From 7c16d12f43ba9acbfbb8071e0f64d19248970cae Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Wed, 30 Jun 2021 15:14:56 -0700 Subject: [PATCH 01/25] Init commit of worlds folder. Random_objects world file was added to folder --- ros_rtsp | 1 + 1 file changed, 1 insertion(+) create mode 160000 ros_rtsp diff --git a/ros_rtsp b/ros_rtsp new file mode 160000 index 00000000..98fef8c7 --- /dev/null +++ b/ros_rtsp @@ -0,0 +1 @@ +Subproject commit 98fef8c7506609838dbffc59587906e20c3032f0 From 2092b07819a84a04dd89f597153f9883908d6a2f Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Wed, 30 Jun 2021 15:18:16 -0700 Subject: [PATCH 02/25] Init commit of worlds folder. Random_objects world file was added to folder --- stretch_gazebo/worlds/random_objects.world | 1260 ++++++++++++++++++++ 1 file changed, 1260 insertions(+) create mode 100644 stretch_gazebo/worlds/random_objects.world diff --git a/stretch_gazebo/worlds/random_objects.world b/stretch_gazebo/worlds/random_objects.world new file mode 100644 index 00000000..931038f0 --- /dev/null +++ b/stretch_gazebo/worlds/random_objects.world @@ -0,0 +1,1260 @@ + + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + 1 + + + + + 0 0 1 + 100 100 + + + + + + 100 + 50 + + + + + + + + + + + 10 + + + 0 + + + 0 0 1 + 100 100 + + + + + + + 0 + 0 + 0 + + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + 1 + + + + + EARTH_WGS84 + 0 + 0 + 0 + 0 + + + 1 + 1 + + + + + model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae + + + + + + + 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0 + + + 2.49556 1.68673 0 0 0 -2.3562 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + 1.25328 2.9401 0 0 0 -2.3562 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + 7.02618 -2.90526 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -4.00262 3.53677 0 0 0 -1.5707 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + 4.97994 -0.81933 0 0 0 -2.3562 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + 3.73769 0.43416 0 0 0 -2.3562 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + 7.02618 -2.90526 0.866 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -0.4734 3.5206 0 0 0 -1.5707 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + -2.23802 3.52821 0 0 0 -1.5707 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0 0 -0 0 + 1 1 1 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -4.52818 0.7433 -1e-06 0 -2e-06 1.5708 + 1 1 1 + + -4.52818 0.7433 -1e-06 0 -2e-06 1.5708 + 0 0 0 0 -0 0 + -0 -7e-06 -0.000453 0.341183 -0.000301 0 + -0 -7e-06 -0.000453 0 -0 0 + + + + 0 0 10 0 -0 0 + + + + + 12.1502 -5.10365 10.7 0 0.703643 2.88819 + orbit + perspective + + + + From 1d5323d93a7765907f11407099668cb3c1298c51 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Thu, 1 Jul 2021 14:11:12 -0700 Subject: [PATCH 03/25] Included image_topic argument to the launch files --- ...om_objects_with_upright_camera_view.launch | 62 +++++++++++++++++++ .../launch/upright_camera_view.launch | 17 +++++ 2 files changed, 79 insertions(+) create mode 100644 stretch_gazebo/launch/random_objects_with_upright_camera_view.launch create mode 100644 stretch_gazebo/launch/upright_camera_view.launch diff --git a/stretch_gazebo/launch/random_objects_with_upright_camera_view.launch b/stretch_gazebo/launch/random_objects_with_upright_camera_view.launch new file mode 100644 index 00000000..d5e7dcd7 --- /dev/null +++ b/stretch_gazebo/launch/random_objects_with_upright_camera_view.launch @@ -0,0 +1,62 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_gazebo/launch/upright_camera_view.launch b/stretch_gazebo/launch/upright_camera_view.launch new file mode 100644 index 00000000..daf39de5 --- /dev/null +++ b/stretch_gazebo/launch/upright_camera_view.