Made the meshes in the pcl_rob_node reachable from different OS

workspaces/COLCON_WS/build/ser_test/build/lib/ser_test/pcl_rob_node.py

@@ -10,6 +10,7 @@ import sensor_msgs.msg as sensor_msgs
 import sensor_msgs_py.point_cloud2 as pc2
 from std_msgs.msg import Header
 from scipy.spatial.transform import Rotation as R
+import os
 
 class PointCloudProcessor(Node):
     def __init__(self):
@@ -26,18 +27,17 @@ class PointCloudProcessor(Node):
         self.tf_buffer = Buffer()
         self.tf_listener = TransformListener(self.tf_buffer, self)
 
-        # Load the STL files
-        self.mesh_shoulder_link_static = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision_custom/shoulder.stl')
-        self.mesh_base_link_static = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision/base.stl')
-        self.mesh_forearm_link_static = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision_custom/forearm.stl')
-        self.mesh_upperarm_link_static = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision_custom/upperarm.stl')
-        self.mesh_wrist1_link_static = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision_custom/wrist1.stl')
-        self.mesh_wrist2_link_static = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision_custom/wrist2.stl')
-        self.mesh_wrist3_link_static = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision_custom/wrist3.stl')
-        
-        # Rotate the meshes
-        #rotation_angle = np.radians(90)  # 45 degrees rotation
-        #self.mesh_upperarm_link.apply_transform(trimesh.transformations.rotation_matrix(rotation_angle, [1, 0, 0]))
+        base_path = os.path.join(os.path.expanduser('~'), 'robot-sensor', 'workspaces', 'COLCON_WS', 'src', 'ur_description', 'meshes', 'ur10e', 'collision_custom')
+        self.mesh_shoulder_link_static = trimesh.load_mesh(os.path.join(base_path, 'shoulder.stl'))
+        self.mesh_forearm_link_static = trimesh.load_mesh(os.path.join(base_path, 'forearm.stl'))
+        self.mesh_upperarm_link_static = trimesh.load_mesh(os.path.join(base_path, 'upperarm.stl'))
+        self.mesh_wrist1_link_static = trimesh.load_mesh(os.path.join(base_path, 'wrist1.stl'))
+        self.mesh_wrist2_link_static = trimesh.load_mesh(os.path.join(base_path, 'wrist2.stl'))
+        self.mesh_wrist3_link_static = trimesh.load_mesh(os.path.join(base_path, 'wrist3.stl'))
+
+        base_path_collision = os.path.join(os.path.expanduser('~'), 'robot-sensor', 'workspaces', 'COLCON_WS', 'src', 'ur_description', 'meshes', 'ur10e', 'collision')
+        self.mesh_base_link_static = trimesh.load_mesh(os.path.join(base_path_collision, 'base.stl'))
+
         self.meshes_static = [
             self.mesh_shoulder_link_static,
             self.mesh_base_link_static,

