[WIP] Gazebo hrp2jsknts

.gitignore

@@ -49,4 +49,13 @@ hrpsys_ros_bridge_tutorials/scripts/*_unstable_hrpsys_config.py
 
 # generated files in hrpsys_tutorials
 hrpsys_tutorials/models/*.conf
-hrpsys_tutorials/models/*.xml
+hrpsys_tutorials/models/*.xml
+
+# generated files in hrpsys_gazebo_tutorials
+hrpsys_gazebo_tutorials/config/HRP2JSKNTS.conf
+hrpsys_gazebo_tutorials/config/rtcdRobotModeHRP2Common.conf
+hrpsys_gazebo_tutorials/launch/hrp2017_auditor_gazebo.launch
+hrpsys_gazebo_tutorials/launch/hrp2017_gazebo.launch
+hrpsys_gazebo_tutorials/launch/hrp2017_ros_bridge_gazebo.launch
+hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf
+hrpsys_gazebo_tutorials/scripts/jsk_hrp2_gazebo_setup.py

hrpsys_gazebo_tutorials/CMakeLists.txt

@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(hrpsys_gazebo_tutorials)
 
-find_package(catkin REQUIRED COMPONENTS euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials hrpsys_gazebo_general)
+find_package(catkin REQUIRED COMPONENTS euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials hrpsys_gazebo_general jsk_hrp2_ros_bridge hrp2_models euscollada xacro)
+
+catkin_python_setup()
 
 set(PKG_CONFIG_PATH ${hrpsys_PREFIX}/lib/pkgconfig:$ENV{PKG_CONFIG_PATH})
 find_package(PkgConfig)
@@ -10,6 +12,8 @@ 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 hrpsys_gazebo_general)
+
+add_subdirectory(rtc)
 
 catkin_add_env_hooks(99.hrpsys_gazebo_tutorials SHELLS bash zsh
   DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
@@ -18,3 +22,34 @@ catkin_add_env_hooks(99.hrpsys_gazebo_tutorials SHELLS bash zsh
 install(DIRECTORY euslisp worlds launch config environment_models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   PATTERN ".svn" EXCLUDE)
 install(DIRECTORY scripts DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} USE_SOURCE_PERMISSIONS)
+
+if (jsk_hrp2_ros_bridge_SOURCE_PREFIX)
+  set(jsk_hrp2_ros_bridge_PACKAGE_PATH ${jsk_hrp2_ros_bridge_SOURCE_PREFIX})
+endif()
+if (hrp2_models_SOURCE_PREFIX)
+  set(hrp2_models_PACKAGE_PATH ${hrp2_models_SOURCE_PREFIX})
+endif()
+if (hrpsys_gazebo_general_SOURCE_PREFIX)
+  set(hrpsys_gazebo_general_PACKAGE_PATH ${hrpsys_gazebo_general_SOURCE_PREFIX})
+endif()
+
+execute_process(COMMAND sed -e "s#@MODULE_LOAD_PATH@#${PROJECT_SOURCE_DIR}/lib,${hrpsys_gazebo_general_PACKAGE_PATH}/lib,${hrpsys_PREFIX}/lib#g" "${jsk_hrp2_ros_bridge_PACKAGE_PATH}/config/rtcdRobotModeHRP2Common.conf.in"
+  OUTPUT_FILE ${PROJECT_SOURCE_DIR}/config/rtcdRobotModeHRP2Common.conf)
+
+execute_process(COMMAND sed -e "s#^model:.*$#model: ${hrp2_models_PACKAGE_PATH}/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl#g" -e "s#^pdgains.file_name:.*$#pdgains.file_name: ${jsk_hrp2_ros_bridge_PACKAGE_PATH}/iob/PDgainsHRP2JSKNTS.sav#g" "${jsk_hrp2_ros_bridge_PACKAGE_PATH}/config/HRP2JSKNTS.conf"
+  OUTPUT_FILE ${PROJECT_SOURCE_DIR}/config/HRP2JSKNTS.conf)
+
+execute_process(COMMAND sed -e "s#/home/grxuser/prog/rtmros_hrp2/jsk_hrp2_ros_bridge/force_sensor_calib_data/hand-calib_HRP2JSKNTS_[0-9]\\+#${PROJECT_SOURCE_DIR}/config/hand-calib_HRP2JSKNTS#g" -e "s#/home/grxuser/prog/rtmros_hrp2/jsk_hrp2_ros_bridge#${PROJECT_SOURCE_DIR}#g" -e "s#/home/grxuser/prog/rtmros_hrp2/hrp2_models#${hrp2_models_PACKAGE_PATH}#g" "${jsk_hrp2_ros_bridge_PACKAGE_PATH}/scripts/jsk_hrp2_setup.py"
+  OUTPUT_FILE ${PROJECT_SOURCE_DIR}/scripts/jsk_hrp2_gazebo_setup.py)
+
+execute_process(COMMAND "${PROJECT_SOURCE_DIR}/scripts/replace_xmls.py" "${jsk_hrp2_ros_bridge_PACKAGE_PATH}/launch/hrp2017.launch" -C "${PROJECT_SOURCE_DIR}/config/hrp2017_gazebo.yaml"
+  OUTPUT_FILE ${PROJECT_SOURCE_DIR}/launch/hrp2017_gazebo.launch)
+
+execute_process(COMMAND "${PROJECT_SOURCE_DIR}/scripts/replace_xmls.py" "${jsk_hrp2_ros_bridge_PACKAGE_PATH}/launch/hrp2017_ros_bridge.launch" -C "${PROJECT_SOURCE_DIR}/config/hrp2017_ros_bridge_gazebo.yaml"
+  OUTPUT_FILE ${PROJECT_SOURCE_DIR}/launch/hrp2017_ros_bridge_gazebo.launch)
+
+execute_process(COMMAND "${PROJECT_SOURCE_DIR}/scripts/replace_xmls.py" "${jsk_hrp2_ros_bridge_PACKAGE_PATH}/launch/hrp2017_auditor.launch" -C "${PROJECT_SOURCE_DIR}/config/hrp2017_auditor_gazebo.yaml"
+  OUTPUT_FILE ${PROJECT_SOURCE_DIR}/launch/hrp2017_auditor_gazebo.launch)
+
+execute_process(COMMAND "${xacro_PREFIX}/lib/xacro/xacro" "${PROJECT_SOURCE_DIR}/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro"
+  OUTPUT_FILE ${PROJECT_SOURCE_DIR}/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf)

