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[jsk_data] Add common rosbag_record and play file for fetch #1611

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merged 6 commits into from
Jul 10, 2020
Merged

[jsk_data] Add common rosbag_record and play file for fetch #1611

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96987db
[jsk_data] Add fetch_play and fetch_record.launch
iory Dec 10, 2018
a606ae3
[jsk_data] Add fetch_play.sh
iory Dec 10, 2018
9e58fd3
[jsk_data/CMakeLists.txt] Add roslaunch_add_file_check for fetch's la…
iory Dec 10, 2018
0b3ae47
add option to launch rqt_bag and rviz in fetch_play.launch
708yamaguchi Apr 25, 2019
3d723fc
enable to give rosbag option to fetch_play.sh like pr2_play.sh
708yamaguchi Apr 25, 2019
636bbe3
Merge branch 'master' into jsk-data-for-fetch
k-okada Jul 10, 2020
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5 changes: 5 additions & 0 deletions jsk_data/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,11 @@ if (CATKIN_ENABLE_TESTING)
roslaunch_add_file_check(launch/baxter_play.launch)
roslaunch_add_file_check(launch/baxter_record.launch)
endif()
find_package(fetch_description QUIET)
if(fetch_description_FOUND)
roslaunch_add_file_check(launch/fetch_play.launch)
roslaunch_add_file_check(launch/fetch_record.launch)
endif()
find_package(pr2_description QUIET)
if(pr2_description_FOUND)
roslaunch_add_file_check(launch/pr2_play.launch)
Expand Down
39 changes: 39 additions & 0 deletions jsk_data/launch/fetch_play.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,39 @@
<launch>
<!-- other file args -->
<arg name="bagfile_names" />
<arg name="launch_openni2" default="true"/>
<arg name="launch_robot_model" default="true"/>
<arg name="use_gui" default="false"/>
<arg name="rosbag_option" default="--clock --loop"/>
<arg name="use_xterm" default="false" />

<!-- set params for rviz -->
<param name="use_sim_time" value="true" />
<param if="$(arg launch_robot_model)"
name="robot_description" textfile="$(find fetch_description)/robots/fetch.urdf"/>

<!-- setup openni_launch -->
<include if="$(arg launch_openni2)"
file="$(find openni2_launch)/launch/openni2.launch">
<arg name="camera" value="head_camera"/>
<arg name="load_driver" value="false"/>
<arg name="depth_registration" value="true"/>
</include>

<group if="$(arg use_xterm)">
<node name="rosbag_play"
pkg="rosbag" type="play"
launch-prefix="xterm -e"
args="$(arg rosbag_option) $(arg bagfile_names)" />
</group>
<group unless="$(arg use_xterm)">
<node name="rosbag_play"
pkg="rosbag" type="play"
args="$(arg rosbag_option) $(arg bagfile_names)" />
</group>

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<node if="$(arg use_gui)" pkg="rqt_bag" type="rqt_bag" name="rqt_bag" />

<node if="$(arg use_gui)" pkg="rviz" type="rviz" name="rviz" />

</launch>
19 changes: 19 additions & 0 deletions jsk_data/launch/fetch_play.sh
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@@ -0,0 +1,19 @@
#!/usr/bin/env bash

OPTIONS="--clock"
FILENAMES=""

while [[ $# -gt 0 ]]; do
case "$1" in
-*)
OPTIONS="$OPTIONS $1"
shift
;;
*)
FILENAMES="$FILENAMES $(readlink -f $1)"
shift
;;
esac
done

roslaunch jsk_data fetch_play.launch bagfile_names:="$FILENAMES" rosbag_option:="$OPTIONS"
44 changes: 44 additions & 0 deletions jsk_data/launch/fetch_record.launch
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@@ -0,0 +1,44 @@
<launch>

<!-- for fetch -->
<arg name="save_dir" default="/tmp/fetch_rosbag"/>
<arg name="bagfile_prefix" default="data" />
<arg name="other_topics" default=""/>
<arg name="other_options" default=""/>
<arg name="save_openni2" default="true" />
<arg name="save_base_scan" default="true" />
<arg name="save_robot_model" default="true" />
<arg name="save_all_image" default="false" />
<arg name="camera_namespace" default="head_camera"/>
<arg name="machine" default="localhost" />

<!-- -->
<!-- Conditions -->
<!-- -->

<arg unless="$(arg save_base_scan)"
name="base_scan_topics" value="" />
<arg if ="$(arg save_base_scan)"
name="base_scan_topics" value="/base_scan" />

<arg unless="$(arg save_all_image)"
name="all_image_topics" value="" />
<arg if ="$(arg save_all_image)"
name="all_image_topics" value="-e .*/(image_raw|camera_info)" />

<!-- execute -->
<include file="$(find jsk_data)/launch/common_record.launch">
<arg name="save_openni" value="false" />
<arg name="save_openni2" value="$(arg save_openni2)" />
<arg name="save_robot_model" value="$(arg save_robot_model)" />
<arg name="save_all_image" value="$(arg save_all_image)" />
<arg name="camera_namespace" value="$(arg camera_namespace)" />
<arg name="save_dir" value="$(arg save_dir)" />
<arg name="bagfile_prefix" value="$(arg bagfile_prefix)" />
<arg name="other_options" value="$(arg other_options)" />
<arg name="other_topics" value="$(arg other_topics)
$(arg base_scan_topics)" />
<arg name="machine" value="$(arg machine)" />
</include>

</launch>