Yulikamiya0123

jsk_2020_10_semi/launch/yulikamiya_112501.launch

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+<launch>
+</launch>

jsk_2020_10_semi/realsense/.vscode/c_cpp_properties.json

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+{
+    "configurations": [
+        {
+            "browse": {
+                "databaseFilename": "",
+                "limitSymbolsToIncludedHeaders": true
+            },
+            "includePath": [
+                "/opt/ros/melodic/include/**",
+                "/opt/ros/melodic/share/fetch_gazebo/include/**",
+                "/opt/ros/melodic/share/julius/include/**",
+                "/usr/include/**"
+            ],
+            "name": "ROS",
+            "intelliSenseMode": "gcc-x64",
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "gnu11",
+            "cppStandard": "gnu++14"
+        }
+    ],
+    "version": 4
+}

jsk_2020_10_semi/realsense/.vscode/settings.json

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+{
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/melodic/lib/python2.7/dist-packages"
+    ]
+}

jsk_2020_10_semi/realsense/camera.launch

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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/semi_ws/src/jsk_demos/jsk_2020_10_semi/yulikamiya/0129/fetch.rviz" />
+
+</launch>

jsk_2020_10_semi/realsense/camera_for_ri.launch

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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/semi_ws/src/jsk_demos/jsk_2020_10_semi/yulikamiya/0204/fetch_for_ri.rviz" />
+
+</launch>

jsk_2020_10_semi/realsense/conf.rviz

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+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /DepthCloud1/Auto Size1
+        - /PointCloud22
+        - /PointStamped1
+      Splitter Ratio: 0.45588234066963196
+    Tree Height: 355
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Camera
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Auto Size:
+        Auto Size Factor: 1
+        Value: true
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/DepthCloud
+      Color: 255; 255; 255
+      Color Image Topic: /camera/color/image_raw
+      Color Transformer: RGB8
+      Color Transport Hint: raw
+      Decay Time: 0
+      Depth Map Topic: /camera/depth/image_rect_raw
+      Depth Map Transport Hint: raw
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: DepthCloud
+      Occlusion Compensation:
+        Occlusion Time-Out: 30
+        Value: false
+      Position Transformer: XYZ
+      Queue Size: 5
+      Selectable: true
+      Size (Pixels): 3
+      Style: Flat Squares
+      Topic Filter: true
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz/Camera
+      Enabled: true
+      Image Rendering: background and overlay
+      Image Topic: /camera/color/image_raw
+      Name: Camera
+      Overlay Alpha: 0.5
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+      Visibility:
+        DepthCloud: true
+        Grid: true
+        PointCloud2: true
+        PointStamped: true
+        TF: true
+        Value: true
+      Zoom Factor: 1
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /camera/depth_registered/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 239; 41; 41
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 1
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.25
+      Style: Spheres
+      Topic: /pointcloud_screenpoint_nodelet/output
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        camera_color_frame:
+          Value: true
+        camera_color_optical_frame:
+          Value: true
+        camera_depth_frame:
+          Value: true
+        camera_depth_optical_frame:
+          Value: true
+        camera_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_footprint:
+          {}
+        camera_link:
+          camera_color_frame:
+            camera_color_optical_frame:
+              {}
+          camera_depth_frame:
+            camera_depth_optical_frame:
+              {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 0.5
+      Class: rviz/PointStamped
+      Color: 204; 41; 204
+      Enabled: true
+      History Length: 1
+      Name: PointStamped
+      Radius: 0.5
+      Topic: /pointcloud_screenpoint_nodelet/output_point
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: camera_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 4.789123058319092
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.7180309295654297
+        Y: 0.009502825327217579
+        Z: 1.778659701347351
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.1303980350494385
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.9903967380523682
+    Saved: ~
+Window Geometry:
+  Camera:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001ee000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610100000231000000bc0000001600ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1200
+  X: 659
+  Y: 174

jsk_2020_10_semi/realsense/fetch1075.machine

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+

jsk_2020_10_semi/realsense/frames.gv

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+digraph G {
+"camera_link" -> "camera_depth_frame"[label="Broadcaster: /camera/realsense2_camera_manager\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1606891093.150 sec old)\nBuffer length: 0.000 sec\n"];
+"base_footprint" -> "camera_link"[label="Broadcaster: /optical_frame_tf_publisher\nAverage rate: 2.222 Hz\nMost recent transform: 1606891093.280 ( -0.130 sec old)\nBuffer length: 4.501 sec\n"];
+"camera_depth_frame" -> "camera_depth_optical_frame"[label="Broadcaster: /camera/realsense2_camera_manager\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1606891093.150 sec old)\nBuffer length: 0.000 sec\n"];
+"camera_link" -> "camera_color_frame"[label="Broadcaster: /camera/realsense2_camera_manager\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1606891093.150 sec old)\nBuffer length: 0.000 sec\n"];
+"camera_color_frame" -> "camera_color_optical_frame"[label="Broadcaster: /camera/realsense2_camera_manager\nAverage rate: 10000.000 Hz\nMost recent transform: 0.000 ( 1606891093.150 sec old)\nBuffer length: 0.000 sec\n"];
+"camera_color_optical_frame" -> "target_nose"[label="Broadcaster: /display_point\nAverage rate: 10.833 Hz\nMost recent transform: 1606891089.379 ( 3.771 sec old)\nBuffer length: 1.200 sec\n"];
+edge [style=invis];
+ subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
+"Recorded at time: 1606891093.150"[ shape=plaintext ] ;
+ }->"base_footprint";
+}

jsk_2020_10_semi/realsense/fuga.launch

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+<launch>
+
+  <machine name="fetch1075" address="fetch1075.jsk.imi.i.u-tokyo.ac.jp" user="fetch" env-loader="/home/fetch/ros/indigo/machine-env.sh" />
+  <machine name="localhost" address="localhost" />
+  <!-- <arg name="CAMERA_NS" default="camera" />  -->
+
+  <node machine="fetch1075" name="rostopic" pkg="rostopic" type="rostopic" args="list"/>
+
+</launch>