launch_commands.txt

ls /dev/ttyUSB* -l
sudo chmod 777 /dev/ttyUSB0
roslaunch p2os_launch p2os_teleop_joy.launch
roslaunch teleop_twist_joy teleop.launch

rosrun rosaria RosAria
rosrun rosaria_client interface

roslaunch openni_launch openni.launch depth_registration:=true
rosrun image_view image_view image:=/camera/rgb/image_color

rosrun tf static_transform_publisher 0.2 0 0.45 0 0 0 base_link camera_link 100

roslaunch rtabmap_ros rtabmap_transform.launch rtabmap_args:="--delete_db_on_start" visual_odometry:=false frame_id:=/base_link odom_topic:=/pose rviz:=true rtabmapviz:=true
roslaunch rtabmap_ros rtabmap_transform.launch localization:=true visual_odometry:=false frame_id:=/base_link odom_topic:=/pose rviz:=true rtabmapviz:=true

roslaunch move_base move_base.launch
rosrun rviz rviz

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=true
roslaunch rtabmap_ros rtabmap.launch localization:=true rviz:=true rtabmapviz:=true

rosrun rtabmap_ros rtabmap --params # parameters
rtabmap_args:="--delete_db_on_start" # should need to be passed, it won't delete db automatically


## Changes in the rtabmap.launch

<param name="frame_id" type="string" value="base_link"/>
<remap from="odom" to="/base_controller/odom"/>
or 
<remap from="odom" to="/pose"/>
or
<arg name="odom_topic"               default="pose"/>

$ rostopic info /rtabmap/odom
Type : nav_msgs/Odometry
Publishers:
/rtabmap/rgbd_odometry

Subscribers:
/rtabmap/rtabmapviz 
/rtabmap/rtabmap


$ rosrun rqt_graph rqt_graph  # visualize


$ rostopic info /pose


position(visual_odometry/short term) v/s trajectory(loop closure/long term)


# Error in transformations for wheel odometry 

$ rosrun tf view_frames && evince frames.pdf
$ rosrun tf tf_echo <source> <target>  # Tsource_target == target wrt source
launch file -> sequentially launches

#/base_link -> rotational center

# 2D Pose Estimate -> positon and orientation
# 2D Navigation Goal

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" visual_odometry:=false frame_id:=/base_link odom_topic:=/pose rviz:=true rtabmapviz:=true 

# Navigation -> nav_msgs/OccupancyGrid -> Laser

# fusing similar to turtlebot

# static transform between camera_link and base_link -> kinect_odometry.launch
# difference between frame_id and odom_frame_id and visual_odometry need to be set false 
$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" visual_odometry:=true odom_topic:=/pose rviz:=true rtabmapviz:=true

# Static transform publisher:

<launch>
<!-- x(in m) y z yaw(in rad) pitch roll -- >
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 link1_parent link1 100" />
</launch>

$ rosrun tf static_transform_publisher 
x y z yaw pitch roll frame_id child_frame_id period_in_ms
$ rosrun tf static_transform_publisher 0.2 0 0.45 0 0 0 base_link camera_link 100

# argument -> passed through command line ; param -> set up on launch file

# demo:
$ roslaunch rtabmap_ros rgbdslam_datasets.launch
~/data$ rosbag play --clock -d 5 -r 0.5 rgbd_dataset_freiburg3_long_office_household.bag

# Loop closure:
$ rostopic echo /rtabmap/info/loopClosureId

$ rosrun rtabmap_ros rtabmap --params
 # Optimizer\Strategy=0 # TORO
 # Optimizer\VarianceIgnored=true # high covariance in /pose
 # Reg\Force3Dof=true # x,y,yaw

 <param name="Reg/Force3Dof" value="true"/>
 <param name="Optimizer/Slam2D" value="true"/>
 <param name="Optimizer/Strategy" value="0"/>
 <param name="Optimizer/VarianceIgnored" value="0"/>


 # scan
  <param name="subscribe_scan"      type="bool"   value="true"/>

  <!-- Navigation stuff (move_base) -->
  <include unless="$(arg simulation)" file="$(find turtlebot_bringup)/launch/3dsensor.launch">
     <arg     if="$(arg sw_registered)" name="depth_registration" value="false"/>
     <arg unless="$(arg sw_registered)" name="depth_registration" value="true"/>
  </include>
  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>


roslaunch rtabmap_ros rtabmap_transform.launch rtabmap_args:="--delete_db_on_start" visual_odometry:=false frame_id:=/base_link odom_topic:=/pose subscribe_scan:=true rviz:=true rtabmapviz:=true
roslaunch rtabmap_ros rtabmap_transform.launch localization:=true subscribe_scan:=true visual_odometry:=false frame_id:=/base_link odom_topic:=/pose rviz:=true rtabmapviz:=true


