Contains libraries for common functionality in ROS robots. Functionality that would be the same between the PR2, Fetch, etc. probably belong here.

Executables

joint_state_reader gets joint positions for all joints or a subset of joints

rosrun rapid_robot joint_state_reader

rosrun rapid_robot joint_state_reader torso_lift_link head_pan_joint head_tilt_joint

Libraries

joint_state_reader.h: A joint state reader.

Point cloud cameras

rapid::PointCloudCamera and rapid::RecordedPointCloudCamera implement the rapid::PointCloudCameraInterface. This specifies a common interface for getting point clouds either from a real topic or from a pre-recorded point cloud. The pre-recorded version is designed to work with rapid_perception's save_cloud executable.

#include "rapid_robot/point_cloud_camera.h"
#include "rapid_utils/pcl_typedefs.h"
rapid::PointCloudCamera pr2_camera("/head_mount_kinect/depth_registered/points", "base_link");
PointCloudC::Ptr cloud = pr2_camera.cloud();
rapid::RecordedPointCloudCamera sim_camera;
sim_camera.LoadBag("/home/robot/data/scene1.bag");
PointCloudC::Ptr cloud = pr2_camera.cloud();