Rafael Papallas rpapallas

Both on Wifi:

PING kaylah.local (192.168.0.102) 56(84) bytes of data.
64 bytes from 192.168.0.102: icmp_seq=1 ttl=64 time=1.88 ms
64 bytes from 192.168.0.102: icmp_seq=2 ttl=64 time=3.01 ms
64 bytes from 192.168.0.102: icmp_seq=3 ttl=64 time=1.52 ms
64 bytes from 192.168.0.102: icmp_seq=4 ttl=64 time=1.63 ms
64 bytes from 192.168.0.102: icmp_seq=5 ttl=64 time=4.73 ms
64 bytes from 192.168.0.102: icmp_seq=6 ttl=64 time=1.71 ms

Download this zip file from the link provided.
Unzip the file.
cd into the new folder (realrobot).
Run ./enable_usb_rules.sh on your machine (not in the container). Will ask you for root password, will copy some USB rules under /etc/udev/rules.d to allow the laptop to recognise the robot and the camera when connected through USB.
Then run ./run_singularity.sh you are now in the container.
If not in your .bashrc, you need to run: source /opt/ros/noetic/setup.bash
Within the unzipped folder, there is a new catkin_ws (different from your ~/catkin_ws, feel free to merge if you want). Go there: cd catkin_ws (not ~/catkin_ws but probably ~/Downloads/realrobot/catkin_ws) and run catkin_make. Now run source devel/setup.bash You should be able to run the commands on the real robot. You can open multiple terminal windows using: terminator & from that main singularity window. You will need to run source devel/setup.bash in every terminator window.

Create a script that will allow macOS to open a source code file in iTerm2/Terminal and Vim/NeoVim

Open Automator and create a new application. You can name it "TerminalVim"
Works with any command basically, just change the following line set q to "nvim " & quote & myPath & quote to match what you want in the code below. For example: set q to "vim " & quote & myPath & quote to use Vim instead of NeoVim.
Paste the following code:

on appIsRunning(appName)
    tell application "System Events" to (name of processes) contains appName
end appIsRunning

Installation

First, run the following to install libtinyxml2-dev on your system.

sudo apt-get install libtinyxml2-dev

I assume you have already configured your catkin_ws workspace, if not Google how to configure your catkin workspace.
Go to catkin_ws/src and clone the or_urdf repository from here. Note that this is a forked version because I changed something to the build destination of the plugin. I have created a pull request but as of now has not yet been approved. Have a look here and if the

	# ...

	# Don't change this path
	PROJECT_DIR = os.path.expanduser('~/catkin_ws/src/group_project')

	import sys
	sys.path.insert(0, f'{PROJECT_DIR}/scripts')

	# Import files in scripts from here ...
	# for example a class called CluedoDetector in scripts/cluedo_detector.py can be imported like so:

	sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
	curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc \| apt-key add -
	apt update
	apt install -y \
	ros-noetic-desktop-full \
	ros-noetic-catkin \
	ros-noetic-rqt-* \
	ros-noetic-gazebo-*

	. /opt/ros/noetic/setup.sh

	import time
	import multiprocessing


	num_of_particles = 50


	def main_non_parellised():
	results = []

	% The trick is with the following package. You need to use the following package.
	\usepackage{nidanfloat}

	% ....

	% Put your figure near the first page content.
	\begin{figure*}[b]
	\centering
	\def\svgwidth{\textwidth}
	\import{sections/images/}{some_figure.pdf_tex}

	class MyClass {
	.
	.
	bool desiredOverloadedMethod() {
	return true;
	}

	bool desiredOverloadedMethod(int a) {
	if(a == 1)
	return false;

	rosrun --prefix 'gdb -ex run --args' catkin_package_name [arguments...]
	rosrun --prefix 'valgrind --leak-check=full' catkin_package_name [arguments...]