reorganized manifest.xml
Added Util.py, to use for conversion functions etc.
updated Util.py
Updated gripper pose methods
Progress on MasterClass pipeline. Added some more functions to Util.
updated Constants to match Anna's
Merge branch 'anna' of https://github.com/raven-debridement/Pr2Debridement into gkahn_branch
Fixing names to match that CommandPose uses JTCartesian controller
moved convertToSameFrameAndTime to Util. Updated Util.euclideanDistance
Added receptacle to ImageDetection. Finished outline of run() in Master
Fixed some simple errors
Updated launch files and fixed jt yaml file
Tested CommandPose a little. Moves too fast, need to change saturation gains in .yaml. Also, the path it chooses doesn't always seem to be the best. Maybe we should use trajopt or arm_navigation
Changed max velocities in .yaml. Tests with CommandPose went much better. ImageDetection purpose is to track cancer points, gripper poses, and receptacle point. Master now has timeouts for blocking functions
Fixed bugs with timeout
Tentatively working. Need to fix thresholds on movement in Master.run
Tentatively working. Need to fix thresholds on movement in Master.run
Able to pick up cans and drop off in bowl. Still some bugs to work out (one in Util) and some constants to finesse