workspaces/COLCON_WS/build/ser_test/colcon_command_prefix_setup_py.sh.env

@@ -7,7 +7,7 @@ DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1001/bus
 DESKTOP_SESSION=ubuntu
 DISPLAY=:0
 GDMSESSION=ubuntu
-GIO_LAUNCHED_DESKTOP_FILE_PID=3562
+GIO_LAUNCHED_DESKTOP_FILE_PID=12752
 GNOME_DESKTOP_SESSION_ID=this-is-deprecated
 GNOME_SETUP_DISPLAY=:1
 GNOME_SHELL_SESSION_MODE=ubuntu
@@ -15,8 +15,8 @@ GTK_MODULES=gail:atk-bridge
 HOME=/home/sochi
 IBUS_DISABLE_SNOOPER=1
 IM_CONFIG_PHASE=1
-INVOCATION_ID=648da586b7e94d94bc466489ca536b84
-JOURNAL_STREAM=8:20865
+INVOCATION_ID=4b6213f60e77403490b8ab0791918702
+JOURNAL_STREAM=8:19781
 LANG=en_US.UTF-8
 LC_ADDRESS=de_DE.UTF-8
 LC_ALL=en_US.UTF-8
@@ -33,7 +33,7 @@ LESSCLOSE=/usr/bin/lesspipe %s %s
 LESSOPEN=| /usr/bin/lesspipe %s
 LOGNAME=sochi
 LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
-MANAGERPID=1991
+MANAGERPID=1975
 OLDPWD=/home/sochi
 PATH=/opt/ros/humble/bin:/home/sochi/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
 PWD=/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test
@@ -44,21 +44,21 @@ ROS_DISTRO=humble
 ROS_LOCALHOST_ONLY=0
 ROS_PYTHON_VERSION=3
 ROS_VERSION=2
-SESSION_MANAGER=local/rossochi-2204:@/tmp/.ICE-unix/2162,unix/rossochi-2204:/tmp/.ICE-unix/2162
+SESSION_MANAGER=local/rossochi-2204:@/tmp/.ICE-unix/2125,unix/rossochi-2204:/tmp/.ICE-unix/2125
 SHELL=/bin/bash
 SHLVL=1
 SSH_AGENT_LAUNCHER=gnome-keyring
 SSH_AUTH_SOCK=/run/user/1001/keyring/ssh
-SYSTEMD_EXEC_PID=2385
+SYSTEMD_EXEC_PID=2331
 TERM=xterm-256color
 TERMINATOR_DBUS_NAME=net.tenshu.Terminator25ef4b219e3b005583550f2b0f9f990c3
 TERMINATOR_DBUS_PATH=/net/tenshu/Terminator2
-TERMINATOR_UUID=urn:uuid:080a8963-cf6b-412d-a835-80f08b736c95
+TERMINATOR_UUID=urn:uuid:0ef8d0b0-2cea-4fe4-b821-78a8280b7b4b
 USER=sochi
 USERNAME=sochi
 VTE_VERSION=6800
 WAYLAND_DISPLAY=wayland-0
-XAUTHORITY=/run/user/1001/.mutter-Xwaylandauth.R76L12
+XAUTHORITY=/run/user/1001/.mutter-Xwaylandauth.1TZK12
 XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
 XDG_CURRENT_DESKTOP=ubuntu:GNOME
 XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop

workspaces/COLCON_WS/build/ur_description/colcon_command_prefix_build.sh.env

@@ -7,7 +7,7 @@ DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1001/bus
 DESKTOP_SESSION=ubuntu
 DISPLAY=:0
 GDMSESSION=ubuntu
-GIO_LAUNCHED_DESKTOP_FILE_PID=3562
+GIO_LAUNCHED_DESKTOP_FILE_PID=12752
 GNOME_DESKTOP_SESSION_ID=this-is-deprecated
 GNOME_SETUP_DISPLAY=:1
 GNOME_SHELL_SESSION_MODE=ubuntu
@@ -15,8 +15,8 @@ GTK_MODULES=gail:atk-bridge
 HOME=/home/sochi
 IBUS_DISABLE_SNOOPER=1
 IM_CONFIG_PHASE=1
-INVOCATION_ID=648da586b7e94d94bc466489ca536b84
-JOURNAL_STREAM=8:20865
+INVOCATION_ID=4b6213f60e77403490b8ab0791918702
+JOURNAL_STREAM=8:19781
 LANG=en_US.UTF-8
 LC_ADDRESS=de_DE.UTF-8
 LC_ALL=en_US.UTF-8
@@ -33,7 +33,7 @@ LESSCLOSE=/usr/bin/lesspipe %s %s
 LESSOPEN=| /usr/bin/lesspipe %s
 LOGNAME=sochi
 LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
-MANAGERPID=1991
+MANAGERPID=1975
 OLDPWD=/home/sochi
 PATH=/opt/ros/humble/bin:/home/sochi/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
 PWD=/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ur_description
@@ -44,21 +44,21 @@ ROS_DISTRO=humble
 ROS_LOCALHOST_ONLY=0
 ROS_PYTHON_VERSION=3
 ROS_VERSION=2
-SESSION_MANAGER=local/rossochi-2204:@/tmp/.ICE-unix/2162,unix/rossochi-2204:/tmp/.ICE-unix/2162
+SESSION_MANAGER=local/rossochi-2204:@/tmp/.ICE-unix/2125,unix/rossochi-2204:/tmp/.ICE-unix/2125
 SHELL=/bin/bash
 SHLVL=1
 SSH_AGENT_LAUNCHER=gnome-keyring
 SSH_AUTH_SOCK=/run/user/1001/keyring/ssh
-SYSTEMD_EXEC_PID=2385
+SYSTEMD_EXEC_PID=2331
 TERM=xterm-256color
 TERMINATOR_DBUS_NAME=net.tenshu.Terminator25ef4b219e3b005583550f2b0f9f990c3
 TERMINATOR_DBUS_PATH=/net/tenshu/Terminator2
-TERMINATOR_UUID=urn:uuid:080a8963-cf6b-412d-a835-80f08b736c95
+TERMINATOR_UUID=urn:uuid:0ef8d0b0-2cea-4fe4-b821-78a8280b7b4b
 USER=sochi
 USERNAME=sochi
 VTE_VERSION=6800
 WAYLAND_DISPLAY=wayland-0
-XAUTHORITY=/run/user/1001/.mutter-Xwaylandauth.R76L12
+XAUTHORITY=/run/user/1001/.mutter-Xwaylandauth.1TZK12
 XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
 XDG_CURRENT_DESKTOP=ubuntu:GNOME
 XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop

workspaces/COLCON_WS/build/ur_moveit_config/colcon_command_prefix_build.sh.env

@@ -7,7 +7,7 @@ DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1001/bus
 DESKTOP_SESSION=ubuntu
 DISPLAY=:0
 GDMSESSION=ubuntu
-GIO_LAUNCHED_DESKTOP_FILE_PID=3562
+GIO_LAUNCHED_DESKTOP_FILE_PID=12752
 GNOME_DESKTOP_SESSION_ID=this-is-deprecated
 GNOME_SETUP_DISPLAY=:1
 GNOME_SHELL_SESSION_MODE=ubuntu
@@ -15,8 +15,8 @@ GTK_MODULES=gail:atk-bridge
 HOME=/home/sochi
 IBUS_DISABLE_SNOOPER=1
 IM_CONFIG_PHASE=1
-INVOCATION_ID=648da586b7e94d94bc466489ca536b84
-JOURNAL_STREAM=8:20865
+INVOCATION_ID=4b6213f60e77403490b8ab0791918702
+JOURNAL_STREAM=8:19781
 LANG=en_US.UTF-8
 LC_ADDRESS=de_DE.UTF-8
 LC_ALL=en_US.UTF-8
@@ -33,7 +33,7 @@ LESSCLOSE=/usr/bin/lesspipe %s %s
 LESSOPEN=| /usr/bin/lesspipe %s
 LOGNAME=sochi
 LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
-MANAGERPID=1991
+MANAGERPID=1975
 OLDPWD=/home/sochi
 PATH=/opt/ros/humble/bin:/home/sochi/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
 PWD=/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ur_moveit_config
@@ -44,21 +44,21 @@ ROS_DISTRO=humble
 ROS_LOCALHOST_ONLY=0
 ROS_PYTHON_VERSION=3
 ROS_VERSION=2
-SESSION_MANAGER=local/rossochi-2204:@/tmp/.ICE-unix/2162,unix/rossochi-2204:/tmp/.ICE-unix/2162
+SESSION_MANAGER=local/rossochi-2204:@/tmp/.ICE-unix/2125,unix/rossochi-2204:/tmp/.ICE-unix/2125
 SHELL=/bin/bash
 SHLVL=1
 SSH_AGENT_LAUNCHER=gnome-keyring
 SSH_AUTH_SOCK=/run/user/1001/keyring/ssh
-SYSTEMD_EXEC_PID=2385
+SYSTEMD_EXEC_PID=2331
 TERM=xterm-256color
 TERMINATOR_DBUS_NAME=net.tenshu.Terminator25ef4b219e3b005583550f2b0f9f990c3
 TERMINATOR_DBUS_PATH=/net/tenshu/Terminator2
-TERMINATOR_UUID=urn:uuid:080a8963-cf6b-412d-a835-80f08b736c95
+TERMINATOR_UUID=urn:uuid:0ef8d0b0-2cea-4fe4-b821-78a8280b7b4b
 USER=sochi
 USERNAME=sochi
 VTE_VERSION=6800
 WAYLAND_DISPLAY=wayland-0
-XAUTHORITY=/run/user/1001/.mutter-Xwaylandauth.R76L12
+XAUTHORITY=/run/user/1001/.mutter-Xwaylandauth.1TZK12
 XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
 XDG_CURRENT_DESKTOP=ubuntu:GNOME
 XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop

workspaces/COLCON_WS/build/ur_simulation_gazebo/colcon_command_prefix_build.sh.env

