* Convert lat/long to UTM coords. Equations from USGS Bulletin 1532 * * East Longitudes are positive, West longitudes are negative. * North latitu

* Determine the correct UTM letter designator for the * given latitude * * @returns 'Z' if latitude is outside the UTM limits of 84N to 80S * * W

Create a MoveIt! PickupGoal

Create a MoveIt! PlaceGoal

Generate grasps by using the grasp generator generate action; based on server_test.py example on moveit_simple_grasps pkg.

Generate places (place locations), based on https://github.com/davetcoleman/baxter_cpp/blob/hydro-devel/ baxter_pick_place/sr

Pick up a target using the planning group

Place a target using the planning group

Publish grasps as poses, using a PoseArray message

Publish places as poses, using a PoseArray message