hrpsys_gazebo_tutorials/config/HRP2JSKNTS.yaml

@@ -1,7 +1,9 @@
 hrpsys_gazebo_configuration:
 ### velocity feedback for joint control, use parameter gains/joint_name/p_v
-  use_velocity_feedback: true
-  use_joint_effort: true
+  use_velocity_feedback: false
+  use_joint_effort: false
+  use_pd_feedback: true
+  use_servo_on: true
   iob_rate: 250
 ### loose synchronization default true
 # use_loose_synchronized: false
@@ -11,7 +13,7 @@ hrpsys_gazebo_configuration:
 ### name of robot (using for namespace)
   robotname: HRP2JSKNTS
 ### joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id
-  joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45]
+  joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33]
 ### joints : list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
   joints:
     - RLEG_JOINT0
@@ -48,64 +50,42 @@ hrpsys_gazebo_configuration:
     - LARM_JOINT5
     - LARM_JOINT6
     - LARM_JOINT7
-    - L_THUMBCM_Y
-    - L_THUMBCM_P
-    - L_INDEXMP_R
-    - L_INDEXMP_P
-    - L_INDEXPIP_R
-    - L_MIDDLEPIP_R
-    - R_THUMBCM_Y
-    - R_THUMBCM_P
-    - R_INDEXMP_R
-    - R_INDEXMP_P
-    - R_INDEXPIP_R
-    - R_MIDDLEPIP_R
 ## jointid:
   gains:
-    CHEST_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    CHEST_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    HEAD_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    HEAD_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    LARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    LARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    LARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    LARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    RARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} # CRTOCH-Y
-    LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # CRTOCH-R
-    LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0} # CRTOCH-P
-    LLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 450.0} # KNEE-P
-    LLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # ANKLE-P
-    LLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # ANKLE-R
-    LLEG_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} # TOE-R
-    RLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    RLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0}
-    RLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 450.0}
-    RLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
-    RLEG_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0}
-    L_INDEXMP_R:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_INDEXMP_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_INDEXPIP_R:  {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_MIDDLEPIP_R: {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_THUMBCM_Y:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    L_THUMBCM_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_INDEXMP_R:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_INDEXMP_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_INDEXPIP_R:  {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_MIDDLEPIP_R: {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_THUMBCM_Y:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
-    R_THUMBCM_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
+    CHEST_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0, vp: 0.0}
+    CHEST_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0, vp: 0.0}
+    HEAD_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    HEAD_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    LARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    LARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    LARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    LARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    LARM_JOINT7: {p: 0.0, d:   0.0, i: 0.0, i_clamp: 0.0, p_v: 0.0, vp: 0.0}
+    RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    RARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0, vp: 0.0}
+    RARM_JOINT7: {p: 0.0, d:   0.0, i: 0.0, i_clamp: 0.0, p_v: 0.0, vp: 0.0}
+    LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0, vp: 0.0} # CRTOCH-Y
+    LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0, vp: 0.0} # CRTOCH-R
+    LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0, vp: 0.0} # CRTOCH-P
+    LLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 450.0, vp: 0.0} # KNEE-P
+    LLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0, vp: 0.0} # ANKLE-P
+    LLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0, vp: 0.0} # ANKLE-R
+    LLEG_JOINT6: {p: 120.0, d:   0.013, i: 0.0, i_clamp: 0.0, p_v: 250.0, vp: 0.0} # TOE-R
+    RLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0, vp: 0.0}
+    RLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0, vp: 0.0}
+    RLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0, vp: 0.0}
+    RLEG_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 450.0, vp: 0.0}
+    RLEG_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0, vp: 0.0}
+    RLEG_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0, vp: 0.0}
+    RLEG_JOINT6: {p: 120.0, d:   0.013, i: 0.0, i_clamp: 0.0, p_v: 250.0, vp: 0.0}
 
