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	new file:   src/yolov5_ros/src/yolov5/models/hub/yolov5-fpn.yaml
	new file:   src/yolov5_ros/src/yolov5/models/hub/yolov5-p2.yaml
	new file:   src/yolov5_ros/src/yolov5/models/hub/yolov5-p34.yaml
	new file:   src/yolov5_ros/src/yolov5/models/hub/yolov5-p6.yaml
	new file:   src/yolov5_ros/src/yolov5/models/hub/yolov5-p7.yaml
	new file:   src/yolov5_ros/src/yolov5/models/hub/yolov5-panet.yaml
	new file:   src/yolov5_ros/src/yolov5/models/hub/yolov5l6.yaml
	new file:   src/yolov5_ros/src/yolov5/models/hub/yolov5m6.yaml
	new file:   src/yolov5_ros/src/yolov5/models/hub/yolov5n6.yaml
	new file:   src/yolov5_ros/src/yolov5/models/hub/yolov5s-ghost.yaml
	new file:   src/yolov5_ros/src/yolov5/models/hub/yolov5s-transformer.yaml
	new file:   src/yolov5_ros/src/yolov5/models/hub/yolov5s6.yaml
	new file:   src/yolov5_ros/src/yolov5/models/hub/yolov5x6.yaml
	new file:   src/yolov5_ros/src/yolov5/models/tf.py
	new file:   src/yolov5_ros/src/yolov5/models/yolo.py
	new file:   src/yolov5_ros/src/yolov5/models/yolov5l.yaml
	new file:   src/yolov5_ros/src/yolov5/models/yolov5m.yaml
	new file:   src/yolov5_ros/src/yolov5/models/yolov5n.yaml
	new file:   src/yolov5_ros/src/yolov5/models/yolov5s.yaml
	new file:   src/yolov5_ros/src/yolov5/models/yolov5x.yaml
	new file:   src/yolov5_ros/src/yolov5/requirements.txt
	new file:   src/yolov5_ros/src/yolov5/setup.cfg
	new file:   src/yolov5_ros/src/yolov5/train.py
	new file:   src/yolov5_ros/src/yolov5/tutorial.ipynb
	new file:   src/yolov5_ros/src/yolov5/utils/__init__.py
	new file:   src/yolov5_ros/src/yolov5/utils/activations.py
	new file:   src/yolov5_ros/src/yolov5/utils/augmentations.py
	new file:   src/yolov5_ros/src/yolov5/utils/autoanchor.py
	new file:   src/yolov5_ros/src/yolov5/utils/autobatch.py
	new file:   src/yolov5_ros/src/yolov5/utils/aws/__init__.py
	new file:   src/yolov5_ros/src/yolov5/utils/aws/mime.sh
	new file:   src/yolov5_ros/src/yolov5/utils/aws/resume.py
	new file:   src/yolov5_ros/src/yolov5/utils/aws/userdata.sh
	new file:   src/yolov5_ros/src/yolov5/utils/benchmarks.py
	new file:   src/yolov5_ros/src/yolov5/utils/callbacks.py
	new file:   src/yolov5_ros/src/yolov5/utils/dataloaders.py
	new file:   src/yolov5_ros/src/yolov5/utils/docker/Dockerfile
	new file:   src/yolov5_ros/src/yolov5/utils/docker/Dockerfile-arm64
	new file:   src/yolov5_ros/src/yolov5/utils/docker/Dockerfile-cpu
	new file:   src/yolov5_ros/src/yolov5/utils/downloads.py
	new file:   src/yolov5_ros/src/yolov5/utils/flask_rest_api/README.md
	new file:   src/yolov5_ros/src/yolov5/utils/flask_rest_api/example_request.py
	new file:   src/yolov5_ros/src/yolov5/utils/flask_rest_api/restapi.py
	new file:   src/yolov5_ros/src/yolov5/utils/general.py
	new file:   src/yolov5_ros/src/yolov5/utils/google_app_engine/Dockerfile
	new file:   src/yolov5_ros/src/yolov5/utils/google_app_engine/additional_requirements.txt
	new file:   src/yolov5_ros/src/yolov5/utils/google_app_engine/app.yaml
	new file:   src/yolov5_ros/src/yolov5/utils/loggers/__init__.py
	new file:   src/yolov5_ros/src/yolov5/utils/loggers/clearml/README.md
	new file:   src/yolov5_ros/src/yolov5/utils/loggers/clearml/__init__.py
	new file:   src/yolov5_ros/src/yolov5/utils/loggers/clearml/clearml_utils.py
	new file:   src/yolov5_ros/src/yolov5/utils/loggers/clearml/hpo.py
	new file:   src/yolov5_ros/src/yolov5/utils/loggers/comet/README.md
	new file:   src/yolov5_ros/src/yolov5/utils/loggers/comet/__init__.py
	new file:   src/yolov5_ros/src/yolov5/utils/loggers/comet/comet_utils.py
	new file:   src/yolov5_ros/src/yolov5/utils/loggers/comet/hpo.py
	new file:   src/yolov5_ros/src/yolov5/utils/loggers/wandb/README.md
	new file:   src/yolov5_ros/src/yolov5/utils/loggers/wandb/__init__.py
	new file:   src/yolov5_ros/src/yolov5/utils/loggers/wandb/log_dataset.py
	new file:   src/yolov5_ros/src/yolov5/utils/loggers/wandb/sweep.py
	new file:   src/yolov5_ros/src/yolov5/utils/loggers/wandb/sweep.yaml
	new file:   src/yolov5_ros/src/yolov5/utils/loggers/wandb/wandb_utils.py
	new file:   src/yolov5_ros/src/yolov5/utils/loss.py
	new file:   src/yolov5_ros/src/yolov5/utils/metrics.py
	new file:   src/yolov5_ros/src/yolov5/utils/plots.py
	new file:   src/yolov5_ros/src/yolov5/utils/torch_utils.py
	new file:   src/yolov5_ros/src/yolov5/val.py

