From 3242ca384dbf705f86f39b6911071a53213b4926 Mon Sep 17 00:00:00 2001 From: Shunichi Nozawa Date: Fri, 3 Oct 2014 22:43:50 +0900 Subject: [PATCH 1/6] (catkin.cmake, CMakeLists.txt) : Update hrp2w's conf setting --- hrpsys_ros_bridge_tutorials/CMakeLists.txt | 5 ++++- hrpsys_ros_bridge_tutorials/catkin.cmake | 5 ++++- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/hrpsys_ros_bridge_tutorials/CMakeLists.txt b/hrpsys_ros_bridge_tutorials/CMakeLists.txt index 4d326f3d..f72d8d79 100644 --- a/hrpsys_ros_bridge_tutorials/CMakeLists.txt +++ b/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 diff --git a/hrpsys_ros_bridge_tutorials/catkin.cmake b/hrpsys_ros_bridge_tutorials/catkin.cmake index 5f1665ab..e4e3519b 100644 --- a/hrpsys_ros_bridge_tutorials/catkin.cmake +++ b/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 From 8fc152223fc7c2d5635427326028240f7ab6743e Mon Sep 17 00:00:00 2001 From: Shunichi Nozawa Date: Fri, 3 Oct 2014 23:46:05 +0900 Subject: [PATCH 2/6] (hrp2w.yaml) : Update euslisp hrp2w reset-pose and add new sensor-calib pose --- hrpsys_ros_bridge_tutorials/models/hrp2w.yaml | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/hrpsys_ros_bridge_tutorials/models/hrp2w.yaml b/hrpsys_ros_bridge_tutorials/models/hrp2w.yaml index 68455259..838f5235 100644 --- a/hrpsys_ros_bridge_tutorials/models/hrp2w.yaml +++ b/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] \ No newline at end of file From 26b9fa37a34c5cd80dcae1cc668d8c93e1062e7d Mon Sep 17 00:00:00 2001 From: Shunichi Nozawa Date: Thu, 23 Oct 2014 19:42:32 +0900 Subject: [PATCH 3/6] (travis.yaml) : Tempolarily neglect hrpsys_gazebo_tutorials build because this is merged without travis passing https://github.com/start-jsk/rtmros_tutorials/pull/95. I'll remove this line later, after cheking of travis passing for hrpsys_gazebo_tutorials --- .travis.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.travis.yml b/.travis.yml index 0bec3a97..7ac2f4be 100644 --- a/.travis.yml +++ b/.travis.yml @@ -51,6 +51,7 @@ install: # Use this to install any prerequisites or dependencies necessary to ru - if [ $USE_DEB == false -o $BUILDER == rosbuild ]; then $ROSWS set $REPOSITORY_NAME http://github.com/$TRAVIS_REPO_SLUG --git -y ; fi - ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace - cd ../ + - rm -fr $CI_SOURCE_PATH/hrpsys_gazebo_tutorials # Install dependencies for source repos - find -L src -name package.xml -exec dirname {} \; | xargs -n 1 -i find {} -name manifest.xml | xargs -n 1 -i mv {} {}.deprecated # rename manifest.xml for rosdep install - rosdep install -r -n --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y > /dev/null From 82b3b20d0b940ed6008466a354f7741b3c84f33d Mon Sep 17 00:00:00 2001 From: Shunichi Nozawa Date: Thu, 23 Oct 2014 21:10:47 +0900 Subject: [PATCH 4/6] (.travis.yml) : Use CI_SOURCE_PATH instead of current master .rosinstall --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 7ac2f4be..a767c39a 100644 --- a/.travis.yml +++ b/.travis.yml @@ -44,7 +44,7 @@ install: # Use this to install any prerequisites or dependencies necessary to ru - mkdir -p ~/ros/ws_$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 From f013d8c943e5d843562777ff2113769f867d056e Mon Sep 17 00:00:00 2001 From: Shunichi Nozawa Date: Thu, 23 Oct 2014 21:11:06 +0900 Subject: [PATCH 5/6] (.rosinstall) : Comment out some repositories to use deb install --- .rosinstall | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/.rosinstall b/.rosinstall index 7a25ee36..885a7255 100644 --- a/.rosinstall +++ b/.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 From 3bf49b0e17349aa8bb3296526f81af3ae76b65c0 Mon Sep 17 00:00:00 2001 From: mmurooka Date: Fri, 24 Oct 2014 02:14:15 +0900 Subject: [PATCH 6/6] make hrpsys_gazebo_tutorials in travis. add hrpsys_gazebo_general to catkin dependency in hrpsys_gazebo_tutorials --- .travis.yml | 1 - hrpsys_gazebo_tutorials/catkin.cmake | 4 ++-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/.travis.yml b/.travis.yml index a767c39a..5317f2b0 100644 --- a/.travis.yml +++ b/.travis.yml @@ -51,7 +51,6 @@ install: # Use this to install any prerequisites or dependencies necessary to ru - if [ $USE_DEB == false -o $BUILDER == rosbuild ]; then $ROSWS set $REPOSITORY_NAME http://github.com/$TRAVIS_REPO_SLUG --git -y ; fi - ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace - cd ../ - - rm -fr $CI_SOURCE_PATH/hrpsys_gazebo_tutorials # Install dependencies for source repos - find -L src -name package.xml -exec dirname {} \; | xargs -n 1 -i find {} -name manifest.xml | xargs -n 1 -i mv {} {}.deprecated # rename manifest.xml for rosdep install - rosdep install -r -n --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y > /dev/null diff --git a/hrpsys_gazebo_tutorials/catkin.cmake b/hrpsys_gazebo_tutorials/catkin.cmake index 3c7a4904..1c01e4ee 100644 --- a/hrpsys_gazebo_tutorials/catkin.cmake +++ b/hrpsys_gazebo_tutorials/catkin.cmake @@ -1,7 +1,7 @@ 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) @@ -9,7 +9,7 @@ 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(