arco_ros_utils

Collection of ROS utilis.

Folders:

arco_ros_cpp_template

local_guidance_widget_manager

ROS node C++ template with any_node, clang-tools, etc.

arco_ros_utils_kalibr

template_uvc_realsense

Template to calibrate a Realsense D435 and a UVC device.

arco_ros_utils_launch

Collection of launch files.

arco_ros_utils_matlab

Collection of Matlab scripts.

transformation2static_transform_publisher

Converts a transformation matrix (T_parent_child = [RotMatrix, Position; 0, 0, 0, 1]) to a string that can be used in a launch file to create a ROS static transform publisher.

Usage: outputString = transformation2static_transform_publisher(T_target_source, targetFrameName, sourceFrameName);

target_P = T_target_source * source_P

arco_ros_utils_py

Collections of python scripts

tf_echo

Script to get position and quaternion information of a source frame w.r.t. a target frame.

Usage: rosrun arco_ros_utils_py tf_echo <target_frame> <source_frame>

Hints: target_P = RotMatrix(q_from_tf_echo) * source_P

arco_ros_utils_record_scripts

Collection of rosbag record scripts.