PeterMitrano

# This is useful for testing buggy ros launch setups,
# because you can run it like `while ros2 launch pkg debug.launch.py; do sleep 0.5; done;`
# and it will keep restarting util the test node returns an error.
# this was really difficult to figure out how to do.... :(
import os
import sys
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, RegisterEventHandler, EmitEvent
from launch.event_handlers import OnProcessExit
from launch.events import Shutdown

PeterMitrano

import launch
import launch_ros
from launch import LaunchService
from launch.frontend import Parser
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.utilities import normalize_to_list_of_substitutions
import os

# Absolute path to your launch file
launch_file_path = (

PeterMitrano

def open_bagfile(bagfile: Path):
    reader = rosbag2_py.SequentialReader()
    storage_options = rosbag2_py.StorageOptions(bagfile.as_posix())
    converter_options = rosbag2_py.ConverterOptions("cdr", "cdr")
    reader.open(storage_options, converter_options)

    topic_types = reader.get_all_topics_and_types()

    # Create a map for quicker lookup
    type_map = {

PeterMitrano

#!/usr/bin/env python

from distutils.core import setup

setup(name='yolo',
      version='1.0',
      description='yolo v7',
      author='',
      author_email='',
      url='',

PeterMitrano

# NOTE: if using this outside ec2, you will need to copy your ~/.aws/credentials into the computer first

sudo apt update
sudo apt install -y g++ build-essential cmake git htop tree tmux curl openssh-server imagemagick maim vim-gtk3 i3 python3-pip python3-virtualenv libappindicator3-dev castxml qt5-style-plugins trash-cli checkinstall gparted net-tools rename  libreadline-dev imagemagick policykit-1-gnome
sudo apt upgrade

git config --global user.email "peter@`echo $HOSTNAME`"
git config --global user.name "peter"

sudo apt-get install ubuntu-drivers-common

PeterMitrano

#include <ros/ros.h>

#include <moveit/kinematic_constraints/utils.h>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_state/conversions.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <moveit_visual_tools/moveit_visual_tools.h>

PeterMitrano

#!/bin/bash
PS3='Choose a workspace type: '
options=("default" "debug")
select opt in "${options[@]}"
do
    case $opt in
        "default")
            source /home/peter/catkin_ws/devel/setup.bash
            cd /home/peter/catkin_ws/
            catkin profile set default

PeterMitrano

#!/bin/bash

source /opt/ros/noetic/setup.bash
mkdir catkin_ws
cd catkin_ws
mkdir src
cd src

sudo apt install python3-wstool python3-osrf-pycommon python3-catkin-tools

PeterMitrano

from functools import partial
from math import sin, cos

import numpy as np
from ompl import base as ob
from ompl import control as oc


class MySampleableGoalRegion(ob.GoalSampleableRegion):

PeterMitrano

from io import BytesIO

from geometry_msgs.msg import Point

p = Point(x=2, y=4)
print(p)
buff = BytesIO()
p.serialize(buff)
serialized_bytes = buff.getvalue()