.gitignore

@@ -1,6 +1,6 @@
 .catkin_tools
 .vscode
-.vscode/*
+.vscode/
 /build
 /devel
 /logs

.vscode/c_cpp_properties.json

@@ -1,20 +0,0 @@
-{
-  "configurations": [
-    {
-      "browse": {
-        "databaseFilename": "${default}",
-        "limitSymbolsToIncludedHeaders": false
-      },
-      "includePath": [
-        "/opt/ros/melodic/include/**",
-        "/usr/include/**"
-      ],
-      "name": "ROS",
-      "intelliSenseMode": "gcc-x64",
-      "compilerPath": "/usr/bin/gcc",
-      "cStandard": "gnu11",
-      "cppStandard": "c++14"
-    }
-  ],
-  "version": 4
-}

.vscode/settings.json

@@ -1,8 +0,0 @@
-{
-    "python.autoComplete.extraPaths": [
-        "/opt/ros/melodic/lib/python2.7/dist-packages"
-    ],
-    "python.analysis.extraPaths": [
-        "/opt/ros/melodic/lib/python2.7/dist-packages"
-    ]
-}

.vscode/tasks.json

@@ -1,18 +0,0 @@
-{
-    "tasks": [
-        {
-            "type": "shell",
-            "command": "catkin",
-            "args": [
-                "build",
-                // "-DPYTHON_EXECUTABLE=/home/da/miniconda3/envs/gsmini/bin/python",
-                "-DPYTHON_EXECUTABLE=${HOME}/.conda/envs/gsmini/bin/python"
-            ],
-            "problemMatcher": [
-                "$catkin-gcc"
-            ],
-            "group": "build",
-            "label": "catkin: build"
-        }
-    ]
-}

src/maintain/scripts/test.py

@@ -6,11 +6,13 @@ from matplotlib import pyplot as plt
 import rospy
 import tf2_ros
 import tf
-from sensor_msgs.msg import Image , CameraInfo
+from sensor_msgs.msg import Image , CameraInfo, PointCloud2
 from geometry_msgs.msg import PoseStamped, TransformStamped, Quaternion
 import message_filters
 from cv_bridge import CvBridge, CvBridgeError
 import rospkg
+import open3d as o3d
+from open3d_ros_helper import open3d_ros_helper as orh
 
 import os
 import sys
@@ -106,7 +108,7 @@ def box_callback(box, depth, color_info):
         
         annulus_roi = depth_array[boundingBox.ymin-annulus_width:boundingBox.ymax+annulus_width, boundingBox.xmin-annulus_width:boundingBox.xmax+annulus_width]
         normal = calculate_image_edge_plane_normal(annulus_roi)
-        # print(normal)
+        print(normal)
 
         # publish screw pose
         # screw_pose = PoseStamped()
@@ -128,6 +130,7 @@ def box_callback(box, depth, color_info):
         screw_quat[1] = normal[1]
         screw_quat[2] = normal[2]
         screw_quat[3] = 0
+
         # quaternion to euler
         screw_euler = tf.transformations.euler_from_quaternion(screw_quat)
         screw_quat = tf.transformations.quaternion_from_euler(screw_euler[0], screw_euler[1], 0)
@@ -156,7 +159,6 @@ def box_callback(box, depth, color_info):
         tf_broadcaster.sendTransform(screw_tf)
 
 
-
     except Exception as e:
         print(e)