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + From 1dc40cbafa98a03438476c7a1f2a21cf70d318e3 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Thu, 1 Jul 2021 14:11:42 -0700 Subject: [PATCH 04/25] Removed ros_rtsp package --- ros_rtsp | 1 - 1 file changed, 1 deletion(-) delete mode 160000 ros_rtsp diff --git a/ros_rtsp b/ros_rtsp deleted file mode 160000 index 98fef8c7..00000000 --- a/ros_rtsp +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 98fef8c7506609838dbffc59587906e20c3032f0 From 11afe19c5999897760594fd12a8b49266a1d0913 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Thu, 1 Jul 2021 14:19:10 -0700 Subject: [PATCH 05/25] Init commit of dependencies folder, 'deps'. Included image_pipelin package to rotate camer view upright. --- stretch_gazebo/deps/image_pipeline | 1 + 1 file changed, 1 insertion(+) create mode 160000 stretch_gazebo/deps/image_pipeline diff --git a/stretch_gazebo/deps/image_pipeline b/stretch_gazebo/deps/image_pipeline new file mode 160000 index 00000000..71d537a5 --- /dev/null +++ b/stretch_gazebo/deps/image_pipeline @@ -0,0 +1 @@ +Subproject commit 71d537a50bf4e7769af513f4a3d3df0d188cfa05 From 6338c6b7d174dc61faeba707c0b950182fce9db0 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Fri, 2 Jul 2021 10:18:26 -0700 Subject: [PATCH 06/25] removed image_pipelin package --- stretch_gazebo/deps/image_pipeline | 1 - 1 file changed, 1 deletion(-) delete mode 160000 stretch_gazebo/deps/image_pipeline diff --git a/stretch_gazebo/deps/image_pipeline b/stretch_gazebo/deps/image_pipeline deleted file mode 160000 index 71d537a5..00000000 --- a/stretch_gazebo/deps/image_pipeline +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 71d537a50bf4e7769af513f4a3d3df0d188cfa05 From 92006a982f5ef682a7c3f2a3ceb25b192944fdd0 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Fri, 2 Jul 2021 10:23:33 -0700 Subject: [PATCH 07/25] Init commit of dependencies folder, deps. Included image_pipelin package to rotate camer view upright. --- .gitmodules | 3 +++ stretch_gazebo/deps/image_pipeline | 1 + stretch_gazebo/stretch_gazebo/deps/image_pipeline | 1 + 3 files changed, 5 insertions(+) create mode 100644 .gitmodules create mode 160000 stretch_gazebo/deps/image_pipeline create mode 160000 stretch_gazebo/stretch_gazebo/deps/image_pipeline diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 00000000..4551442e --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "stretch_gazebo/stretch_gazebo/deps/image_pipeline"] + path = stretch_gazebo/stretch_gazebo/deps/image_pipeline + url = https://github.com/ros-perception/image_pipeline.git diff --git a/stretch_gazebo/deps/image_pipeline b/stretch_gazebo/deps/image_pipeline new file mode 160000 index 00000000..71d537a5 --- /dev/null +++ b/stretch_gazebo/deps/image_pipeline @@ -0,0 +1 @@ +Subproject commit 71d537a50bf4e7769af513f4a3d3df0d188cfa05 diff --git a/stretch_gazebo/stretch_gazebo/deps/image_pipeline b/stretch_gazebo/stretch_gazebo/deps/image_pipeline new file mode 160000 index 00000000..71d537a5 --- /dev/null +++ b/stretch_gazebo/stretch_gazebo/deps/image_pipeline @@ -0,0 +1 @@ +Subproject commit 71d537a50bf4e7769af513f4a3d3df0d188cfa05 From af3553bbe6c50f5bca60d449beea6c7a07d9bd6e Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Fri, 2 Jul 2021 10:26:46 -0700 Subject: [PATCH 08/25] Init commit of .gitmodules file --- stretch_gazebo/.gitmodules | 2 ++ stretch_gazebo/deps/image_pipeline | 1 - 2 files changed, 2 insertions(+), 1 deletion(-) create mode 100644 stretch_gazebo/.gitmodules delete mode 160000 