   force_torque_sensors:
     - rfsensor

hrpsys_gazebo_tutorials/config/HRP3HAND.yaml

@@ -0,0 +1,44 @@
+hrp3hand_hrpsys_gazebo_configuration:
+### velocity feedback for joint control, use parameter gains/joint_name/p_v
+  use_velocity_feedback: false
+  use_joint_effort: false
+  use_pd_feedback: true
+  use_servo_on: true
+  iob_rate: 250
+### loose synchronization default true
+  use_loose_synchronized: false
+### synchronized hrpsys and gazebo
+# use_synchronized_command: false
+# iob_substeps: 5
+### name of robot (using for namespace)
+  robotname: HRP3HAND
+### joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id
+  joint_id_list: [ 6, 7, 8, 9, 10, 11, 0, 1, 2, 3, 4, 5]
+### joints : list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
+  joints:
+    - L_THUMBCM_Y
+    - L_THUMBCM_P
+    - L_INDEXMP_R
+    - L_INDEXMP_P
+    - L_INDEXPIP_R
+    - L_MIDDLEPIP_R
+    - R_THUMBCM_Y
+    - R_THUMBCM_P
+    - R_INDEXMP_R
+    - R_INDEXMP_P
+    - R_INDEXPIP_R
+    - R_MIDDLEPIP_R
+## jointid:
+  gains:
+    L_INDEXMP_R:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0, vp: 0.0}
+    L_INDEXMP_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0, vp: 0.0}
+    L_INDEXPIP_R:  {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0, vp: 0.0}
+    L_MIDDLEPIP_R: {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0, vp: 0.0}
+    L_THUMBCM_Y:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0, vp: 0.0}
+    L_THUMBCM_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0, vp: 0.0}
+    R_INDEXMP_R:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0, vp: 0.0}
+    R_INDEXMP_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0, vp: 0.0}
+    R_INDEXPIP_R:  {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0, vp: 0.0}
+    R_MIDDLEPIP_R: {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0, vp: 0.0}
+    R_THUMBCM_Y:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0, vp: 0.0}
+    R_THUMBCM_P:   {p: 10.0, d:   0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0, vp: 0.0}

hrpsys_gazebo_tutorials/config/hand-calib_HRP2JSKNTS

@@ -0,0 +1,4 @@
+lfsensor 0 0 0 0 0 0 0 0 0 0
+lhsensor 0 0 0 0 0 0 0.00538113 -0.00209447 -0.0248345 1.6618102
+rfsensor 0 0 0 0 0 0 0 0 0 0
+rhsensor 0 0 0 0 0 0 0.00538113 0.00209447 -0.0248345 1.6618102

hrpsys_gazebo_tutorials/config/hrp2017_auditor_gazebo.yaml

@@ -0,0 +1,7 @@
+replace_xmls:
+  - match_rule:
+      tag: include
+      attribute:
+        - name: file
+          value: '$(find jsk_pcl_ros)/launch/openni2_remote.launch'
+    replaced_xml: '<include file="$(find openni2_launch)/launch/openni2.launch">  <arg name="publish_tf" value="false" /> <arg name="camera" value="camera_remote" /> <arg name="depth_registration" value="false" /> <arg name="load_driver" value="false" /> <arg name="rgb_processing" value="true" /> <arg name="depth_processing" value="true" /> <arg name="depth_registered_processing" value="true" /> <arg name="rgb_camera_info_url" value="" /> <arg name="depth_camera_info_url" value="" />  </include>'

