Merge branch 'master' of https://github.com/start-jsk/rtmros_tutorials …

…into do-not-run-xacro-in-catkin

.rosinstall

@@ -1,24 +1,24 @@
-- git:
-    uri: https://github.com/start-jsk/openrtm_aist_core
-    local-name: rtm-ros-robotics/openrtm_common/openrtm_aist_core
+##- git:
+##    uri: https://github.com/start-jsk/openrtm_aist_core
+##    local-name: rtm-ros-robotics/openrtm_common/openrtm_aist_core
 - git:
     uri: https://github.com/start-jsk/openhrp3
     local-name: rtm-ros-robotics/openrtm_common/openhrp3
 - git:
     uri: https://github.com/start-jsk/hrpsys
     local-name: rtm-ros-robotics/openrtm_common/hrpsys
-- git:
-    uri: https://github.com/start-jsk/rtshell_core 
-    local-name: rtm-ros-robotics/openrtm_common/rtshell_core
-- git:
-    uri: https://github.com/jsk-ros-pkg/jsk_common
-    local-name: jsk-ros-pkg/jsk_common
+##- git:
+##    uri: https://github.com/start-jsk/rtshell_core 
+##    local-name: rtm-ros-robotics/openrtm_common/rtshell_core
+##- git:
+##    uri: https://github.com/jsk-ros-pkg/jsk_common
+##    local-name: jsk-ros-pkg/jsk_common
 - git:
     uri: https://github.com/jsk-ros-pkg/jsk_model_tools
     local-name: jsk-ros-pkg/jsk_model_tools
-- git:
-    uri: https://github.com/jsk-ros-pkg/jsk_roseus
-    local-name: jsk-ros-pkg/jsk_roseus
+##- git:
+##    uri: https://github.com/jsk-ros-pkg/jsk_roseus
+##    local-name: jsk-ros-pkg/jsk_roseus
 - git:
     uri: https://github.com/jsk-ros-pkg/jsk_pr2eus
     local-name: jsk-ros-pkg/jsk_pr2eus

.travis.yml

@@ -44,7 +44,7 @@ install: # Use this to install any prerequisites or dependencies necessary to ru
   - mkdir -p ~/ros/ws_$REPOSITORY_NAME/src
   - cd ~/ros/ws_$REPOSITORY_NAME/src
   - if [ $USE_DEB == false -o $BUILDER == rosbuild ]; then $ROSWS init .   ; fi
-  - if [ $USE_DEB == false ]; then $ROSWS merge http://raw.github.com/$TRAVIS_REPO_SLUG/$TRAVIS_BRANCH/.rosinstall ; fi
+  - if [ $USE_DEB == false ]; then $ROSWS merge file://$CI_SOURCE_PATH/.rosinstall      ; fi
   - if [ $USE_DEB == false -o $BUILDER == rosbuild ]; then if [ $ROSWS == rosws ]; then $ROSWS merge /opt/ros/$ROS_DISTRO/.rosinstall; fi  ; fi
   - if [ $USE_DEB == false ]; then sed -i "s@^\(.*github.com/$TRAVIS_REPO_SLUG.*\)@#\1@" .rosinstall               ; fi # comment out current repo
   - if [ $USE_DEB == false ]; then $ROSWS update   ; fi

hrpsys_gazebo_tutorials/catkin.cmake

@@ -1,15 +1,15 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(hrpsys_gazebo_tutorials)
 
-find_package(catkin REQUIRED COMPONENTS euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials)
+find_package(catkin REQUIRED COMPONENTS euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials hrpsys_gazebo_general)
 
 set(PKG_CONFIG_PATH ${hrpsys_PREFIX}/lib/pkgconfig:$ENV{PKG_CONFIG_PATH})
 find_package(PkgConfig)
 pkg_check_modules(openhrp3 openhrp3.1 REQUIRED)
 pkg_check_modules(hrpsys hrpsys-base REQUIRED)
 pkg_check_modules(collada_urdf_jsk_patch collada_urdf_jsk_patch)
 
-catkin_package(CATKIN_DEPENDS euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials)
+catkin_package(CATKIN_DEPENDS euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials hrpsys_gazebo_general)
 