stretch_gazebo/deps/image_pipeline diff --git a/stretch_gazebo/.gitmodules b/stretch_gazebo/.gitmodules new file mode 100644 index 00000000..63288e92 --- /dev/null +++ b/stretch_gazebo/.gitmodules @@ -0,0 +1,2 @@ +[submodule "deps/"] + ignore = untracked diff --git a/stretch_gazebo/deps/image_pipeline b/stretch_gazebo/deps/image_pipeline deleted file mode 160000 index 71d537a5..00000000 --- a/stretch_gazebo/deps/image_pipeline +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 71d537a50bf4e7769af513f4a3d3df0d188cfa05 From 89b6f374707a4e9944a23de857df7cb370847694 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Fri, 2 Jul 2021 10:34:12 -0700 Subject: [PATCH 09/25] removed image_pipelin package --- stretch_gazebo/stretch_gazebo/deps/image_pipeline | 1 - 1 file changed, 1 deletion(-) delete mode 160000 stretch_gazebo/stretch_gazebo/deps/image_pipeline diff --git a/stretch_gazebo/stretch_gazebo/deps/image_pipeline b/stretch_gazebo/stretch_gazebo/deps/image_pipeline deleted file mode 160000 index 71d537a5..00000000 --- a/stretch_gazebo/stretch_gazebo/deps/image_pipeline +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 71d537a50bf4e7769af513f4a3d3df0d188cfa05 From 8a06b2ea146addd6f45aa5eb15608884004086c7 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Fri, 2 Jul 2021 10:41:17 -0700 Subject: [PATCH 10/25] Init commit of dependencies folder, deps. Included image_pipelin package to rotate camer view upright. --- stretch_gazebo/deps/image_pipeline | 1 + 1 file changed, 1 insertion(+) create mode 160000 stretch_gazebo/deps/image_pipeline diff --git a/stretch_gazebo/deps/image_pipeline b/stretch_gazebo/deps/image_pipeline new file mode 160000 index 00000000..71d537a5 --- /dev/null +++ b/stretch_gazebo/deps/image_pipeline @@ -0,0 +1 @@ +Subproject commit 71d537a50bf4e7769af513f4a3d3df0d188cfa05 From 0e7058f2c9788d77fab1b07a3354f4378191d5d1 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Fri, 2 Jul 2021 10:45:58 -0700 Subject: [PATCH 11/25] Removed deps folder --- stretch_gazebo/deps/image_pipeline | 1 - 1 file changed, 1 deletion(-) delete mode 160000 stretch_gazebo/deps/image_pipeline diff --git a/stretch_gazebo/deps/image_pipeline b/stretch_gazebo/deps/image_pipeline deleted file mode 160000 index 71d537a5..00000000 --- a/stretch_gazebo/deps/image_pipeline +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 71d537a50bf4e7769af513f4a3d3df0d188cfa05 From b0aad21a5e97819f85fbe9ef73b95f95f5a94fae Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Fri, 2 Jul 2021 10:55:36 -0700 Subject: [PATCH 12/25] Init commit of dependencies folder, deps. Included image_pipelin package to rotate camer view upright. --- .gitmodules | 3 +++ stretch_gazebo/deps/image_pipeline | 1 + 2 files changed, 4 insertions(+) create mode 160000 stretch_gazebo/deps/image_pipeline diff --git a/.gitmodules b/.gitmodules index 4551442e..2ee69643 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,6 @@ [submodule "stretch_gazebo/stretch_gazebo/deps/image_pipeline"] path = stretch_gazebo/stretch_gazebo/deps/image_pipeline url = https://github.com/ros-perception/image_pipeline.git +[submodule "stretch_gazebo/deps/image_pipeline"] + path = stretch_gazebo/deps/image_pipeline + url = https://github.com/ros-perception/image_pipeline.git diff --git a/stretch_gazebo/deps/image_pipeline b/stretch_gazebo/deps/image_pipeline new file mode 160000 index 00000000..71d537a5 --- /dev/null +++ b/stretch_gazebo/deps/image_pipeline @@ -0,0 +1 @@ +Subproject commit 71d537a50bf4e7769af513f4a3d3df0d188cfa05 From 602ab8e72c474e9a897631b6dea8a580d3cd966a Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Fri, 2 Jul 2021 10:56:58 -0700 Subject: [PATCH 13/25] modified .gitmodules file. --- .gitmodules | 3 --- stretch_gazebo/.gitmodules | 2 -- 2 files changed, 5 deletions(-) delete mode 100644 stretch_gazebo/.gitmodules diff --git a/.gitmodules b/.gitmodules index 2ee69643..0daab239 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,6 +1,3 @@ -[submodule "stretch_gazebo/stretch_gazebo/deps/image_pipeline"] - path = stretch_gazebo/stretch_gazebo/deps/image_pipeline - url = https://github.com/ros-perception/image_pipeline.git [submodule "stretch_gazebo/deps/image_pipeline"] path = stretch_gazebo/deps/image_pipeline url = https://github.com/ros-perception/image_pipeline.git diff --git a/stretch_gazebo/.gitmodules b/stretch_gazebo/.gitmodules deleted file mode 100644 index 63288e92..00000000 --- a/stretch_gazebo/.gitmodules +++ /dev/null @@ -1,2 +0,0 @@ -[submodule "deps/"] - ignore = untracked From 503f7cb69e5545273ea3a56dfbc6d151edef6369 Mon Sep 17 00:00:00 2001 From: hello-sanchez Date: Fri, 2 Jul 2021 11:36:30 -0700 Subject: [PATCH 14/25] Added comment about upright_camera_view.launch file --- .../launch/random_objects_with_upright_camera_view.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/stretch_gazebo/launch/random_objects_with_upright_camera_view.launch b/stretch_gazebo/launch/random_objects_with_upright_camera_view.launch index d5e7dcd7..fd66ba52 100644 --- a/stretch_gazebo/launch/random_objects_with_upright_camera_view.launch +++ b/stretch_gazebo/launch/random_objects_with_upright_camera_view.launch @@ -20,6 +20,7 @@ + From 02a23984022c595b1ab67e4b7e74b59a9d115838 Mon Sep 17 00:00:00 2001 From: hello-sanchez Date: Fri, 2 Jul 2021 14:28:50 -0700 Subject: [PATCH 15/25] Separated gazebo world and launch files to other branch. --- ...om_objects_with_upright_camera_view.launch | 63 - stretch_gazebo/worlds/random_objects.world | 1260 ----------------- 2 files changed, 1323 deletions(-) delete mode 100644 stretch_gazebo/launch/random_objects_with_upright_camera_view.launch delete mode 100644 stretch_gazebo/worlds/random_objects.world diff --git a/stretch_gazebo/launch/random_objects_with_upright_camera_view.launch b/stretch_gazebo/launch/random_objects_with_upright_camera_view.launch deleted file mode 100644 index fd66ba52..00000000 --- a/stretch_gazebo/launch/random_objects_with_upright_camera_view.launch +++ /dev/null @@ -1,63 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/stretch_gazebo/worlds/random_objects.world b/stretch_gazebo/worlds/random_objects.world deleted file mode 100644 index 931038f0..00000000 --- a/stretch_gazebo/worlds/random_objects.world +++ /dev/null @@ -1,1260 +0,0 @@ - - - - 1 - 0 0 10 0 -0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - 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- 0 0 0 0 -0 0 - 1 1 1 - - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - -4.52818 0.7433 -1e-06 0 -2e-06 1.5708 - 1 1 1 - - -4.52818 0.7433 -1e-06 0 -2e-06 1.5708 - 0 0 0 0 -0 0 - -0 -7e-06 -0.000453 0.341183 -0.000301 0 - -0 -7e-06 -0.000453 0 -0 0 - - - - 0 0 10 0 -0 0 - - - - - 12.1502 -5.10365 10.7 0 0.703643 2.88819 - orbit - perspective - - - - From 6c16f32db630f04f86bfd716cb434b7d6f7480ae Mon Sep 17 00:00:00 2001 From: hello-sanchez Date: Fri, 2 Jul 2021 14:46:48 -0700 Subject: [PATCH 16/25] Inserted upright_camera_view.launch file into the gazebo.launch file. --- stretch_gazebo/launch/gazebo.launch | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/stretch_gazebo/launch/gazebo.launch b/stretch_gazebo/launch/gazebo.launch index ddf6a02a..ace44c3b 100644 --- a/stretch_gazebo/launch/gazebo.launch +++ b/stretch_gazebo/launch/gazebo.launch @@ -17,6 +17,11 @@ + + + + + @@ -30,7 +35,7 @@ Date: Fri, 2 Jul 2021 14:51:21 -0700 Subject: [PATCH 17/25] Included image_topic argument in launch file. Users have the option to define an image topic they wish to rotate upright. --- stretch_gazebo/launch/gazebo.