PythonとC++のコードに対するリファクタリングの実施#95
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- C++: Nodeを継承するクラスをノードを受け取るstandaloneクラスに統一（pick_and_place_tf除く） - C++: camelCaseメソッド名をsnake_caseに統一（move_arm_to_named_pose, move_gripper_angle等） - pick_and_place: Poseオブジェクトのメンバ変数をcontrol_arm(x,y,z,r,p,y)パターンに変更 - pick_and_place: 座標定数をAPPROACH/PICK/PLACE/LIFTING_HEIGHTとしてmainに宣言 - pick_and_place_tf: privateアンダースコア付き定数をpublic static定数に変更 - pick_and_place_tf: set_constraints/clear_constraintsメソッドを追加 - Python: クラスレベル定数（GRIPPER_*）を追加し、selfからクラス参照に統一 - Python: pick_and_place_tfの座標定数をインスタンス変数からクラス変数に変更 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- aruco_detection: message_filtersのTimeSynchronizerで画像とカメラ情報を同期受信 marker_dictをコールバック内の毎回生成からコンストラクタのインスタンス変数に変更 - color_detection: 同様にmessage_filtersで2トピックを同期、camera_info_callbackを廃止 d_area <= 10000の早期リターンパターンをcrane_x7に合わせて統一 - package.xml: cv_bridge, geometry_msgs, image_geometry, message_filters, python3-opencv, sensor_msgs, tf2_rosの不足dependを追加 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- aruco_detection: image_transport::create_camera_subscriptionで画像とカメラ情報を同期受信 marker_dict_をコールバック内の毎回生成からコンストラクタのメンバ変数に変更 クォータニオン変換をtf2::Matrix3x3+Rodriguesからcv::Quatd::createFromRvecに簡略化 - color_detection: message_filtersのExactTimeで2トピックを同期、camera_info_callbackを廃止 d_area <= 10000の早期リターンパターンをcrane_x7に合わせて統一 - CMakeLists.txt: angles, image_transport, message_filtersのfind_packageと依存を追加 - package.xml: angles, image_transport, message_filtersの不足dependを追加 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- ライセンスヘッダを標準書式（各行間に空行あり）に修正 - コメントを英語から日本語に統一（「軌道を計画する」「計画した軌道を実行する」） Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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What does this implement/fix?
PythonとC++のコードに対するリファクタリングの実施
Does this close any currently open issues?
なし
How has this been tested?
実機動作にて動作を確認予定
Any other comments?
AI を使って作成
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