@@ -7,7 +7,7 @@ DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1001/bus
 DESKTOP_SESSION=ubuntu
 DISPLAY=:0
 GDMSESSION=ubuntu
-GIO_LAUNCHED_DESKTOP_FILE_PID=3562
+GIO_LAUNCHED_DESKTOP_FILE_PID=12752
 GNOME_DESKTOP_SESSION_ID=this-is-deprecated
 GNOME_SETUP_DISPLAY=:1
 GNOME_SHELL_SESSION_MODE=ubuntu
@@ -15,8 +15,8 @@ GTK_MODULES=gail:atk-bridge
 HOME=/home/sochi
 IBUS_DISABLE_SNOOPER=1
 IM_CONFIG_PHASE=1
-INVOCATION_ID=648da586b7e94d94bc466489ca536b84
-JOURNAL_STREAM=8:20865
+INVOCATION_ID=4b6213f60e77403490b8ab0791918702
+JOURNAL_STREAM=8:19781
 LANG=en_US.UTF-8
 LC_ADDRESS=de_DE.UTF-8
 LC_ALL=en_US.UTF-8
@@ -33,7 +33,7 @@ LESSCLOSE=/usr/bin/lesspipe %s %s
 LESSOPEN=| /usr/bin/lesspipe %s
 LOGNAME=sochi
 LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
-MANAGERPID=1991
+MANAGERPID=1975
 OLDPWD=/home/sochi
 PATH=/opt/ros/humble/bin:/home/sochi/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
 PWD=/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ur_simulation_gazebo
@@ -44,21 +44,21 @@ ROS_DISTRO=humble
 ROS_LOCALHOST_ONLY=0
 ROS_PYTHON_VERSION=3
 ROS_VERSION=2
-SESSION_MANAGER=local/rossochi-2204:@/tmp/.ICE-unix/2162,unix/rossochi-2204:/tmp/.ICE-unix/2162
+SESSION_MANAGER=local/rossochi-2204:@/tmp/.ICE-unix/2125,unix/rossochi-2204:/tmp/.ICE-unix/2125
 SHELL=/bin/bash
 SHLVL=1
 SSH_AGENT_LAUNCHER=gnome-keyring
 SSH_AUTH_SOCK=/run/user/1001/keyring/ssh
-SYSTEMD_EXEC_PID=2385
+SYSTEMD_EXEC_PID=2331
 TERM=xterm-256color
 TERMINATOR_DBUS_NAME=net.tenshu.Terminator25ef4b219e3b005583550f2b0f9f990c3
 TERMINATOR_DBUS_PATH=/net/tenshu/Terminator2
-TERMINATOR_UUID=urn:uuid:080a8963-cf6b-412d-a835-80f08b736c95
+TERMINATOR_UUID=urn:uuid:0ef8d0b0-2cea-4fe4-b821-78a8280b7b4b
 USER=sochi
 USERNAME=sochi
 VTE_VERSION=6800
 WAYLAND_DISPLAY=wayland-0
-XAUTHORITY=/run/user/1001/.mutter-Xwaylandauth.R76L12
+XAUTHORITY=/run/user/1001/.mutter-Xwaylandauth.1TZK12
 XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
 XDG_CURRENT_DESKTOP=ubuntu:GNOME
 XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop

workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test/pcl_rob_node.py

@@ -10,6 +10,7 @@ import sensor_msgs.msg as sensor_msgs
 import sensor_msgs_py.point_cloud2 as pc2
 from std_msgs.msg import Header
 from scipy.spatial.transform import Rotation as R
+import os
 
 class PointCloudProcessor(Node):
     def __init__(self):
@@ -26,18 +27,17 @@ class PointCloudProcessor(Node):
         self.tf_buffer = Buffer()
         self.tf_listener = TransformListener(self.tf_buffer, self)
 
