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tutorials:intermediate:pepper_shopping [2020/08/19 21:48] – [Pepper robot shopping assistant] derricktutorials:intermediate:pepper_shopping [2022/02/08 14:08] – [Generating Robot Pose] sarthou
Line 1823: Line 1823:
  
  ((cram-common-failures:ptu-goal-not-reached (e)  ((cram-common-failures:ptu-goal-not-reached (e)
-        ; (print e) 
  
         (roslisp:ros-warn (perception-failure) "~a~%Looking at product went wrong...repositioning" e)         (roslisp:ros-warn (perception-failure) "~a~%Looking at product went wrong...repositioning" e)
Line 1870: Line 1869:
  ?location-pose  ?location-pose
  (cram-tf:robot-current-pose)))  (cram-tf:robot-current-pose)))
 +</code>
  
 This function also contains another helper function. Let’s add it. This function also contains another helper function. Let’s add it.
 +
 +<code lisp>
 ;;"Given a `look-pose-stamped' and a `robot-pose-stamped' (both in fixed frame), ;;"Given a `look-pose-stamped' and a `robot-pose-stamped' (both in fixed frame),
 ;; calculate the new robot-pose-stamped, which is rotated with an angle to point towards ;; calculate the new robot-pose-stamped, which is rotated with an angle to point towards