├── .gitignore ├── .travis.yml ├── Part_1 ├── commands_summary_part1 ├── creating_a_ros_library │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── creating_a_ros_library │ │ │ └── example_ros_class.h │ ├── package.xml │ └── src │ │ ├── example_ros_class.cpp │ │ └── example_ros_class_test_main.cpp ├── custom_msgs │ ├── CMakeLists.txt │ ├── README.md │ ├── msg │ │ └── VecOfDoubles.msg │ └── package.xml ├── example_action_server │ ├── CMakeLists.txt │ ├── README.md │ ├── action │ │ └── demo.action │ ├── package.xml │ └── src │ │ ├── example_action_client.cpp │ │ ├── example_action_server.cpp │ │ ├── example_action_server_w_fdbk.cpp │ │ └── timer_client.cpp ├── example_parameter_server │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ ├── jnt1_gains.yaml │ │ └── load_gains.launch │ ├── package.xml │ └── src │ │ └── read_param_from_node.cpp ├── example_ros_class │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ ├── example_ros_class.cpp │ │ └── example_ros_class.h ├── example_ros_msg │ ├── CMakeLists.txt │ ├── README.md │ ├── msg │ │ └── ExampleMessage.msg │ ├── package.xml │ └── src │ │ ├── example_ros_message_publisher.cpp │ │ ├── vector_publisher.cpp │ │ └── vector_subscriber.cpp ├── example_ros_service │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ ├── src │ │ ├── example_ros_client.cpp │ │ ├── example_ros_service.cpp │ │ ├── path_client.cpp │ │ ├── path_service.cpp │ │ └── path_service2.cpp │ └── srv │ │ ├── ExampleServiceMsg.srv │ │ └── PathSrv.srv ├── minimal_nodes │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ ├── minimal_nodes.launch │ │ └── minimal_sim.launch │ ├── package.xml │ └── src │ │ ├── minimal_controller.cpp │ │ ├── minimal_publisher.cpp │ │ ├── minimal_simulator.cpp │ │ ├── minimal_subscriber.cpp │ │ └── sleepy_minimal_publisher.cpp └── using_a_ros_library │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ └── example_ros_class_test_main.cpp ├── Part_2 ├── commands_summary_part2 ├── example_eigen │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ └── example_eigen_plane_fit.cpp ├── example_gazebo_set_state │ ├── CMakeLists.txt │ ├── README.md │ ├── command_line_notes_set_state │ ├── package.xml │ ├── src │ │ ├── example_gazebo_set_prism_state.cpp │ │ ├── example_gazebo_set_state.cpp │ │ ├── reset_block_state.cpp │ │ └── set_block_state.cpp │ └── srv │ │ └── SrvInt.srv ├── example_interactive_marker │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ ├── src │ │ ├── IM_6dof.cpp │ │ └── IM_6dof_svc_client_test.cpp │ └── srv │ │ └── ImNodeSvcMsg.srv ├── example_rviz_marker │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ ├── rviz_config │ │ └── paintfile.rviz │ ├── src │ │ ├── example_rviz_line_markers.cpp │ │ ├── example_rviz_marker.cpp │ │ ├── lines_display.cpp │ │ ├── linesegs_display_test_node.cpp │ │ ├── triad_display.cpp │ │ └── triad_display_test_node.cpp │ └── srv │ │ └── SimpleFloatSrvMsg.srv ├── example_tf_listener │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ ├── example_tf_listener.cpp │ │ ├── example_tf_listener.h │ │ └── example_tf_listener_fncs.cpp ├── lidar_alarm │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ └── lidar_alarm.cpp ├── minimal_joint_controller │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ ├── example_gazebo_set_state.cpp │ │ └── minimal_joint_controller.cpp ├── minimal_robot_description │ ├── CMakeLists.txt │ ├── control_config │ │ ├── one_dof_ctl_params.yaml │ │ ├── one_dof_vel_ctl_params.yaml │ │ └── prismatic_one_dof_ctl_params.yaml │ ├── links_and_joints.urdf │ ├── minimal_robot.launch │ ├── minimal_robot_ctl.launch │ ├── minimal_robot_description.launch │ ├── minimal_robot_description.urdf │ ├── minimal_robot_description_unglued.urdf │ ├── minimal_robot_description_w_jnt_ctl.urdf │ ├── minimal_robot_description_wo_collision.urdf │ ├── minimal_robot_visual_description.urdf │ ├── minimal_robot_w_jnt_ctl.launch │ ├── minimal_robot_w_jnt_pub.urdf │ ├── minimal_robot_w_sensor.launch │ ├── minimal_robot_w_sensor.urdf │ ├── one_link_description.urdf │ ├── one_link_w_mass.urdf │ ├── package.xml │ ├── prismatic_1dof_robot_description_w_jnt_ctl.urdf │ ├── prismatic_1dof_robot_description_w_jnt_ctl.xacro │ └── prismatic_1dof_robot_w_jnt_ctl.launch ├── mobot_urdf │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ ├── mobot.launch │ │ ├── mobot2.launch │ │ ├── mobot_in_pen.launch │ │ ├── mobot_load_model_param_server.launch │ │ ├── mobot_startup.launch │ │ ├── mobot_startup_gmapping.launch │ │ ├── mobot_startup_open_loop.launch │ │ ├── mobot_w_arm.launch │ │ ├── mobot_w_arm_and_jnt_pub.launch │ │ ├── mobot_w_imu.launch │ │ ├── mobot_w_lidar.launch │ │ ├── mobot_w_lidar_and_camera.launch │ │ ├── mobot_w_lidar_and_kinect.launch │ │ ├── mobot_w_lidar_and_rviz.launch │ │ └── open_loop_squarewave_commander.launch │ ├── package.xml │ ├── rviz_config │ │ ├── mobot_gmapping.rviz │ │ ├── mobot_w_lidar.rviz │ │ ├── mobot_w_lidar_and_camera.rviz │ │ └── mobot_w_lidar_and_kinect.rviz │ └── urdf │ │ ├── casters.xacro │ │ ├── example_camera.xacro │ │ ├── example_kinect.xacro │ │ ├── gazebo_tags.xacro │ │ ├── mobot.urdf │ │ ├── mobot.xacro │ │ ├── mobot2.xacro │ │ ├── mobot_links.xacro │ │ ├── mobot_static_links.xacro │ │ ├── mobot_w_arm.xacro │ │ ├── mobot_w_arm_and_jnt_pub.xacro │ │ ├── mobot_w_imu.xacro │ │ ├── mobot_w_jnt_pub.xacro │ │ ├── mobot_w_lidar.urdf │ │ ├── mobot_w_lidar.xacro │ │ ├── mobot_w_lidar_and_camera.xacro │ │ ├── mobot_w_lidar_and_kinect.xacro │ │ ├── mobot_wheels.xacro │ │ └── mobot_xacro_defs.xacro ├── sine_commander │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ ├── src │ │ └── sine_commander.cpp │ └── vel_cmd_notes ├── stdr_control │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ ├── reactive_commander.cpp │ │ └── stdr_open_loop_commander.cpp └── xform_utils │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ └── xform_utils │ │ └── xform_utils.h │ ├── package.xml │ └── src │ ├── example_frame_inversion.cpp │ ├── example_xform_utils.cpp │ └── xform_utils.cpp ├── Part_3 ├── example_camera_calibration │ ├── CMakeLists.txt │ ├── README.md │ ├── calib_results │ ├── package.xml │ └── src │ │ ├── cameras_timesync.cpp │ │ └── move_calibration_checkerboard.cpp ├── example_opencv │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ ├── add_red_block.launch │ │ ├── find_features_left_cam.launch │ │ ├── find_red_pixels.launch │ │ ├── find_red_pixels_left_cam.launch │ │ └── find_red_pixels_right_cam.launch │ ├── package.xml │ └── src │ │ ├── find_features.cpp │ │ ├── find_red_pixels.cpp │ │ └── hough_lines.cpp ├── lidar_wobbler │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── one_dof_ctl_params.yaml │ ├── launch │ │ ├── laser_assembler.launch │ │ └── lidar_wobbler.launch │ ├── model │ │ └── lidar_wobbler.urdf │ ├── package.xml │ └── src │ │ ├── assemble_scans_test_client.cpp │ │ ├── lidar_transformer.cpp │ │ ├── lidar_wobbler.cpp │ │ └── wobbler_sine_commander.cpp ├── object_finder │ ├── CMakeLists.txt │ ├── README.md │ ├── action │ │ └── objectFinder.action │ ├── package.xml │ └── src │ │ ├── example_object_finder_action_client.cpp │ │ └── object_finder_as.cpp ├── opencv_and_pcl │ ├── CMakeLists.txt │ ├── README.md │ ├── depth_image_notes │ ├── output.bmp │ ├── package.xml │ └── src │ │ └── pt_cloud_to_image.cpp ├── pcd_images │ ├── Baxter_viewpoint.jpg │ ├── CMakeLists.txt │ ├── README.md │ ├── ball.pcd │ ├── baxter_view_coke_can.pcd │ ├── bowl.pcd │ ├── coffee_cup.pcd │ ├── coffee_cup3.pcd │ ├── coffee_cup_kinect2.pcd │ ├── coke_can.pcd │ ├── coke_can2.pcd │ ├── coke_grasp.png │ ├── ellipse.pcd │ ├── grasp2_snapshot.pcd │ ├── grasp_snapshot.pcd │ ├── kinect_clr_snapshot.pcd │ ├── output.bmp │ ├── package.xml │ └── red_block_snapshots │ │ ├── kinect_snapshot1.pcd │ │ ├── kinect_snapshot2.pcd │ │ ├── kinect_snapshot3.pcd │ │ ├── kinect_snapshot4.pcd │ │ └── kinect_snapshot5.pcd ├── pcl_utils │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── pcl_utils │ │ │ └── pcl_utils.h │ ├── launch │ │ └── kinect_launch.launch │ ├── package.xml │ └── src │ │ ├── box_filter_main.cpp │ │ ├── compute_selected_points_centroid.cpp │ │ ├── demo_pcl1.cpp │ │ ├── demo_pcl2.cpp │ │ ├── display_ellipse.cpp │ │ ├── display_pcd_file.cpp │ │ ├── example_process_pcd.cpp │ │ ├── find_indices_of_plane_from_patch.cpp │ │ ├── find_indices_of_plane_from_patch2.cpp │ │ ├── find_plane_pcd_file.cpp │ │ ├── find_plane_pcd_file2.cpp │ │ ├── find_plane_pcd_file_save_me.cpp │ │ ├── find_plane_pcd_file_works.cpp │ │ ├── make_and_display_ellipse.cpp │ │ ├── make_clouds.cpp │ │ ├── pcd_snapshot.cpp │ │ ├── pcl_simple_main.cpp │ │ ├── pcl_utils.cpp │ │ └── ransac_main.cpp └── simple_camera_model │ ├── CMakeLists.txt │ ├── README.md │ ├── kinect_simu.rviz │ ├── launch │ ├── add_checkerboard.launch │ ├── kinect_extrinsic_calib.launch │ ├── kinect_extrinsic_tf.launch │ ├── kinect_simu.launch │ ├── kinect_simu2.launch │ ├── kinect_simu3.launch │ ├── multicam_simu.launch │ ├── simple_camera_simu.launch │ ├── simple_camera_simu_w_checkerboard.launch │ ├── stereo_cam_simu.launch │ └── stereo_camera_simu.launch │ ├── multi_camera_model.xacro │ ├── package.xml │ ├── simple_camera.world │ ├── simple_camera_model.xacro │ ├── simple_camera_notes │ ├── simple_kinect_model.xacro │ ├── simple_kinect_model2.xacro │ ├── simple_kinect_model3.xacro │ ├── stereo_cam.xacro │ └── stereo_camera_model.xacro ├── Part_4 ├── example_move_base_client │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ └── example_move_base_client.cpp ├── example_nav_plugin │ ├── CATKIN_IGNORE │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── example_nav_plugin │ │ │ └── minimal_nav_plugin.h │ ├── launch │ │ └── mobot_w_minimal_plugin.launch │ ├── nav_planner_plugin.xml │ ├── package.xml │ └── src │ │ └── minimal_nav_plugin.cpp ├── lin_steering │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ ├── lin_steering_wrt_amcl.cpp │ │ ├── lin_steering_wrt_amcl_and_odom.cpp │ │ ├── lin_steering_wrt_odom.cpp │ │ └── steering_algorithm.h ├── localization_w_gps │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ └── localization_w_gps.cpp ├── mobot_drifty_odom │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ └── mobot_drifty_odom.cpp ├── mobot_gazebo_state │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ ├── mobot_gazebo_state.cpp │ │ └── mobot_gazebo_state2.cpp ├── mobot_mapping │ ├── CMakeLists.txt │ ├── README.md │ ├── mobot_startup_gmapping.launch │ ├── package.xml │ └── stdr_gmapping_notes ├── mobot_nav_config │ ├── CMakeLists.txt │ ├── README.md │ ├── base_local_planner_params.yaml │ ├── costmap_common_params.yaml │ ├── global_costmap_params.yaml │ ├── load_map.launch │ ├── load_navstack_params.launch │ ├── local_costmap_params.yaml │ ├── mobot_startup_navstack.launch │ ├── nav_rviz.rviz │ └── package.xml ├── mobot_nl_steering │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ ├── mobot_nl_steering.cpp │ │ └── mobot_nl_steering.h ├── mobot_pub_des_state │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ ├── src │ │ ├── glennan_pub_des_state_path_client.cpp │ │ ├── open_loop_controller.cpp │ │ ├── pub_des_state.cpp │ │ ├── pub_des_state.h │ │ ├── pub_des_state_main.cpp │ │ ├── pub_des_state_path_client.cpp │ │ ├── pub_des_state_path_client_3mx3m_sqr.cpp │ │ ├── pub_des_state_startup_main.cpp │ │ └── starting_pen_pub_des_state_path_client.cpp │ └── srv │ │ └── path.srv ├── mobot_with_plugin │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ └── mobot_startup_navstack.launch │ └── package.xml ├── navigator │ ├── CMakeLists.txt │ ├── README.md │ ├── action │ │ └── navigator.action │ ├── package.xml │ └── src │ │ ├── example_navigator_action_client.cpp │ │ └── navigator.cpp ├── odom_tf │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── odom_tf │ │ │ └── odom_tf.h │ ├── mobot_w_odom_tf.launch │ ├── odom_tf.rviz │ ├── package.xml │ ├── src │ │ ├── OdomTf.cpp │ │ └── odom_tf_main.cpp │ └── startup ├── test_plugin │ ├── CATKIN_IGNORE │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── test_plugin │ │ │ └── test_planner.h │ ├── package.xml │ ├── src │ │ └── test_planner.cpp │ └── test_planner_plugin.xml └── traj_builder │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ └── traj_builder │ │ └── traj_builder.h │ ├── package.xml │ └── src │ ├── traj_builder.cpp │ └── traj_builder_example_main.cpp ├── Part_5 ├── arm7dof │ ├── CMakeLists.txt │ ├── README.md │ ├── arm7dof_fk_ik │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── arm7dof_fk_ik │ │ │ │ └── arm7dof_kinematics.h │ │ ├── package.xml │ │ └── src │ │ │ ├── arm7dof_fk_ik.cpp │ │ │ ├── arm7dof_fk_ik_test_main.cpp │ │ │ └── arm7dof_fk_ik_test_main2.cpp │ ├── arm7dof_model │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── arm7dof_model.xacro │ │ ├── config │ │ │ ├── arm7dof_ctl.yaml │ │ │ ├── arm7dof_pos_ctl.yaml │ │ │ └── arm7dof_vel_ctl.yaml │ │ ├── important_DH_param_reconciliation_info │ │ ├── launch │ │ │ ├── arm7dof_w_pos_controller.launch │ │ │ └── arm7dof_w_vel_controller.launch │ │ └── package.xml │ ├── arm7dof_motion_plans │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── arm7dof_fwd.path │ │ ├── arm7dof_horiz_move.mp4 │ │ ├── arm7dof_poses.pth │ │ ├── arm7dof_rvrs.path │ │ └── package.xml │ ├── arm7dof_nac_controller │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── package.xml │ │ └── src │ │ │ └── arm7dof_nac_controller.cpp │ ├── arm7dof_traj_as │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── action │ │ │ └── traj.action │ │ ├── include │ │ │ └── arm7dof_traj_as │ │ │ │ └── arm7dof_traj_as.h │ │ ├── package.xml │ │ └── src │ │ │ ├── arm7dof_playfile_path.cpp │ │ │ ├── arm7dof_playfile_traj.cpp │ │ │ ├── arm7dof_traj_action_client_prompter.cpp │ │ │ ├── arm7dof_traj_as.cpp │ │ │ └── arm7dof_trajectory_streamer.cpp │ ├── nested_loop_control │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── package.xml │ │ └── src │ │ │ ├── inner_vel_loop.cpp │ │ │ └── test_inner_vel_loop.cpp │ └── package.xml_bkup ├── arm_motion_action │ ├── CMakeLists.txt │ ├── README.md │ ├── action │ │ └── arm_interface.action │ └── package.xml ├── arm_motion_interface │ ├── CMakeLists.txt │ ├── README.md │ ├── how_to_add_abstracted_behaviors │ ├── include │ │ └── arm_motion_interface │ │ │ └── arm_motion_interface.h │ ├── package.xml │ └── src │ │ ├── arm_motion_interface.cpp │ │ └── arm_motion_interface_switcher.cpp ├── baxter │ ├── baxter_fk_ik │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── baxter_fk_ik │ │ │ │ └── baxter_kinematics.h │ │ ├── package.xml │ │ ├── src │ │ │ ├── baxter_fk_ik.cpp │ │ │ ├── baxter_reachability_from_above.cpp │ │ │ └── test_baxter_jacobian_main.cpp │ │ └── view_baxter_reachable.m │ ├── baxter_head_pan │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── package.xml │ │ └── src │ │ │ ├── baxter_head_pan.cpp │ │ │ └── baxter_head_pan_zero.cpp │ ├── baxter_jnt_traj_ctlr_client │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── package.xml │ │ └── src │ │ │ ├── baxter_jnt_traj_ctlr_client_Jacobian_move.cpp │ │ │ ├── baxter_jnt_traj_ctlr_client_home.cpp │ │ │ └── baxter_jnt_traj_ctlr_client_pre_pose.cpp │ ├── baxter_launch_files │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── launch │ │ │ ├── add_stuff.launch │ │ │ ├── baxter_cartesian_motion_nodes.launch │ │ │ ├── baxter_nodes.launch │ │ │ ├── baxter_object_grabber_nodes.launch │ │ │ ├── baxter_playfile_nodes.launch │ │ │ ├── baxter_playfile_service_nodes.launch │ │ │ ├── baxter_static_transforms.launch │ │ │ ├── kinect_transform.launch │ │ │ ├── merry_kinect.launch │ │ │ └── yale_gripper_xform.launch │ │ ├── package.xml │ │ └── rviz_config │ │ │ └── baxter.rviz │ ├── baxter_playfile_nodes │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── arm_slide.jsp │ │ ├── baxter_l_arm_angs.txt │ │ ├── baxter_l_arm_traj.jsp │ │ ├── baxter_r_arm_angs.txt │ │ ├── baxter_r_arm_traj.jsp │ │ ├── can_grasp_pose.jsp │ │ ├── hug.jsp │ │ ├── package.xml │ │ ├── pre_pose_left.jsp │ │ ├── pre_pose_right.jsp │ │ ├── scratch_head.jsp │ │ ├── shake.jsp │ │ ├── shy.jsp │ │ ├── src │ │ │ ├── baxter_multitraj_player.cpp │ │ │ ├── baxter_playfile_jointspace.cpp │ │ │ ├── baxter_playfile_service.cpp │ │ │ ├── baxter_record_trajectory.cpp │ │ │ ├── example_baxter_playfile_client.cpp │ │ │ └── get_and_save_jntvals.cpp │ │ ├── srv │ │ │ └── playfileSrv.srv │ │ ├── stick_em_up.jsp │ │ └── wave.jsp │ ├── baxter_trajectory_streamer │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── action │ │ │ └── traj.action │ │ ├── include │ │ │ └── baxter_trajectory_streamer │ │ │ │ └── baxter_trajectory_streamer.h │ │ ├── package.xml │ │ └── src │ │ │ ├── baxter_trajectory_streamer.cpp │ │ │ ├── left_arm_as.cpp │ │ │ ├── rt_arm_as.cpp │ │ │ └── traj_action_client_pre_pose.cpp │ ├── simple_baxter_arm_controller │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── package.xml │ │ └── src │ │ │ ├── simple_baxter_arm_controller.cpp │ │ │ └── simple_jnt_commander.cpp │ └── simple_baxter_gripper_interface │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ └── simple_baxter_gripper_interface │ │ │ └── simple_baxter_gripper_interface.h │ │ ├── package.xml │ │ └── src │ │ ├── baxter_gripper_lib_test_main.cpp │ │ ├── simple_baxter_gripper_interface.cpp │ │ └── test_baxter_gripper.cpp ├── cartesian_motion_commander │ ├── CMakeLists.txt │ ├── README.md │ ├── action_client_tester_notes │ ├── include │ │ └── cartesian_motion_commander │ │ │ └── cart_motion_commander.h │ ├── package.xml │ └── src │ │ ├── cart_motion_commander.cpp │ │ ├── cart_move_ac_irb5400.cpp │ │ ├── example_generic_cart_move_ac.cpp │ │ ├── example_generic_cart_move_ac2.cpp │ │ └── example_generic_cart_move_ac3.cpp ├── cartesian_planner │ ├── CMakeLists.txt │ ├── README.md │ ├── action │ │ └── cart_move.action │ ├── include │ │ └── cartesian_planner │ │ │ ├── arm7dof_cartesian_planner.h │ │ │ ├── baxter_cartesian_planner.h │ │ │ ├── baxter_rt_arm_cartesian_planner.h │ │ │ ├── cart_motion_commander.h │ │ │ ├── cartesian_planner_6dof.h │ │ │ ├── irb120_cartesian_planner.h │ │ │ └── ur10_cartesian_planner.h │ ├── launch │ │ ├── arm7dof_static_transforms.launch │ │ ├── baxter_static_transforms.launch │ │ ├── irb120_static_transforms.launch │ │ └── ur10_static_transforms.launch │ ├── package.xml │ └── src │ │ ├── arm7dof_cart_move_as.cpp │ │ ├── arm7dof_cartesian_planner.cpp │ │ ├── baxter_cartesian_planner.cpp │ │ ├── baxter_rt_arm_cart_move_as.cpp │ │ ├── cart_motion_commander.cpp │ │ ├── cartesian_planner_6dof.cpp │ │ ├── example_arm7dof_cart_path_planner_main.cpp │ │ ├── example_arm7dof_cart_path_planner_main2.cpp │ │ ├── example_arm7dof_cart_path_planner_main3.cpp │ │ ├── example_baxter_cart_path_planner_main.cpp │ │ ├── example_baxter_rt_arm_cart_move_ac.cpp.obs │ │ ├── example_generic_cart_move_ac.cpp │ │ ├── example_irb120_cart_path_planner_main.cpp │ │ ├── example_ur10_cart_path_planner_main.cpp │ │ ├── irb120_cart_move_as.cpp │ │ ├── irb120_cartesian_planner.cpp │ │ ├── ur10_cart_move_as.cpp │ │ └── ur10_cartesian_planner.cpp ├── commands_summary_pt5 ├── cwru_ariac │ ├── README │ ├── ariac_models │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── gasket_part │ │ │ ├── meshes │ │ │ │ └── gasket.dae │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── kit_tray │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── launch │ │ │ ├── add_bins.launch │ │ │ ├── add_cafe_table.launch │ │ │ └── add_parts.launch │ │ ├── package.xml │ │ ├── part1 │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── part2 │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── part3 │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── part4 │ │ │ ├── model.config │ │ │ └── model.sdf │ │ ├── pulley_part │ │ │ ├── meshes │ │ │ │ └── pulley.dae │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── workcell_bin │ │ │ ├── bin.urdf │ │ │ ├── bin.urdf.xacro │ │ │ ├── materials │ │ │ └── textures │ │ │ │ └── bin.png │ │ │ ├── meshes │ │ │ └── bin.dae │ │ │ ├── model.config │ │ │ └── model.sdf │ ├── cwru_ariac_launch │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── cwru_ariac.launch │ │ └── package.xml │ └── part_fetcher │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── action │ │ └── PartFetcher.action │ │ ├── package.xml │ │ └── src │ │ ├── example_part_fetcher_client.cpp │ │ └── part_fetcher_exmpl.cpp ├── example_controllers │ ├── CMakeLists.txt │ ├── README.md │ ├── add_large_rect_prism.launch │ ├── add_rect_prism.launch │ ├── add_weight.launch │ ├── control_config │ │ ├── one_dof_pos_ctl_params.yaml │ │ └── one_dof_vel_ctl_params.yaml │ ├── force_ctl_notes │ ├── package.xml │ ├── prismatic_1dof_robot_description_w_jnt_ctl.xacro │ ├── prismatic_1dof_robot_w_jnt_pos_ctl.launch │ ├── prismatic_1dof_robot_w_jnt_vel_ctl.launch │ └── src │ │ ├── nac_controller.cpp │ │ └── sine_commander.cpp ├── example_trajectory │ ├── CMakeLists.txt │ ├── README.md │ ├── action │ │ └── TrajAction.action │ ├── package.xml │ └── src │ │ ├── example_trajectory_action_client.cpp │ │ └── example_trajectory_action_server.cpp ├── fk_ik_virtual │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── fk_ik_virtual │ │ │ └── fk_ik_virtual.h │ ├── package.xml │ └── src │ │ └── fk_ik_virtual.cpp ├── generic_cartesian_planner │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ ├── cartesian_interpolator │ │ │ └── cartesian_interpolator.h │ │ └── generic_cartesian_planner │ │ │ └── generic_cartesian_planner.h │ ├── package.xml │ └── src │ │ ├── cartesian_interpolator.cpp │ │ └── generic_cartesian_planner.cpp ├── generic_gripper_services │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ ├── src │ │ ├── example_generic_gripper_client.cpp │ │ ├── rethink_rt_gripper_service.cpp │ │ └── virtual_vacuum_gripper_service.cpp │ └── srv │ │ └── genericGripperInterface.srv ├── irb120 │ ├── README │ ├── irb120_control │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ └── irb120_control.yaml │ │ ├── launch │ │ │ └── irb120_control.launch │ │ └── package.xml │ ├── irb120_ctl_interface │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── package.xml │ │ └── src │ │ │ ├── irb120_ctl_interface.cpp │ │ │ ├── irb120_ctl_interface.h │ │ │ └── test_traj_sender_irb120.cpp │ ├── irb120_description │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── irb120.launch │ │ ├── meshes │ │ │ └── irb120 │ │ │ │ ├── collision │ │ │ │ ├── base_link.stl │ │ │ │ ├── link_1.stl │ │ │ │ ├── link_2.stl │ │ │ │ ├── link_3.stl │ │ │ │ ├── link_4.stl │ │ │ │ ├── link_5.stl │ │ │ │ └── link_6.stl │ │ │ │ └── visual │ │ │ │ ├── base_link.stl │ │ │ │ ├── link_1.stl │ │ │ │ ├── link_2.stl │ │ │ │ ├── link_3.stl │ │ │ │ ├── link_4.stl │ │ │ │ ├── link_5.stl │ │ │ │ └── link_6.stl │ │ ├── package.xml │ │ └── urdf │ │ │ ├── irb120.gazebo │ │ │ ├── irb120.xacro │ │ │ └── materials.xacro │ ├── irb120_fk_ik │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── irb120_fk_ik │ │ │ │ └── irb120_kinematics.h │ │ ├── irb120_ik_matlab_code.m │ │ ├── package.xml │ │ └── src │ │ │ ├── irb120_fk_ik.cpp │ │ │ ├── irb120_fk_ik_test_main.cpp │ │ │ ├── irb120_fk_ik_test_main_v2.cpp │ │ │ └── irb120_reachability_from_above.cpp │ ├── irb120_planner │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── launch │ │ │ └── irb120_static_transforms.launch │ │ ├── package.xml │ │ └── src │ │ │ ├── example_irb120_cart_path_planner_main.cpp │ │ │ ├── irb120_cart_move_as.cpp │ │ │ ├── irb120_planner.cpp │ │ │ ├── irb120_planner.h │ │ │ ├── planner_joint_weights.h │ │ │ ├── robot_specific_fk_ik_mappings.h │ │ │ └── robot_specific_names.h │ └── rviz_config │ │ └── irb120_rviz.rviz ├── joint_space_planner │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── joint_space_planner │ │ │ └── joint_space_planner.h │ ├── package.xml │ └── src │ │ └── joint_space_planner.cpp ├── object_grabber │ ├── CMakeLists.txt │ ├── README.md │ ├── action │ │ ├── object_grabber.action │ │ ├── object_grabber2.action │ │ └── object_grabber3.action │ ├── include │ │ └── object_grabber │ │ │ ├── object_grabber.h │ │ │ ├── object_grabber2.h │ │ │ ├── object_grabber3.h │ │ │ └── object_manip_commander.h │ ├── launch │ │ ├── baxter_base_xform.launch │ │ └── set_baxter_gripper.launch │ ├── object_grabber_code_org │ ├── package.xml │ └── src │ │ ├── block_grabber_action_client.cpp │ │ ├── example_object_grabber_action_client.cpp │ │ ├── example_object_grabber_action_client2.cpp │ │ ├── example_object_grabber_action_client3.cpp │ │ ├── example_object_grabber_action_client_w_cylinder.cpp │ │ ├── object_grabber.cpp │ │ ├── object_grabber.cpp.bkup │ │ ├── object_grabber2.cpp │ │ ├── object_grabber3.cpp │ │ ├── object_grabber_as.cpp │ │ ├── object_grabber_as2.cpp │ │ ├── object_grabber_as3.cpp │ │ ├── object_manip_commander.cpp │ │ ├── set_baxter_gripper_param.cpp │ │ ├── set_gripper_transforms.cpp │ │ ├── set_sticky_fingers_gripper_param.cpp │ │ └── set_vacuum_gripper_param.cpp ├── object_manipulation_properties │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── object_manipulation_properties │ │ │ ├── gripper_ID_codes.h │ │ │ ├── object_ID_codes.h │ │ │ └── object_manipulation_properties.h │ ├── package.xml │ ├── src │ │ ├── ariac_vacuum_gripper_manip_fncs.cpp │ │ ├── example_object_manip_querey_client.cpp │ │ ├── example_object_manip_query_client.cpp │ │ ├── object_manipulation_properties.cpp │ │ ├── object_manipulation_properties_test_main.cpp │ │ ├── object_manipulation_query_svc.cpp │ │ ├── rethink_gripper_rt_manip_fncs.cpp │ │ ├── sticky_fingers_manip_fncs.cpp │ │ └── yale_gripper_model_t_manip_fncs.cpp │ └── srv │ │ └── objectManipulationQuery.srv ├── pt5_models │ ├── CMakeLists.txt │ ├── README.md │ ├── beer │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── beer.material │ │ │ └── textures │ │ │ │ └── beer.png │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── cafe │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── __auto_10.jpg │ │ │ │ ├── __auto_2.jpg │ │ │ │ ├── __auto_21.jpg │ │ │ │ ├── __auto_22.jpg │ │ │ │ ├── __auto_23.jpg │ │ │ │ ├── __auto_24.jpg │ │ │ │ ├── __auto_25.jpg │ │ │ │ ├── __auto_26.jpg │ │ │ │ ├── __auto_28.jpg │ │ │ │ ├── __auto_29.jpg │ │ │ │ ├── __auto_30.jpg │ │ │ │ ├── __auto_31.jpg │ │ │ │ ├── __auto_34.jpg │ │ │ │ ├── __auto_35.jpg │ │ │ │ └── __auto_37.jpg │ │ ├── meshes │ │ │ └── cafe.dae │ │ ├── model.config │ │ └── model.sdf │ └── package.xml ├── rrbot │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── planar_3rbot_control.yaml │ │ ├── rrbot.rviz │ │ └── rrbot_control.yaml │ ├── dev_notes │ ├── include │ │ └── rrbot │ │ │ ├── planar_3rbot_kinematics.h │ │ │ └── rrbot_kinematics.h │ ├── launch │ │ ├── planar_3rbot.launch │ │ ├── planar_3rbot_control.launch │ │ ├── rrbot.launch │ │ └── rrbot_control.launch │ ├── model │ │ ├── materials.xacro │ │ ├── planar_3rbot.xacro │ │ ├── planar_3rbot_control.xacro │ │ ├── rrbot.gazebo │ │ ├── rrbot.xacro │ │ └── rrbot_control.xacro │ ├── package.xml │ ├── planar_3rbot_nullspace_moves.mp4 │ └── src │ │ ├── planar_3rbot_fk_ik.cpp │ │ ├── rrbot_fk_ik.cpp │ │ ├── test_planar_3rbot_fk_ik.cpp │ │ ├── test_planar_3rbot_fk_ik2.cpp │ │ ├── test_rrbot_J.cpp │ │ └── test_rrbot_fk.cpp └── ur10_robot │ ├── README │ ├── ur10_launch │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ ├── sticky_disc.urdf.xacro │ ├── ur10.launch │ ├── ur10_grabber.rviz │ ├── ur10_object_grabber_nodes.launch │ ├── ur10_on_pedestal.xacro │ ├── ur10_on_pedestal_w_sticky_fingers.xacro │ ├── ur10_pedestal.xacro │ ├── ur10_robot.urdf.xacro │ └── ur10_w_gripper.launch │ ├── ur10_planner │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ └── ur10_static_transforms.launch │ ├── package.xml │ └── src │ │ ├── planner_joint_weights.h │ │ ├── robot_specific_fk_ik_mappings.h │ │ ├── robot_specific_names.h │ │ └── ur10_cart_move_as.cpp │ ├── ur10_playfile_nodes │ ├── CMakeLists.txt │ ├── README.md │ ├── home_pose.jsp │ ├── package.xml │ ├── src │ │ └── ur10_playfile_jointspace.cpp │ └── test_pose.jsp │ ├── ur_fk_ik │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── ur_fk_ik │ │ │ └── ur_kin.h │ ├── package.xml │ └── src │ │ ├── ur10_fk_ik.cpp │ │ ├── ur10_fk_ik_test_main.cpp │ │ └── ur_kin.cpp │ └── ur_traj_client │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ └── ur_traj_client_pre_pose.cpp ├── Part_6 ├── baxter_on_mobot_notes ├── baxter_variations │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ ├── baxter_on_mobot.launch │ │ ├── baxter_on_mobot_no_gazebo.launch │ │ ├── baxter_on_mobot_nodes.launch │ │ ├── baxter_on_mobot_w_lidar.launch │ │ ├── baxter_on_pedestal_w_kinect.launch │ │ ├── baxter_on_pedestal_w_kinect2.launch │ │ ├── kinect_xform.launch │ │ ├── mobot_startup_navstack.launch │ │ └── start_baxter.launch │ ├── package.xml │ ├── rviz │ │ └── baxter_on_mobot_rviz.rviz │ └── urdf │ │ ├── baxter.xacro │ │ ├── baxter_base.urdf.xacro │ │ ├── baxter_drives.gazebo.xacro │ │ ├── baxter_on_mobot.xacro │ │ ├── baxter_on_pedestal.xacro │ │ ├── baxter_pedestal.xacro │ │ ├── kinect_link.urdf.xacro │ │ └── mobot_base.xacro ├── coordinator │ ├── CMakeLists.txt │ ├── README.md │ ├── action │ │ └── ManipTask.action │ ├── launch │ │ ├── command_bundler.launch │ │ ├── coord_vision_manip.launch │ │ └── coord_vision_manip2.launch │ ├── old │ │ └── CMakeLists.txt │ ├── package.xml │ ├── rviz │ │ ├── coordinator_rviz.rviz │ │ └── mobile_manip.rviz │ ├── src │ │ ├── acquire_block_client.cpp │ │ ├── command_bundler.cpp │ │ ├── coordinator_action_client_tester.cpp │ │ ├── dropoff_block_client.cpp │ │ ├── example_cart_move_client.cpp │ │ ├── fetch_and_stack_client.cpp │ │ ├── open_loop_nav_service.cpp │ │ ├── open_loop_yaw_service.cpp │ │ ├── stack_block_client.cpp │ │ └── straddle_block_client.cpp │ └── srv │ │ ├── CoordinatorSrv.srv │ │ └── OpenLoopNavSvc.srv ├── coordinator_notes └── partVI_cmds ├── README.md ├── additional documents ├── Installing VirtualBox to run ROS.pdf └── using_github_and_git.pdf ├── dependencies.rosinstall ├── exmpl_models ├── CMakeLists.txt ├── README.md ├── launch │ ├── add_blocks.launch │ ├── add_cafe_table.launch │ ├── add_cork.launch │ ├── add_cylinder.launch │ ├── add_cylinder_weight.launch │ ├── add_glennan_2nd_flr.launch │ ├── add_rect_prism.launch │ ├── add_small_checkerboard.launch │ ├── add_small_cylinder.launch │ ├── add_small_red_block.launch │ ├── add_starting_pen.launch │ ├── add_table.launch │ ├── add_table2.launch │ ├── add_table_and_block.launch │ ├── add_table_and_toys.launch │ ├── add_toy_block.launch │ ├── add_toy_block2.launch │ └── add_toy_block3.launch ├── models │ ├── cafe_table_copy │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── Maple.jpg │ │ │ │ └── Wood_Floor_Dark.jpg │ │ ├── meshes │ │ │ └── cafe_table.dae │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── checkerboard │ │ ├── box.sdf │ │ ├── checkerboard.sdf │ │ ├── checkerboard.urdf │ │ ├── model.config │ │ └── squares.sdf │ ├── colored_block │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── small_red_block.sdf │ ├── cylinder │ │ ├── model-1_4.sdf │ │ └── model.config │ ├── davinci_table │ │ ├── bar_on_table_notes │ │ ├── model-1_4.sdf │ │ └── model.config │ ├── glennan_2nd_flr │ │ ├── glennan_2nd_flr.stl │ │ ├── glennan_2nd_flr.urdf │ │ ├── glennan_2nd_flr_model_map.pgm │ │ └── glennan_2nd_flr_model_map.yaml │ ├── rect_prism │ │ ├── model-1_4.sdf │ │ ├── model-1_4_bkup.sdf │ │ └── model.config │ ├── small_checkerboard │ │ ├── model.config │ │ └── small_checkerboard.sdf │ ├── small_cylinder │ │ ├── model.config │ │ └── small_cylinder.sdf │ ├── starting_pen │ │ ├── materials │ │ │ ├── scripts │ │ │ │ └── starting_pen.material │ │ │ └── textures │ │ │ │ ├── Starting_Pen_Diffuse.png │ │ │ │ ├── Starting_Pen_Spec.png │ │ │ │ ├── metal_ripped.png │ │ │ │ ├── metal_stripped.png │ │ │ │ └── osrf.png │ │ ├── meshes │ │ │ └── starting_pen.dae │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ └── toy_block │ │ ├── model.config │ │ └── toy_block.sdf └── package.xml ├── maps ├── CMakeLists.txt ├── README.md ├── gl2_map │ ├── gl2_map.pgm │ └── gl2_map.yaml ├── newMap.pgm ├── newMap.yaml ├── package.xml └── starting_pen │ ├── starting_pen_map.pgm │ └── starting_pen_map.yaml └── worlds ├── CMakeLists.txt ├── README.md ├── launch ├── cafe_world.launch ├── empty_world.launch ├── glennan_world.launch ├── play_pen_world.launch └── table_w_block.launch ├── package.xml └── worlds ├── cafe.world ├── no_ground_plane.world └── play_pen.world /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wsnewman/learning_ros/HEAD/.gitignore -------------------------------------------------------------------------------- /.travis.yml: 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