-        # Load the STL files
-        self.mesh_shoulder_link_static = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision_custom/shoulder.stl')
-        self.mesh_base_link_static = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision/base.stl')
-        self.mesh_forearm_link_static = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision_custom/forearm.stl')
-        self.mesh_upperarm_link_static = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision_custom/upperarm.stl')
-        self.mesh_wrist1_link_static = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision_custom/wrist1.stl')
-        self.mesh_wrist2_link_static = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision_custom/wrist2.stl')
-        self.mesh_wrist3_link_static = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision_custom/wrist3.stl')
-        
-        # Rotate the meshes
-        #rotation_angle = np.radians(90)  # 45 degrees rotation
-        #self.mesh_upperarm_link.apply_transform(trimesh.transformations.rotation_matrix(rotation_angle, [1, 0, 0]))
+        base_path = os.path.join(os.path.expanduser('~'), 'robot-sensor', 'workspaces', 'COLCON_WS', 'src', 'ur_description', 'meshes', 'ur10e', 'collision_custom')
+        self.mesh_shoulder_link_static = trimesh.load_mesh(os.path.join(base_path, 'shoulder.stl'))
+        self.mesh_forearm_link_static = trimesh.load_mesh(os.path.join(base_path, 'forearm.stl'))
+        self.mesh_upperarm_link_static = trimesh.load_mesh(os.path.join(base_path, 'upperarm.stl'))
+        self.mesh_wrist1_link_static = trimesh.load_mesh(os.path.join(base_path, 'wrist1.stl'))
+        self.mesh_wrist2_link_static = trimesh.load_mesh(os.path.join(base_path, 'wrist2.stl'))
+        self.mesh_wrist3_link_static = trimesh.load_mesh(os.path.join(base_path, 'wrist3.stl'))
+
+        base_path_collision = os.path.join(os.path.expanduser('~'), 'robot-sensor', 'workspaces', 'COLCON_WS', 'src', 'ur_description', 'meshes', 'ur10e', 'collision')
+        self.mesh_base_link_static = trimesh.load_mesh(os.path.join(base_path_collision, 'base.stl'))
+
         self.meshes_static = [
             self.mesh_shoulder_link_static,
             self.mesh_base_link_static,

workspaces/COLCON_WS/log/build_2025-02-11_17-50-01/ser_test/command.log

+Invoking command in '/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ser_test': PYTHONPATH=/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/ser_test build --build-base /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build install --record /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/install.log --single-version-externally-managed install_data
+Invoked command in '/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ser_test' returned '0': PYTHONPATH=/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/ser_test build --build-base /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build install --record /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/install.log --single-version-externally-managed install_data

workspaces/COLCON_WS/log/build_2025-02-11_17-50-01/ser_test/stdout.log

+running egg_info
+writing ../../build/ser_test/ser_test.egg-info/PKG-INFO
+writing dependency_links to ../../build/ser_test/ser_test.egg-info/dependency_links.txt
+writing entry points to ../../build/ser_test/ser_test.egg-info/entry_points.txt
+writing requirements to ../../build/ser_test/ser_test.egg-info/requires.txt
+writing top-level names to ../../build/ser_test/ser_test.egg-info/top_level.txt
+reading manifest file '../../build/ser_test/ser_test.egg-info/SOURCES.txt'
+writing manifest file '../../build/ser_test/ser_test.egg-info/SOURCES.txt'
+running build
+running build_py
+copying ser_test/random_pointcloud_publisher.py -> /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build/lib/ser_test
+copying ser_test/pcl_rob_node.py -> /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build/lib/ser_test
+running install
+running install_lib
+copying /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build/lib/ser_test/random_pointcloud_publisher.py -> /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test
+copying /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build/lib/ser_test/pcl_rob_node.py -> /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test
+byte-compiling /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test/random_pointcloud_publisher.py to random_pointcloud_publisher.cpython-310.pyc
+byte-compiling /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test/pcl_rob_node.py to pcl_rob_node.cpython-310.pyc
+running install_data
+running install_egg_info
+removing '/home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test-0.0.0-py3.10.egg-info' (and everything under it)
+Copying ../../build/ser_test/ser_test.egg-info to /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test-0.0.0-py3.10.egg-info
+running install_scripts
+Installing pcl_rob_node script to /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/ser_test
+Installing random_pointcloud_publisher_node script to /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/ser_test
+Installing ser_test_node script to /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/ser_test
+writing list of installed files to '/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/install.log'

