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[jsk_fetch_startup][fetcheus] moveit bridge for noetic client #1872

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[jsk_fetch_startup][fetcheus] moveit bridge for noetic client #1872

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7c5318d
[jsk_fetch_startup][noetic] moveit bridge for noetic client
mqcmd196 Sep 26, 2023
aae85d3
[jsk_fetch_startup][noetic] Fix client eus code for noetic
mqcmd196 Oct 15, 2023
a54c12c
[jsk_fetch_startup] add topic bridge
mqcmd196 Oct 22, 2023
2c1e84f
fix bug
mqcmd196 Oct 22, 2023
a5b382c
stop bridging action. bridge action topic
mqcmd196 Oct 22, 2023
5be430e
fix move_group topic name
mqcmd196 Oct 22, 2023
557cf52
fix wrong service name
mqcmd196 Oct 22, 2023
3e77094
not use imp, use sys.path instead
mqcmd196 Nov 1, 2023
59d095f
fix service name
mqcmd196 Nov 1, 2023
1f1a0d3
fix service variable type
mqcmd196 Nov 2, 2023
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4 changes: 3 additions & 1 deletion jsk_fetch_robot/fetcheus/fetch-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -547,7 +547,9 @@ Example: (send self :gripper :position) => 0.00"
:super moveit-environment)
(defmethod fetch-moveit-environment
(:init (&key ((:robot rb) *fetch*) &rest args)
(send-super* :init :robot rb :frame-id "base_link" args))
(send-super* :init :robot rb :frame-id "base_link" :scene-service "/get_planning_scene_noetic" :planning-service "/plan_kinematic_path_noetic" :state-validity-service "/check_state_validity_noetic" :compute-ik-service "/compute_ik_noetic" args)
;; FIXME *_noetic should be only when ROS_DISTRO is noetic
;; TODO /apply_planning_scene
(:default-configuration ()
(list (list :rarm
(cons :group-name "arm")
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91 changes: 47 additions & 44 deletions jsk_fetch_robot/jsk_fetch_startup/package.xml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
<package>
<package format="3">
<name>jsk_fetch_startup</name>
<version>1.1.0</version>
<description>
Expand All @@ -13,59 +13,62 @@

<build_depend version_gte="0.7.11">fetch_teleop</build_depend>

<run_depend>image_proc</run_depend>
<run_depend>jsk_fetch_accessories</run_depend>
<run_depend>jsk_fetch_diagnosis</run_depend>
<run_depend>jsk_network_tools</run_depend>
<run_depend>jsk_robot_startup</run_depend>
<run_depend version_gte="2.2.12">jsk_tools</run_depend>
<run_depend>jsk_maps</run_depend>
<run_depend>fetcheus</run_depend>
<run_depend>fetch_navigation</run_depend>
<run_depend>fetch_moveit_config</run_depend>
<run_depend>fetch_open_auto_dock</run_depend>
<run_depend>fetch_driver_msgs</run_depend>
<run_depend>nodelet</run_depend>
<run_depend>pr2_computer_monitor</run_depend>
<run_depend>robot_pose_publisher</run_depend>
<run_depend>rviz</run_depend>
<run_depend>tf</run_depend>
<run_depend>touchegg</run_depend>
<run_depend>sound_play</run_depend>
<run_depend>switchbot_ros</run_depend>
<run_depend>tf2_ros</run_depend>
<run_depend>voice_text</run_depend>
<exec_depend>image_proc</exec_depend>
<exec_depend>jsk_fetch_accessories</exec_depend>
<exec_depend>jsk_fetch_diagnosis</exec_depend>
<exec_depend>jsk_network_tools</exec_depend>
<exec_depend>jsk_robot_startup</exec_depend>
<exec_depend version_gte="2.2.12">jsk_tools</exec_depend>
<exec_depend>jsk_maps</exec_depend>
<exec_depend>fetcheus</exec_depend>
<exec_depend>fetch_navigation</exec_depend>
<exec_depend>fetch_moveit_config</exec_depend>
<exec_depend>fetch_open_auto_dock</exec_depend>
<exec_depend>fetch_driver_msgs</exec_depend>
<exec_depend>nodelet</exec_depend>
<exec_depend>pr2_computer_monitor</exec_depend>
<exec_depend>robot_pose_publisher</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>tf</exec_depend>
<exec_depend>touchegg</exec_depend>
<exec_depend>sound_play</exec_depend>
<exec_depend>switchbot_ros</exec_depend>
<exec_depend>tf2_ros</exec_depend>
<exec_depend>voice_text</exec_depend>

<!-- for fetch_naviation -->
<run_depend>amcl</run_depend>
<run_depend>global_planner</run_depend>
<run_depend>map_server</run_depend>
<run_depend>move_base</run_depend>
<run_depend>move_slow_and_clear</run_depend>
<run_depend>robot_localization</run_depend>
<run_depend>teb_local_planner</run_depend>
<run_depend>pyquaternion</run_depend>
<run_depend>librealsense2</run_depend>
<run_depend>realsense2_camera</run_depend>
<run_depend>realsense2_description</run_depend>
<exec_depend>amcl</exec_depend>
<exec_depend>global_planner</exec_depend>
<exec_depend>map_server</exec_depend>
<exec_depend>move_base</exec_depend>
<exec_depend>move_slow_and_clear</exec_depend>
<exec_depend>robot_localization</exec_depend>
<exec_depend>teb_local_planner</exec_depend>
<exec_depend>pyquaternion</exec_depend>
<exec_depend>librealsense2</exec_depend>
<exec_depend>realsense2_camera</exec_depend>
<exec_depend>realsense2_description</exec_depend>

<!-- for fetch teleop -->
<run_depend>app_manager</run_depend>
<run_depend>fetch_bringup</run_depend>
<run_depend>safe_teleop_base</run_depend>
<run_depend>joy</run_depend>
<run_depend>topic_tools</run_depend>
<run_depend>fetch_teleop</run_depend>
<exec_depend>app_manager</exec_depend>
<exec_depend>fetch_bringup</exec_depend>
<exec_depend>safe_teleop_base</exec_depend>
<exec_depend>joy</exec_depend>
<exec_depend>topic_tools</exec_depend>
<exec_depend>fetch_teleop</exec_depend>

<!-- for diagnostic aggregator -->
<run_depend>diagnostic_aggregator</run_depend>
<exec_depend>diagnostic_aggregator</exec_depend>

<!-- for fetch speech recognition -->
<run_depend>julius_ros</run_depend>
<run_depend version_gte="2.1.13">respeaker_ros</run_depend>
<exec_depend>julius_ros</exec_depend>
<exec_depend version_gte="2.1.13">respeaker_ros</exec_depend>

<!-- for rwt_nav -->
<run_depend>robot_pose_publisher</run_depend>
<exec_depend>robot_pose_publisher</exec_depend>

<exec_depend condition="$ROS_PYTHON_VERSION == 2">python-packaging</exec_depend>
<exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-packaging</exec_depend>

<test_depend>rostest</test_depend>

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