# change demo_turtlebot_mapping.launch < rtabmap_transform.launch
$ roslaunch rtabmap_ros demo_turtlebot_mapping_transform.launch 

# c++11 errors in CmakeLists.txt -> catkin_make

# rostopic pub move_base/goal messg_type 

# rosparam get <parameter>

# Global planner: /move_base/NavfnROS/plan
# Local planner: /move_base/DWAPlannerROS/local..

# Rosbag record
rosbag record -O subset /turtle1/cmd_vel /turtle1/pose

# Topics: /rtabmap/rtabmap subscribed to (approx sync):
rosbag record -O rrc1 /pose /camera/rgb/image_rect_color /camera/depth_registered/image_raw /camera/rgb/camera_info /tf


Visual odometry:
rosbag record -O rrc1a /camera/rgb/image_rect_color /camera/depth_registered/image_raw /camera/rgb/camera_info /tf
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rtabmapviz:=true use_sim



_time:=true
rosbag play --clock rrc1a.bag -d 5 -r 0.8


ssh udit@10.2.36.224 
[Password: udit]
scp rrc2.bag udit@10.2.36.224:~

vim escape -> : q!


RGBD/ENABLED=1
Frame rate of the sensor
Loop/Highest_hypothesis_value -> >= 0.11

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">

   <!-- Disable ICP refining -->
   <!-- v0.10 --> <param name="LccIcp/Type"  type="string" value="0"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
   <!-- v0.11 --> <param name="Reg/Strategy" type="string" value="0"/> <!-- 0=Vis, 1=Icp, 2=VisIcp -->

   <!-- Decrease ICP correspondence ratio to 15% for example -->
   <!-- v0.10 --> <param name="LccIcp2/CorrespondenceRatio" type="string" value="0.15"/>
   <!-- v0.11 --> <param name="Icp/CorrespondenceRatio"     type="string" value="0.15"/>

</node>

<param name="RGBD/OptimizeMaxError"                type="double"      value="0.1"  />  # Increase it


Icp/CorrespondenceRatio = 0.2 # [Max distance for point correspondences.] Default: 0.1
RGBD/OptimizeMaxError = 1.5  # Default: 1 [Reject loop closures if optimization error ratio is greater than this value]

Default:
Vis/MinInliers = "20" # Minimum feature correspondences to compute/accept the transformation.
Vis/InlierDistance = "0.1"  # [Vis/EstimationType = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach

rqt_plot /pose/twist/twist/linear/x /cmd_vel/linear/x


df -h 
sudo du -cha --max-depth=1 | grep -E "M|G"


 
# Real time gpu monitor
watch -n 1 nvidia-smi 


# internal ip address
ip route get 8.8.8.8 | awk '{print $NF; exit}'
sudo service ssh restart


tmux attach-session -t <session-name>
tmux list-sessions 
tmux new -s <session-name>

#internet restart
sudo service network-manager restart

# installed packages
apt list --installed | grep -i <PACKAGE>
apt -qq list <PACKAGE>

# locally visualizing markdown file
$ grip <path_to_markdown_file>

# Realsense Handheld
# Launch
roslaunch realsense2_camera rs_camera.launch align_depth:=true

# Installing realsense2: 
export ROS_VER=kinetic 
sudo apt-get install ros-$ROS_VER-realsense2-camera ros-$ROS_VER-realsense2-description

# Mapping
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info

# Recording to rosbag
rosbag record -O data1 /camera/aligned_depth_to_color/image_raw /camera/color/image_raw/compressed /camera/color/camera_info /tf_static

# Process kill
$ pgrep <process_name>
$ kill <pid>

# Creating virtualenv
$ virtualenv [options] <environment-variable>
# --system-site-packages : depends on global /usr/lib/python2.7/
$ virtualenv --system-site-packages -p python3 venv

$ source ./venv/bin/activate
$ pip list

$ source ~/softwares/tensorflow/venv/bin/activate # $ start_tf
$ source ~/softwares/tensorflow3/venv3/bin/activate # $ start_tf3
$ deactivate

# [Not using/using] system packages
# [rm/touch] tensorflow3/venv3/lib/python3.5/no-global-site-packages.txt

# ipsc commands
$ ssh ipsc19@abacus.iiit.ac.in
$ xXkK_oIL
$ mpicc file.c -o file.out
$ mpirun -np 10 file.out
$ sbatch ipsc_job.sh # <output> slurm-<jobid>
$ squeue