workspaces/COLCON_WS/log/build_2025-02-11_17-50-01/ser_test/stdout_stderr.log

+running egg_info
+writing ../../build/ser_test/ser_test.egg-info/PKG-INFO
+writing dependency_links to ../../build/ser_test/ser_test.egg-info/dependency_links.txt
+writing entry points to ../../build/ser_test/ser_test.egg-info/entry_points.txt
+writing requirements to ../../build/ser_test/ser_test.egg-info/requires.txt
+writing top-level names to ../../build/ser_test/ser_test.egg-info/top_level.txt
+reading manifest file '../../build/ser_test/ser_test.egg-info/SOURCES.txt'
+writing manifest file '../../build/ser_test/ser_test.egg-info/SOURCES.txt'
+running build
+running build_py
+copying ser_test/random_pointcloud_publisher.py -> /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build/lib/ser_test
+copying ser_test/pcl_rob_node.py -> /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build/lib/ser_test
+running install
+running install_lib
+copying /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build/lib/ser_test/random_pointcloud_publisher.py -> /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test
+copying /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build/lib/ser_test/pcl_rob_node.py -> /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test
+byte-compiling /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test/random_pointcloud_publisher.py to random_pointcloud_publisher.cpython-310.pyc
+byte-compiling /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test/pcl_rob_node.py to pcl_rob_node.cpython-310.pyc
+running install_data
+running install_egg_info
+removing '/home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test-0.0.0-py3.10.egg-info' (and everything under it)
+Copying ../../build/ser_test/ser_test.egg-info to /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test-0.0.0-py3.10.egg-info
+running install_scripts
+Installing pcl_rob_node script to /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/ser_test
+Installing random_pointcloud_publisher_node script to /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/ser_test
+Installing ser_test_node script to /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/ser_test
+writing list of installed files to '/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/install.log'

workspaces/COLCON_WS/log/build_2025-02-11_17-50-01/ser_test/streams.log

+[0.577s] Invoking command in '/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ser_test': PYTHONPATH=/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/ser_test build --build-base /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build install --record /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/install.log --single-version-externally-managed install_data
+[0.785s] running egg_info
+[0.786s] writing ../../build/ser_test/ser_test.egg-info/PKG-INFO
+[0.786s] writing dependency_links to ../../build/ser_test/ser_test.egg-info/dependency_links.txt
+[0.786s] writing entry points to ../../build/ser_test/ser_test.egg-info/entry_points.txt
+[0.786s] writing requirements to ../../build/ser_test/ser_test.egg-info/requires.txt
+[0.786s] writing top-level names to ../../build/ser_test/ser_test.egg-info/top_level.txt
+[0.788s] reading manifest file '../../build/ser_test/ser_test.egg-info/SOURCES.txt'
+[0.796s] writing manifest file '../../build/ser_test/ser_test.egg-info/SOURCES.txt'
+[0.796s] running build
+[0.796s] running build_py
+[0.796s] copying ser_test/random_pointcloud_publisher.py -> /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build/lib/ser_test
+[0.796s] copying ser_test/pcl_rob_node.py -> /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build/lib/ser_test
+[0.797s] running install
+[0.797s] running install_lib
+[0.798s] copying /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build/lib/ser_test/random_pointcloud_publisher.py -> /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test
+[0.798s] copying /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build/lib/ser_test/pcl_rob_node.py -> /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test
+[0.799s] byte-compiling /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test/random_pointcloud_publisher.py to random_pointcloud_publisher.cpython-310.pyc
+[0.799s] byte-compiling /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test/pcl_rob_node.py to pcl_rob_node.cpython-310.pyc
+[0.801s] running install_data
+[0.801s] running install_egg_info
+[0.803s] removing '/home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test-0.0.0-py3.10.egg-info' (and everything under it)
+[0.804s] Copying ../../build/ser_test/ser_test.egg-info to /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages/ser_test-0.0.0-py3.10.egg-info
+[0.804s] running install_scripts
+[0.820s] Installing pcl_rob_node script to /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/ser_test
+[0.821s] Installing random_pointcloud_publisher_node script to /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/ser_test
+[0.821s] Installing ser_test_node script to /home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/ser_test
+[0.821s] writing list of installed files to '/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/install.log'
+[0.840s] Invoked command in '/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ser_test' returned '0': PYTHONPATH=/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/ser_test build --build-base /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/build install --record /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ser_test/install.log --single-version-externally-managed install_data

workspaces/COLCON_WS/log/build_2025-02-11_17-50-01/ur_description/command.log

+Invoking command in '/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ur_description': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test:/opt/ros/humble /usr/bin/cmake --build /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ur_description -- -j8 -l8
+Invoked command in '/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ur_description' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test:/opt/ros/humble /usr/bin/cmake --build /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ur_description -- -j8 -l8
+Invoking command in '/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ur_description': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test:/opt/ros/humble /usr/bin/cmake --install /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ur_description
+Invoked command in '/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ur_description' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/sochi/robot-sensor/workspaces/COLCON_WS/install/ser_test:/opt/ros/humble /usr/bin/cmake --install /home/sochi/robot-sensor/workspaces/COLCON_WS/build/ur_description