This notebook is a toolset for arg utils, common used function like gdown or unzip are all wrote here, this notebook below have two part: function part and example part.

Function define part

gdown_unzip[source]

gdown_unzip(id, filename)

download a zipfile and unzip it

pose_dis[source]

pose_dis(pose_1, pose_2)

Compute distance between pose_1 and pose_2

waypoint[source]

waypoint(current_pose, Target_pose)

Generate a list of way points from current pose to target pose

Input : current pose, target pose : list [x_pos, y_pos, z_pos, x_ori, y_ori, z_ori, w_ori] Return : a list of way points

Testing example

we will move to 'data' directory to start all examples, this directory have been added to '.gitignoe' , so is convenient to test in local and light in cloud

cd data

/home/arg/arg_robotics_tools/data

gdown_unzip(id, filename)

id is the google drive id, filename is your filename in google drive (should be a .zip file )

ls && ls subt_apriltags

ViperX_apriltags/     husky_ur5/     subt_apriltags/
ViperX_apriltags.zip  husky_ur5.zip  subt_apriltags.zip
README.txt  camera_info.yaml  depth  rgb  rviz.png  tag_bundles.yaml

waypoint(current_pose, Target_pose)

Input : current pose, target pose : list [x_pos, y_pos, z_pos, x_ori, y_ori, z_ori, w_ori]

Return : a list of way points