock Integration DEMO + +**Note** This project works on Melodic. + +1. Download the [sherlock_app package](https://git.code.tecnalia.com/tecnalia_robotics/sherlock/sherlock_app): + ```` + mkdir -p ~/ros/melodic/sherlock_app_ws/src + cd ~/ros/melodic/sherlock_app_ws/src + git clone git@git.code.tecnalia.com:tecnalia_robotics/sherlock/sherlock_app.git + ```` + +3. Install additional ros packages using .rosinstall: + + ```` + cd ~/ros/melodic/sherlock_app_ws/src + + wstool init + wstool merge godel_fanuc_config/.rosinstall + wstool update + rosdep install -iy --from-paths . + + catkin build + ```` + +30/08/2021 Tratando de hacer wstool update and rosdep install + +**Error:** the following packages/stacks could not have their rosdep keys resolved +to system dependencies: +ros_vision_pipelines: Cannot locate rosdep definition for [vision_data_all_purpose] + +Solved adding missing dependencies to .rosinstall: + +- git: + local-name: vision_libraries + uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_libraries.git + version: melodic-devel +- git: + local-name: vision_object_detection_plugins + uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_object_detection_plugins.git + version: melodic-devel +- git: + local-name: vision_libraries_additionals_tools + uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_libraries_additionals_tools.git + version: melodic-devel +- git: + local-name: gl_depth_sim + uri: https://github.com/Jmeyer1292/gl_depth_sim.git + version: master + + +### Branches on local +- ira_laser_tools -- master +- flexbotics_dynamic_docking -- front_camera_tracking +- dual_arm_guidance_information_manager -- 1-update-to-new-ui-aspect -- fixed + +RuntimeError: Multiple packages found with the same name "robotnik_sensors": +- robotnik_sensors +- tecnalia_rbrobout_simulation/robotnik/robotnik_sensors + +Removed from .rosinstall +- git: + local-name: robotnik_sensors + version: kinetic-devel + uri: https://github.com/RobotnikAutomation/robotnik_sensors.git + +Which one is the good version?? -- On ROBOUTON * 4cd2513 (HEAD -> kinetic-devel, origin/kinetic-devel, origin/HEAD) Apply clang format + +ADD +- git: + local-name: flexbotics_action_base_classes + version: kinetic-devel + uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_skill_library/flexbotics_action_base_classes.git + +- git: + local-name: flexbotics_execution_manager + uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics_execution_manager.git + version: kinetic-devel + + - git: + local-name: gl_depth_sim + uri: https://github.com/Jmeyer1292/gl_depth_sim.git + version: master + +- git: + local-name: vision_libraries_additionals_tools + uri: 'git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_libraries_additionals_tools.git' + version: 'melodic-devel' + + +31/09/2021 Trabajando con el archivo con Notas despues de reunión con Aitor + +Remover paquete: +1. wsg50-ros-pkg-tecnalia +Resultado: +Es dependencia de flexbotics_electric_gripper_manager que hace parte del package flexbotics_manipulator_manager +Es necesario remover el paquete: +2. flexbotics_robots_rbrobout + +Remover paquetes: +3. robotnik_sensors +4. tecnalia_rbrobout_simulation +Resultado: +flexbotics_robots_rbrobout_launch: Cannot locate rosdep definition for [rbrobout_gazebo] +flexbotics_robots_rbrobout_moveit_config: Cannot locate rosdep definition for [rbrobout_description] + +5. flexbotic_manipulator_manager -- Estaba marcado como cosas de PAUL + +Remover paquete: +6. iiwa_ros_io_server + +Remover paquete: +7. sherlock_guidance_demo + +Remover paquete: +8. robouton_tecnalia + +Remover paquete: +9. ira_laser_tools + +Remover paquetes: +10. remodel_vs_test +11. rcomponent + +Rmover paquetes: +12. dummy_application + +Remover paquete: +13. flexbotics_scene_manager +Resultado: +Es dependencia de +14. flexbotics_manipulation_planner + +Remover paquete: +15. flexbotics_moveit_interface + +-- El WS compila pero al hacer un launch se producen un error por la dependencia del paquete +flexbotics_robots_rbrobout +Siendo necesario incluir estos tres paquetes: + - git: + local-name: flexbotics_robots_rbrobout + uri : 'git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_robots/flexbotics_robots_rbrobout.git' + version: melodic-devel + - git: + local-name: tecnalia_rbrobout_simulation + version: kinetic-devel + uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_robots/tecnalia_rbrobout_simulation + - git: + local-name: rcomponent + version: master + uri: https://github.com/RobotnikAutomation/rcomponent.git + +-- Launch falla por dependencia del paquete: +Resource not found: robouton_tecnalia +Siendo necesario incluir: + - git: + local-name: robouton_tecnalia + version: kinetic-devel + uri: git@git.code.tecnalia.com:tecnalia_robotics/robouton_tecnalia.git + +Separados los workspaces robouton_ws y sherlock_app_dev + +sherlock_app_dev debe ser una extensión explicita del workspace core (robouton_ws) \ No newline at end of file diff --git a/notes/notas b/notes/notas new file mode 100644 index 0000000000000000000000000000000000000000..1b73128b26c2e8128765cd136a4539ffc795d8e3 --- /dev/null +++ b/notes/notas @@ -0,0 +1,23 @@ +# flange_H^tool transformation + fHt_pose_x = Column(Float,default=0.0) + fHt_pose_y = Column(Float,default=0.0) + fHt_pose_z = Column(Float,default=0.0) + fHt_roll = Column(Float,default=0.0) + fHt_pitch = Column(Float,default=0.0) + fHt_yaw = Column(Float,default=0.0) + # flange_H^cam transformation + # tf_fHc_pose_x = Column(Float,default=0.0) + # tf_fHc_pose_y = Column(Float,default=0.0) + # tf_fHc_pose_z = Column(Float,default=0.0) + # tf_fHc_roll = Column(Float,default=0.0) + # tf_fHc_pitch = Column(Float,default=0.0) + # tf_fHc_yaw = Column(Float,default=0.0) + + + +MAC WKM0125A: + DOCKER C8:F7:50:D4:6C:EA + WIFI 04:EA:56:36:F3:CB + ETHERNET 62:D1:94:03:68:75 + +