On the Ulysses website, the program is described with passion by its developers. I appreciate this dedication in a product; the company also seems intent on responding to user feedback. In the description of the program's current version - version 2.0 - Ulysses' developers list bug fixes as one of this version's greatest improvements. Ulysses is the best writing app for Mac, iPad, and iPhone users. Many folks who love writing in Ulysses have also wanted to use it as a collaborative text editor as well. However, setting up collaboration in Ulysses takes a little bit of nerdery. And so, in this guide we will walk you through the entire process, step by step.

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Note: This tutorial assumes you have completed the writing a tf2 broadcaster tutorial (Python)(C++).

Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Description: This tutorial teaches you how to use tf2 to get access to frame transformations.
Tutorial Level: BEGINNER
Next Tutorial: Adding a frame (Python)

Contents

1. How to create a tf2 listener

In the previous tutorials we created a tf2 broadcaster to publish the pose of a turtle to tf2. In this tutorial we'll create a tf2 listener to start using tf2.

How to create a tf2 listener

Let's first create the source files. Go to the package we created in the previous tutorial:

The Code

Fire up your favorite editor and paste the following code into a new file called nodes/turtle_tf2_listener.py.

Don't forget to make the node executable:

The Code Explained

Now, let's take a look at the code that is relevant to publishing the turtle pose to tf2.

The tf2_ros package provides an implementation of a tf2_ros.TransformListener to help make the task of receiving transforms easier.

Here, we create a tf2_ros.TransformListener object. Once the listener is created, it starts receiving tf2 transformations over the wire, and buffers them for up to 10 seconds.

Here, the real work is done, we query the listener for a specific transformation. Let's take a look at the arguments:

1. We want the transform from this frame ...
2. ... to this frame.

3. The time at which we want to transform. Providing rospy.Time(0) will just get us the latest available transform.

All this is wrapped in a try-except block to catch possible exceptions.

Running the listener

With your text editor, open the launch file called start_demo.launch, and add the following lines:

Don't forget to add the script to the CMakeLists.txt install rule, reinvoke catkin_make_isolated and use your terminal with the devel_isolated/setup.bash sourced.

First, make sure you stopped the launch file from the previous tutorial (use ctrl-c). Now you're ready to start your full turtle demo:

You should see the turtle sim with two turtles.

Checking the results

To see if things work, simply drive around the first turtle using the arrow keys (make sure your terminal window is active, not your simulator window), and you'll see the second turtle following the first one!

When the turtlesim starts up you may see:

This happens because our listener is trying to compute the transform before turtle 2 is spawned in turtlesim and broadcasting a tf2 frame.

Transforming poses, points, etc. from frame to frame

Now that you know the transform from frame 'turtle1' to frame 'turtle2', you can transform vectors from one to the other. See (Using Stamped datatypes with tf2_ros::MessageFilter)

Now you're ready to move on to the next tutorial, where you'll learn how to add a frame (Python)(C++)

FEATURES

Outliner

Organize your thoughts and snippets in a hierarchical manner. Organize them as you wish, reorganize them on the go.

Ulysses 2 0 2 – Creative Writing Text Editor Pdf

Distraction-free mode

Get rid of all distraction while writing. Set personal goal in word count or time before you can leave editor.

Novel assistant

Use the snowflake method to grow your single genius idea in an coherent whole, with complex characters, intricate plots and detailed universe.

Free as in free speech

Because free is always better.

Manuskript is a perfect tool for those writer who like to organize and plan everything before writing.
The snowflake method can help you grow your idea into a book, by leading you step by step and asking you questions to go deeper.
While writing, keep track of notes about every characters, plot, event, place in your story.
Manuskript is still in development, and in need of extensive testing.

• Characters

  Develop complex characters and keep track of all useful infos

• Plots

  Create intricate plots, linked to your characters, and use them to outline your story

• World

  Organize your ideas about the world your characters live in

• Write

  Simply start writing

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