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New add euslisp test #799

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New add euslisp test #799

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d92bb29
[hrpsys_ros_bridge/test/hrpsys-samples, hrpsys_ros_bridge/models/samp…
snozawa Aug 26, 2015
14dd212
[hrpsys_ros_bridge/.gitignore] Do not ignore models because this is t…
snozawa Aug 26, 2015
08a53ba
[hrpsys_ros_bridge/catkin.cmake] Add samplerobot euslisp test as .lau…
snozawa Aug 26, 2015
e0ba7e7
[.travis.yml] Add travis test for euslisp test.
snozawa Aug 26, 2015
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1 change: 1 addition & 0 deletions .travis.yml
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Expand Up @@ -20,6 +20,7 @@ env:
matrix:
- ROS_DISTRO=hydro USE_DEB=true
- ROS_DISTRO=hydro USE_DEB=false NOT_TEST_INSTALL=true
- ROS_DISTRO=hydro USE_DEB=false NOT_TEST_INSTALL=true EXTRA_DEB="ros-hydro-roseus ros-hydro-euscollada ros-hydro-pr2eus" CATKIN_PARALLEL_JOBS='-p1'
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Frequently ROS_DISTRO=hydro USE_DEB=false NOT_TEST_INSTALL=true EXTRA_DEB="ros-hydro-roseus ros-hydro-euscollada ros-hydro-pr2eus" fails because of compile error because of kill and memory shortage.

When I add CATKIN_PARALLEL_JOBS='-p1', travis seems to be OK.

- ROS_DISTRO=hydro USE_DEB=true NOT_TEST_INSTALL=true INSTALL_SRC="http://github.com/start-jsk/rtmros_tutorials" TEST_PKGS="hrpsys_ros_bridge_tutorials" INSTALL_SRC_SECURE="[email protected]:start-jsk/rtmros_hrp2" TEST_PKGS_SECURE="jsk_hrp2_ros_bridge"
- ROS_DISTRO=hydro USE_DEB=source NOT_TEST_INSTALL=true
- ROS_DISTRO=indigo USE_DEB=true
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1 change: 0 additions & 1 deletion hrpsys_ros_bridge/.gitignore
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@@ -1,5 +1,4 @@
idl/
models/
msg/Img_CameraCaptureService.msg
msg/OpenHRP_*
msg/OpenRTM_*
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1 change: 1 addition & 0 deletions hrpsys_ros_bridge/catkin.cmake
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Expand Up @@ -202,4 +202,5 @@ add_rostest(test/test-import-python.test)
find_package(catkin COMPONENTS roseus QUIET)
if(roseus_FOUND)
generate_eusdoc(euslisp/rtm-ros-robot-interface.l)
add_rostest(test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch)
endif()
67 changes: 67 additions & 0 deletions hrpsys_ros_bridge/euslisp/samplerobot-interface.l
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(load "package://hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l")
(require :samplerobot "package://hrpsys_ros_bridge/models/samplerobot.l")

(defclass samplerobot-interface
:super rtm-ros-robot-interface
:slots ())
(defmethod samplerobot-interface
(:init (&rest args)
(send-super* :init :robot samplerobot-robot args)
(mapcar #'(lambda (ctype)
(send self :add-controller ctype))
(send self :default-controller-list))
)
(:default-controller-list ()
(list :larm-controller
:rarm-controller
:torso-controller
:lhand-controller
:rhand-controller
:fullbody-controller))
(:default-controller ()
(mapcar #'(lambda (ctype) (car (send self ctype))) (send self :default-controller-list)))
(:fullbody-controller ()
(send-message self robot-interface :default-controller))
(:larm-controller ()
(list
(list
(cons :controller-action "/larm_controller/follow_joint_trajectory_action")
(cons :controller-state "/larm_controller/state")
(cons :action-type control_msgs::FollowJointTrajectoryAction)
(cons :joint-names (list "LARM_SHOULDER_P" "LARM_SHOULDER_R" "LARM_SHOULDER_Y" "LARM_ELBOW" "LARM_WRIST_Y" "LARM_WRIST_P")))))
(:rarm-controller ()
(list
(list
(cons :controller-action "/rarm_controller/follow_joint_trajectory_action")
(cons :controller-state "/rarm_controller/state")
(cons :action-type control_msgs::FollowJointTrajectoryAction)
(cons :joint-names (list "RARM_SHOULDER_P" "RARM_SHOULDER_R" "RARM_SHOULDER_Y" "RARM_ELBOW" "RARM_WRIST_Y" "RARM_WRIST_P")))))
(:torso-controller ()
(list
(list
(cons :controller-action "/torso_controller/follow_joint_trajectory_action")
(cons :controller-state "/torso_controller/state")
(cons :action-type control_msgs::FollowJointTrajectoryAction)
(cons :joint-names (list "WAIST_P" "WAIST_R" "CHEST")))))
(:lhand-controller ()
(list
(list
(cons :controller-action "/lhand_controller/follow_joint_trajectory_action")
(cons :controller-state "/lhand_controller/state")
(cons :action-type control_msgs::FollowJointTrajectoryAction)
(cons :joint-names (list "LARM_WRIST_R")))))
(:rhand-controller ()
(list
(list
(cons :controller-action "/rhand_controller/follow_joint_trajectory_action")
(cons :controller-state "/rhand_controller/state")
(cons :action-type control_msgs::FollowJointTrajectoryAction)
(cons :joint-names (list "RARM_WRIST_R")))))
)