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/stretch_gazebo/launch/gazebo.launch b/stretch_gazebo/launch/gazebo.launch index ace44c3b..a7305270 100644 --- a/stretch_gazebo/launch/gazebo.launch +++ b/stretch_gazebo/launch/gazebo.launch @@ -7,6 +7,7 @@ + From 6ac88830f4faf184b5d685734fccc87e4dc424bb Mon Sep 17 00:00:00 2001 From: hello-sanchez Date: Thu, 8 Jul 2021 10:38:12 -0700 Subject: [PATCH 18/25] Changed default image_topic from realsense to camera. --- stretch_gazebo/launch/gazebo.launch | 2 +- stretch_gazebo/launch/upright_camera_view.launch | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/stretch_gazebo/launch/gazebo.launch b/stretch_gazebo/launch/gazebo.launch index a7305270..2cf97476 100644 --- a/stretch_gazebo/launch/gazebo.launch +++ b/stretch_gazebo/launch/gazebo.launch @@ -7,7 +7,7 @@ - + diff --git a/stretch_gazebo/launch/upright_camera_view.launch b/stretch_gazebo/launch/upright_camera_view.launch index daf39de5..05fb7509 100644 --- a/stretch_gazebo/launch/upright_camera_view.launch +++ b/stretch_gazebo/launch/upright_camera_view.launch @@ -1,6 +1,6 @@ - + From de0b0a80d4b3c17d9dcda7da4b6c3ab87a36fb19 Mon Sep 17 00:00:00 2001 From: hello-sanchez Date: Wed, 21 Jul 2021 10:27:31 -0700 Subject: [PATCH 19/25] Included the param that defines the camera_link as the reference frame for the image rotation. --- stretch_gazebo/launch/upright_camera_view.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/stretch_gazebo/launch/upright_camera_view.launch b/stretch_gazebo/launch/upright_camera_view.launch index 05fb7509..f3dbc9f4 100644 --- a/stretch_gazebo/launch/upright_camera_view.launch +++ b/stretch_gazebo/launch/upright_camera_view.launch @@ -11,6 +11,7 @@ + From 501523959e29d3461b7f3d1c4103fa65e84f761e Mon Sep 17 00:00:00 2001 From: hello-sanchez Date: Fri, 23 Jul 2021 15:31:42 -0700 Subject: [PATCH 20/25] Moved launch and dependency package to stretch_core. Also removed the upright camera view launch file in the gazebo.launch file. --- .gitmodules | 2 +- .../launch/upright_camera_view.launch | 0 stretch_gazebo/deps/image_pipeline | 1 - stretch_gazebo/launch/gazebo.launch | 6 ------ 4 files changed, 1 insertion(+), 8 deletions(-) rename {stretch_gazebo => stretch_core}/launch/upright_camera_view.launch (100%) delete mode 160000 stretch_gazebo/deps/image_pipeline diff --git a/.gitmodules b/.gitmodules index 0daab239..f9329c3c 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,3 @@ [submodule "stretch_gazebo/deps/image_pipeline"] - path = stretch_gazebo/deps/image_pipeline + path = stretch_core/deps/image_pipeline url = https://github.com/ros-perception/image_pipeline.git diff --git a/stretch_gazebo/launch/upright_camera_view.launch b/stretch_core/launch/upright_camera_view.launch similarity index 100% rename from stretch_gazebo/launch/upright_camera_view.launch rename to stretch_core/launch/upright_camera_view.launch diff --git a/stretch_gazebo/deps/image_pipeline b/stretch_gazebo/deps/image_pipeline deleted file mode 160000 index 71d537a5..00000000 --- a/stretch_gazebo/deps/image_pipeline +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 71d537a50bf4e7769af513f4a3d3df0d188cfa05 diff --git a/stretch_gazebo/launch/gazebo.launch b/stretch_gazebo/launch/gazebo.launch index 2cf97476..22dd3464 100644 --- a/stretch_gazebo/launch/gazebo.launch +++ b/stretch_gazebo/launch/gazebo.launch @@ -7,7 +7,6 @@ - @@ -18,11 +17,6 @@ - - - - - From 020f77310a213482800459f8b23d0558fe921a80 Mon Sep 17 00:00:00 2001 From: hello-sanchez Date: Fri, 23 Jul 2021 15:37:36 -0700 Subject: [PATCH 21/25] Added the image_pipeline submodule to Stretch_core. --- .gitmodules | 2 +- stretch_core/deps/image_pipeline | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) create mode 160000 stretch_core/deps/image_pipeline diff --git a/.gitmodules b/.gitmodules index f9329c3c..0a2ce639 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,3 @@ -[submodule "stretch_gazebo/deps/image_pipeline"] +[submodule "stretch_core/deps/image_pipeline"] path = stretch_core/deps/image_pipeline url = https://github.com/ros-perception/image_pipeline.git diff --git a/stretch_core/deps/image_pipeline b/stretch_core/deps/image_pipeline new file mode 160000 index 00000000..71d537a5 --- /dev/null +++ b/stretch_core/deps/image_pipeline @@ -0,0 +1 @@ +Subproject commit 71d537a50bf4e7769af513f4a3d3df0d188cfa05 From c3ee01424d9e413e452cee9f92faef6174a7cc79 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Mon, 13 Sep 2021 12:08:07 -0700 Subject: [PATCH 22/25] Removed the image_pipelines package from the submodules file. --- .gitmodules | 3 --- 1 file changed, 3 deletions(-) delete mode 100644 .gitmodules diff --git a/.gitmodules b/.gitmodules deleted file mode 100644 index 0a2ce639..00000000 --- a/.gitmodules +++ /dev/null @@ -1,3 +0,0 @@ -[submodule "stretch_core/deps/image_pipeline"] - path = stretch_core/deps/image_pipeline - url = https://github.com/ros-perception/image_pipeline.git From afd40671cbce3acd360e7a235f43faf02d3873b9 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Mon, 13 Sep 2021 12:09:06 -0700 Subject: [PATCH 23/25] Included param arguments into image_rotate node. --- stretch_core/launch/upright_camera_view.launch | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/stretch_core/launch/upright_camera_view.launch b/stretch_core/launch/upright_camera_view.launch index f3dbc9f4..6c18f678 100644 --- a/stretch_core/launch/upright_camera_view.launch +++ b/stretch_core/launch/upright_camera_view.launch @@ -1,18 +1,16 @@ - + + + - - - - - - + + From 19f405447571565bf49555e886211f0130206916 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Tue, 21 Sep 2021 14:12:46 -0700 Subject: [PATCH 24/25] Included upright_camera_view.launch file. --- stretch_core/launch/stretch_driver.launch | 15 +++++++++++---- stretch_gazebo/launch/gazebo.launch | 7 +++++++ 2 files changed, 18 insertions(+), 4 deletions(-) diff --git a/stretch_core/launch/stretch_driver.launch b/stretch_core/launch/stretch_driver.launch index 8fadf0fd..14533a26 100644 --- a/stretch_core/launch/stretch_driver.launch +++ b/stretch_core/launch/stretch_driver.launch @@ -1,8 +1,10 @@ - + - + + + --> - + - + + + + + + diff --git a/stretch_gazebo/launch/gazebo.launch b/stretch_gazebo/launch/gazebo.launch index 22dd3464..3c104913 100644 --- a/stretch_gazebo/launch/gazebo.launch +++ b/stretch_gazebo/launch/gazebo.launch @@ -7,6 +7,8 @@ + + @@ -29,6 +31,11 @@ + + + + + From 2a79cb615bc72915b1dbec569a36aaae647112ae Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Tue, 21 Sep 2021 14:13:22 -0700 Subject: [PATCH 25/25] Updated comments in launch file. --- stretch_core/launch/upright_camera_view.launch | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/stretch_core/launch/upright_camera_view.launch b/stretch_core/launch/upright_camera_view.launch index 6c18f678..22abfc3d 100644 --- a/stretch_core/launch/upright_camera_view.launch +++ b/stretch_core/launch/upright_camera_view.launch @@ -1,11 +1,12 @@ - + + The orientation parameters are set to the default values-->