 if(NOT hrpsys_ros_bridge_tutorials_SOURCE_DIR)
   execute_process(

hrpsys_ros_bridge_tutorials/CMakeLists.txt

@@ -161,7 +161,10 @@ compile_openhrp_model_for_closed_robots(HRP2JSKNTS HRP2JSKNTS_for_OpenHRP3 HRP2J
   --robothardware-conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav"
   )
 gen_minmax_table_for_closed_robots(HRP2JSKNTS HRP2JSKNTS_for_OpenHRP3 HRP2JSKNTS)
-compile_openhrp_model_for_closed_robots(HRP2W HRP2W_for_OpenHRP3 HRP2W)
+compile_openhrp_model_for_closed_robots(HRP2W HRP2W_for_OpenHRP3 HRP2W
+  --conf-file-option "end_effectors: rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,-9.813078e-18,1.0,4.906539e-18,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,9.813078e-18,1.0,-4.906539e-18,1.5708,"
+  --robothardware-conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav"
+  )
 compile_openhrp_model_for_closed_robots(HRP2JSKNT HRP2JSKNT_WITH_3HAND HRP2JSKNT_WITH_3HAND
  -a leftarm,CHEST_LINK1,LARM_LINK6,-0.0042,-0.0392,-0.1245,-3.373247e-18,1.0,9.813081e-18,1.5708,L_THUMBCM_Y,0,L_THUMBCM_P,1,L_INDEXMP_R,0,L_INDEXMP_P,0,L_INDEXPIP_R,-1,L_MIDDLEPIP_R,-1
  -a leftarm_torso,BODY,LARM_LINK6,-0.0042,-0.0392,-0.1245,-3.373247e-18,1.0,9.813081e-18,1.5708,L_THUMBCM_Y,0,L_THUMBCM_P,1,L_INDEXMP_R,0,L_INDEXMP_P,0,L_INDEXPIP_R,-1,L_MIDDLEPIP_R,-1

hrpsys_ros_bridge_tutorials/catkin.cmake

@@ -142,7 +142,10 @@ compile_openhrp_model_for_closed_robots(HRP2JSKNTS HRP2JSKNTS_for_OpenHRP3 HRP2J
   --robothardware-conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav"
   )
 gen_minmax_table_for_closed_robots(HRP2JSKNTS HRP2JSKNTS_for_OpenHRP3 HRP2JSKNTS)
-# compile_openhrp_model_for_closed_robots(HRP2W HRP2W_for_OpenHRP3 HRP2W)
+compile_openhrp_model_for_closed_robots(HRP2W HRP2W_for_OpenHRP3 HRP2W
+  --conf-file-option "end_effectors: rarm,RARM_JOINT6,CHEST_JOINT1,-0.0042,0.0392,-0.1245,-9.813078e-18,1.0,4.906539e-18,1.5708, larm,LARM_JOINT6,CHEST_JOINT1,-0.0042,-0.0392,-0.1245,9.813078e-18,1.0,-4.906539e-18,1.5708,"
+  --robothardware-conf-file-option "pdgains.file_name: ${PROJECT_SOURCE_DIR}/models/PDgains.sav"
+  )
 # compile_openhrp_model_for_closed_robots(HRP2JSKNT HRP2JSKNT_WITH_3HAND HRP2JSKNT_WITH_3HAND
 #  -a leftarm,CHEST_LINK1,LARM_LINK6,-0.0042,-0.0392,-0.1245,-3.373247e-18,1.0,9.813081e-18,1.5708,L_THUMBCM_Y,0,L_THUMBCM_P,1,L_INDEXMP_R,0,L_INDEXMP_P,0,L_INDEXPIP_R,-1,L_MIDDLEPIP_R,-1
 #  -a leftarm_torso,BODY,LARM_LINK6,-0.0042,-0.0392,-0.1245,-3.373247e-18,1.0,9.813081e-18,1.5708,L_THUMBCM_Y,0,L_THUMBCM_P,1,L_INDEXMP_R,0,L_INDEXMP_P,0,L_INDEXPIP_R,-1,L_MIDDLEPIP_R,-1

hrpsys_ros_bridge_tutorials/models/hrp2w.yaml

@@ -48,11 +48,15 @@ larm-end-coords:
 ## reset-pose
 ##
 angle-vector:
-  reset-pose : [0.0, 0.0, 
+  reset-pose : [0.0, 0.0,
                 0.0, 0.0,
-                10.0, -10.0, 0.0, -25.0, 0.0, 0.0, -10.0,  15.0,
-                10.0,  10.0, 0.0, -25.0, 0.0, 0.0, -10.0, -15.0]
+                10.0, -10.0, 0.0, -90.0, 0.0, 0.0, -10.0, 15.0,
+                10.0, 10.0, 0.0, -90.0, 0.0, 0.0, -10.0, -15.0]
   reset-manip-pose : [0.0,   0.0,
                       0.0,  40.0,
                      50.0, -30.0, -10.0, -120.0, -25.0, -5.0, -20.0,  60.0,
                      50.0,  30.0,  10.0, -120.0,  25.0,  5.0, -20.0, -60.0]
+  sensor-calib-pose : [0.0, 0.0,
+                       0.0, 0.0,
+                       0.0, 0.0, 0.0, -90.0, 0.0, 0.0, 0.0,  60.0,
+                       0.0, 0.0, 0.0, -90.0, 0.0, 0.0, 0.0, -60.0]