/utility_codes

A collection of various utility codes coded myself

Primary LanguagePython

utility_codes

A collection of various utility codes coded myself(most) and collected by Googling


  • cv_cam: OpenCV camera code C++
  • CV_Cam.py: OpenCV camera code Python
  • ros_picam.py: OpenCV camera code Python for ROS publish
  • cv_cam_16bit.py: OpenCV camera code Python for 16bit(14bit) images e.g., thermal cameras
  • cv_cam_ros: OpenCV camera code for ROS C++
  • ros_img_callback_save.py: callback ROS image and save as .jpg


  • cv_images_to_mp4.py: read images in folder and save as mp4, OpenCV Python
  • mp4_to_ros.py: read mp4 using OpenCV and publish as ROS topic
  • mp4tobag.py: read mp4 using OpenCV and save as ROS bag file
  • compressed_to_raw.py: compressed image to raw image ROS(ROS basic package already exists but...)
  • rgb2gray.py: rgb to gray image OpenCV and ROS publish
  • rosbag_topic_name_changer.py: renaming code for topic in ROSbag file


  • octomap_grapher: OctoMap subscribing and then calculating the volume mapped
  • octopus: OctoMap build codes


  • gazebo_to_path_and_path_frame.py: gazebo/model_states ground truth position to nav_msgs/path topic for visualizing and pose estimation performance
  • rviz_path.py: subscribe gazebo/model_states ground truth position to publish it as nav_msgs/Path topic and also publising PX4-SITL drone pose, and Marker
  • gt_vision_pose.py: gazebo/model_states ground truth to mavros/vision_pose/pose for PX4-SITL, instead of GPS
  • dae_line_remover.py: line removing code for .dae extension file made by Google Sketchup to use it in Gazebo
  • rgb2rgba_texture.py: rgb 3 channel image to rgba 4 channel image to use it as texture in Gazebo model


  • marker_path_length.py: length of marker in ROS
  • nav_path_length.py: length of nav_msgs/Path in ROS
  • path_bag_to_txt.py: read ROS bag file with nav_msgs/Path and write .csv file for pose estimation performance comparison in EVO or rpg-evaluation


  • tr_broadcaster.py: ros tf message broadcasting code in python
  • tf_and_vision.zip: getting /tf message and sending it to /mavros/vision_pose/pose to fly without GPS


  • ser_pub_odom_sub_cmd.py: USB to USB ubuntu serial communication to send odometry from ROSBOT and receive command
  • ser_sub_odom_pub_cmd.py: USB to USB ubuntu serial communication to receive odometry from ROSBOT and send command to it
  • ser_rec_test.py: USB to USB ubuntu serial communication test code, receving
  • ser_trans_test.py: USB to USB ubuntu serial communication test code, transmitting


  • filename_conver.py: file renaming code
  • image_name_converting.py: image name converting
  • control_jetbot_imu.py: jetbot control code using only IMU since it does not have encoders
  • Runge_Kutta.m: runge-kutta method code for MATLAB