(defun samplerobot-init (&rest args)
(if (not (boundp '*ri*))
(setq *ri* (instance* samplerobot-interface :init args)))
(if (not (boundp '*sr*))
(setq *sr* (instance samplerobot-robot :init)))
)
101 changes: 101 additions & 0 deletions hrpsys_ros_bridge/models/samplerobot.yaml
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##
## - collada_joint_name : euslisp_joint_name (start with :)
##

rleg:
- RLEG_HIP_R : rleg-crotch-r
- RLEG_HIP_P : rleg-crotch-p
- RLEG_HIP_Y : rleg-crotch-y
- RLEG_KNEE : rleg-knee-p
- RLEG_ANKLE_P : rleg-ankle-p
- RLEG_ANKLE_R : rleg-ankle-r
rarm:
- RARM_SHOULDER_P : rarm-shoulder-p
- RARM_SHOULDER_R : rarm-shoulder-r
- RARM_SHOULDER_Y : rarm-shoulder-y
- RARM_ELBOW : rarm-elbow-p
- RARM_WRIST_Y : rarm-wrist-y
- RARM_WRIST_P : rarm-wrist-p
- RARM_WRIST_R : rarm-wrist-r
lleg:
- LLEG_HIP_R : lleg-crotch-r
- LLEG_HIP_P : lleg-crotch-p
- LLEG_HIP_Y : lleg-crotch-y
- LLEG_KNEE : lleg-knee-p
- LLEG_ANKLE_P : lleg-ankle-p
- LLEG_ANKLE_R : lleg-ankle-r
larm:
- LARM_SHOULDER_P : larm-shoulder-p
- LARM_SHOULDER_R : larm-shoulder-r
- LARM_SHOULDER_Y : larm-shoulder-y
- LARM_ELBOW : larm-elbow-p
- LARM_WRIST_Y : larm-wrist-y
- LARM_WRIST_P : larm-wrist-p
- LARM_WRIST_R : larm-wrist-r
torso:
- WAIST_P : torso-waist-p
- WAIST_R : torso-waist-r
- CHEST : torso-waist-y

##
## end-coords
##
larm-end-coords:
translate : [0, 0, -0.12]
rotate : [0, 1, 0, 90]
parent : LARM_LINK6
rarm-end-coords:
translate : [0, 0, -0.12]
rotate : [0, 1, 0, 90]
parent : RARM_LINK6
lleg-end-coords:
translate : [0.00, 0, -0.07]
rleg-end-coords:
translate : [0.00, 0, -0.07]
head-end-coords:
translate : [0.08, 0, 0.13]
rotate : [0, 1, 0, 90]

##
## reset-pose
##
angle-vector:
# old reset-pose
# reset-pose : [0.0, -20.0, 0.0, 47.0, -27.0, 0.0, # rleg
# 30.0, 0.0, 0.0, -60.0, 9.0, -6.5, 36.5, # rarm
# 0.0, -20.0, 0.0, 47.0, -27.0, 0.0, # lleg
# 30.0, 0.0, 0.0, -60.0, -9.0, -6.5, -36.5, # larm
# 0.0, 0.0, 0.0] # torso
# openhrp reset pose from the initial line of OpenHRP-3.1/sample/controller/SampleController/etc/Sample.pos
reset-pose : [-0.004457, -21.6929, -0.01202, 47.6723, -25.93, 0.014025, # rleg
17.8356, -9.13759, -6.61188, -36.456, 0.0, 0.0, 0.0, # rarm
-0.004457, -21.6929, -0.01202, 47.6723, -25.93, 0.014025, # lleg
17.8356, 9.13759, 6.61188, -36.456, 0.0, 0.0, 0.0, # larm
0.0, 0.0, 0.0] # torso
reset-manip-pose : [0.0, -20.0, 0.0, 47.0, -27.0, 0.0, # rleg
30.0, 0.0, 0.0, -100.0, 9.0, -6.5, 36.5, # rarm
0.0, -20.0, 0.0, 47.0, -27.0, 0.0, # lleg
30.0, 0.0, 0.0, -100.0, -9.0, -6.5, -36.5, # larm
0.0, 0.0, 0.0] # torso


# for gazebo simulation
replace_xmls:
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: LLEG_LINK6
replaced_xml: '<gazebo reference="LLEG_LINK6">\n <kp>1000000.0</kp>\n <kd>100.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: RLEG_LINK6
replaced_xml: '<gazebo reference="RLEG_LINK6">\n <kp>1000000.0</kp>\n <kd>100.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
attribute_name: effort
attribute_value: 100
replaced_attribute_value: 200
- match_rule:
attribute_name: velocity
attribute_value: 0.5
replaced_attribute_value: 6.0
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