# ada commands
ssh ipsc11@ada.iiit.ac.in
gRVENTo7
sint2
nvcc file.cu

# Undo the last commit before pushing to the server
$ git commit -m "Something terribly misguided"
$ git reset HEAD~
<< edit files as necessary >>
$ git add .
$ git commit -c ORIG_HEAD

# Detecting SSD: 0 -> SSD and 1 -> HDD
$ lsblk -d -o name,rota
$ df -h

# Laptop model number
$ sudo dmidecode | grep -A 9 "System Information"
$ sudo dmidecode | less

# Backup of large files with progress bar - tar
$ cd /media/hard_disk
$ tar czf - /folder-with-big-files -P | pv -s $(du -sb /folder-with-big-files | awk '{print $1}') | gzip > big-files.tar.gz

# Copying with progress bar - rsync
$ rsync -r --human-readable --no-i-r --info=progress2 --info=name0 /source/folder /destination/folder
# Resume rsync
$ rsync -r --partial-dir=.rsync-partial --human-readable --no-i-r --info=progress2 --info=name0 /source/folder /destination/folder

# OpenCV Types

+--------+----+----+----+----+------+------+------+------+
|        | C1 | C2 | C3 | C4 | C(5) | C(6) | C(7) | C(8) |
+--------+----+----+----+----+------+------+------+------+
| CV_8U  |  0 |  8 | 16 | 24 |   32 |   40 |   48 |   56 |
| CV_8S  |  1 |  9 | 17 | 25 |   33 |   41 |   49 |   57 |
| CV_16U |  2 | 10 | 18 | 26 |   34 |   42 |   50 |   58 |
| CV_16S |  3 | 11 | 19 | 27 |   35 |   43 |   51 |   59 |
| CV_32S |  4 | 12 | 20 | 28 |   36 |   44 |   52 |   60 |
| CV_32F |  5 | 13 | 21 | 29 |   37 |   45 |   53 |   61 |
| CV_64F |  6 | 14 | 22 | 30 |   38 |   46 |   54 |   62 |
+--------+----+----+----+----+------+------+------+------+

> CV_8U -> 0-255
> CV_32F -> 0-1.0
> Write / display -> CV_8U

> img.type()

> for(i = 1:rows)
>   for(j = 1:cols)
>     img.at<uchar>(i,j)

# Download wget 
$ wget url -q --show-progress

# Passing output from cmd2 as parameter to cmd1
cmd1 -options $(cmd2)
# Example
 du -cha $(sudo find . -iname "*.bag")

# Checking whether ubuntu detected hard disk or not
ls /dev/ | grep sd # Do it with and without hard disk plugged

# Mounting device 
sudo ntfsfix /dev/sdb1		# Only if error in mounting
sudo fdisk -l 		# Assuming device at /dev/sdb1
sudo mount -t ntfs /dev/sdb1 /media

# Sourcing tmux
tmux source ~/.tmux.conf

 # Opencv conflict between ROS and python3
 export PYTHONPATH="/home/cair/softwares/tensorflow3/venv3/lib/python3.5/site-packages":$PYTHONPATH

 # Undoing python3 and switching back to python2
 export PYTHONPATH="" && source ~/.bashrc

# Using cv2 - 4.1.1 in virtual environment
# Run this inside virtual env
export PYTHONPATH="/home/cair/softwares/tensorflow3/venv3/lib/python3.5/site-packages":$PYTHONPATH 


# List to numpy array
npArray = np.asarray(list)

# realsense-viewer error : undefined symbol: libusb_get_parent
$ which realsense-viewer
$ ldd realsense-viewer | grep libusb
$ mv /opt/mvIMPACT_Acquire/lib/x86_64/libusb-1.0.so.0 ~/backup/ 

# Force “git push” to overwrite remote files as well remote commits
git push -f origin master

# Undoing the git push to github:
git push -f origin HEAD^:master

# Passing output from one command as input to another command
cmd1 -arg1 $(cmd2 -arg2)

# Creating symbolic link
ln -s source_file link

# RTABMAP problem of libfreenect*.so.* or librealsense*.so.*
ldd catkin_ws/devel/lib/rtabmap_ros/rtabmap | grep not # To see what links are missing
# For installing libfreenect*.so.*
$ sudo apt-get install ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
$ sudo apt-get remove ros-kinetic-rtabmap ros-kinetic-rtabmap-ros
# Install librealsense*.so.* from synaptic

# Problem of RTABMAP for particular librealsense*.so* file
# rtabmap: error while loading shared libraries: librealsense2.so.2.30: cannot open shared object file:
 No such file or directory
# WITH_REALSENSE2 = OFF # Set in ccmake of rtabmap/build

# Remapping a topic
# Published topic: "hello". Wanted topic: "chatter"
$ <remap from="chatter" to="hello"/>    # Inside launch file 

# TF problem while working with Bagfiles    
1. `rosparam set use_sim_time true` $ Ensuring all nodes use same time  
2. `rosbag play <file.bag> --clock` $ To use simulation time  
3. `rosrun tf static_transform_publisher 
x y z yaw pitch roll frame_id child_frame_id period_in_ms` $ tf would also be published in simulated time  
4. `roslaunch rtabmap_ros rtabmap.launch` $ Launch any node using rosbag topics and static tf info


# Compressing/Extracting using terminal
tar -czvf name-of-archive.tar.gz /path/to/directory-or-file
tar -xzvf archive.tar.gz

# Extracting file compressed using Ubuntu GUI:
tar xf data.tar

# Concatanating csv files with excluding header of first one
sed 1d img_pairs*.csv > img_pairs_comb.csv

# wget downloading of a directory:
wget -r -nH --cut-dirs=2 --no-parent --reject="index.html*" <url>

# Downloading ScanNet:  
wget -r -A .sens -I /ScanNet/v2/scans/scene000*,/ScanNet/v2/scans/scene001*,/ScanNet/v2/scans/scene002*,/ScanNet/v2/scans/scene003*,/ScanNet/v2/scans/scene004* -nH --cut-dirs=3 --no-parent --reject="index.html*" http://datasets.rrc.iiit.ac.in/ScanNet/v2/scans/

# Killing process by its name:  
kill $(pgrep python) 
kill $(pgrep <process_name>)

# Opening Nerdtree from a file:
:NERDTreeFocus

# Using SIFT with opencv:
pip uninstall opencv-python opencv-contrib-python
pip install opencv-python==3.4.2.16 opencv-contrib-python==3.4.2.16

# Reverting git add 
git reset file

# Reverting git commit 
git reset --soft HEAD~1

# Editing git config for username and email-id
git config --local user.name UditSinghParihar
git config --local user.email uditsinghparihar96@gmail.com

# Debugging cuda error:  
CUDA_LAUNCH_BLOCKING=1 python [YOUR_PROGRAM]

# Restarting sftp for neon server: 
1. Close the remote files open in sublime.     
2. ps aux | grep sftp  
3. kill <neon_server_pid>

# Changing remote url to forked branch: 
git remote set-url origin https://github.com/user/FORK.git

# Creating a new repository out of an original repository after commiting changes  
1. Clone the original repository.  
2. Create a new repository.  
3. Change the remote url for pushing changes, in local repository to the newly
created repository.  
4. Push the commits in local repository.  

# Changing access time and creation of all files recursively in a directory:  
find /path/to/dir -exec touch  {} \;
# Seeing access time:  
ls -ul file.txt
# Seeing all files having access time older than 10 days:  
find /path/to/dir -atime +10


# Mounting remote directory  
sudo mkdir /mnt/blue_scratch
sudo sshfs -o allow_other udit@blue.iiit.ac.in:/scratch/udit/ /mnt/blue_scratch
sudo sshfs -o allow_other udit@blue.iiit.ac.in:/home/udit/ /mnt/blue

# Debugging sshfs
sudo umount -l /mnt/blue
killall sshfs

# Open3d normals calculation:
pip uninstall open3d open3d-python
pip install open3d==0.9.0.0
pcd.estimate_normals(search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=0.1, max_nn=30))

# Kill file manager processes
nautilus -q

Accessing tensorBoard on local machine while training on server:  
1. `ssh -L localhost:16006:localhost:6006 udit@blue.iiit.ac.in`  
2. `tensorboard --logdir runs/`  # On Server
3. `http://localhost:16006/`   # On Local machine


# Increasing number of open files limit in np.load:  
ulimit -n 4096

# Keyboard enable/disable
xinput list
xinput float 12
xinput reattach 12 3


# OpenCV color space:  
`imread`, `imwrite` and `imshow` uses BGR order  
im_rgb = cv2.cvtColor(im_cv, cv2.COLOR_BGR2RGB)

# Matplotlib color space:  
matplotlib's `imshow` uses RGB order