hrpsys_gazebo_tutorials/config/hrp2017_gazebo.yaml

@@ -0,0 +1,55 @@
+replace_xmls:
+  - match_rule:
+      tag: include
+      attribute:
+        - name: file
+          value: '$(find jsk_hrp2_ros_bridge)/launch/hrp2017_ros_bridge.launch'
+    replaced_attribute_name: file
+    replaced_attribute_value: '$(find hrpsys_gazebo_tutorials)/launch/hrp2017_ros_bridge_gazebo.launch'
+  - match_rule:
+      tag: arg
+      attribute:
+        - name: name
+          value: NTP_HOSTNAME
+      parent_tag: include
+      parent_attribute:
+        - name: file
+          value: '$(find jsk_hrp2_ros_bridge)/launch/jsk_robot_common.launch'
+    replaced_attribute_name: value
+    replaced_attribute_value: localhost
+  - match_rule:
+      tag: node
+      attribute:
+        - name: name
+          value: thermo_publisher
+    replaced_xml: '<node name="thermo_publisher" pkg="topic_tools" type="relay" args="/HRP2JSKNTS/RLEG_thermo/case thermo_rleg" />'
+  - match_rule:
+      tag: node
+      attribute:
+        - name: name
+          value: thermo_publisher2
+    replaced_xml: '<node name="thermo_publisher2" pkg="topic_tools" type="relay" args="/HRP2JSKNTS/LLEG_thermo/case thermo_lleg" />'
+  - match_rule:
+      tag: include
+      attribute:
+        - name: file
+          value: '$(find jsk_pcl_ros)/launch/openni2_local.launch'
+    replaced_xml: ''
+  - match_rule:
+      tag: node
+      attribute:
+        - name: pkg
+          value: dynamic_reconfigure
+    replaced_xml: ''
+  - match_rule:
+      tag: include
+      attribute:
+        - name: file
+          value: '$(find jsk_hrp2_ros_bridge)/launch/chest_camera.launch'
+    replaced_xml: ''
+  - match_rule:
+      tag: include
+      attribute:
+        - name: file
+          value: '$(find voice_text)/launch/voice_text.launch'
+    replaced_xml: ''

hrpsys_gazebo_tutorials/config/hrp2017_ros_bridge_gazebo.yaml

@@ -0,0 +1,24 @@
+replace_xmls:
+  - match_rule:
+      tag: arg
+      attribute:
+        - name: name
+          value: nameserver
+      parent_tag: include
+      parent_attribute:
+        - name: file
+          value: '$(find jsk_hrp2_ros_bridge)/launch/jsk_hrp2_ros_bridge.launch'
+    replaced_attribute_name: default
+    replaced_attribute_value: localhost
+  - match_rule:
+      tag: include
+      attribute:
+        - name: file
+          value: '$(find jsk_hrp2_ros_bridge)/launch/jsk_hrp2_ros_bridge.launch'
+    added_xml: '<arg name="CONF_FILE" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNTS.conf"/>'
+  - match_rule:
+      tag: include
+      attribute:
+        - name: file
+          value: '$(find jsk_hrp2_ros_bridge)/launch/jsk_hrp2_ros_bridge.launch'
+    added_xml: '<arg name="MODEL_FILE" value="$(find hrp2_models)/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl"/>'

hrpsys_gazebo_tutorials/config/hrpsys_dashboard.yaml

@@ -0,0 +1,5 @@
+hrpsys_rtcd_start_command: "xterm -T \"RTCD\" -e 'PS1=user && source ~/.$(basename $SHELL)rc && rossetlocal && `rospack find hrpsys_gazebo_tutorials`/scripts/rtcd_start_command.sh --remote'"
+hrpsys_rtcd_stop_command: "xterm -e \"pkill openhrp-model-l* && pkill rtcd\""
+
+hrpsys_ros_bridge_start_command: "xterm -T \"Auditor\" -e \"PS1=user && source ~/.$(basename $SHELL)rc && rossetlocal && `rospack find hrpsys_gazebo_tutorials`/scripts/hrp2-launch-ros-bridge.sh\""
+hrpsys_ros_bridge_stop_command: "xterm -e \"source ~/.$(basename $SHELL)rc && `rospack find hrpsys_gazebo_tutorials`/scripts/kill-ros-bridge.sh\""

hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknts_no_controllers.launch

@@ -3,11 +3,12 @@
   <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
+  <arg name="CALIB_FILE" default="hrp2017_xtion_calib_20170703.yaml"/>
 
   <rosparam command="load"
-            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
+            file="$(find jsk_hrp2_ros_bridge)/config/HRP2JSKNTS_gazebo_private.yaml" ns="HRP2JSKNTS" />
   <rosparam command="load"
-            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" ns="HRP3HAND_R" />
+            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND.yaml" ns="HRP3HAND" />
 
   <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSKNTS" />
@@ -19,5 +20,8 @@
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
     <arg name="USE_INSTANCE_NAME" value="true" />
     <arg name="gzname" value="$(arg gzname)" />
+    <arg name="use_robot_state_publisher" value="false"/>
+    <arg name="USE_CALIBRATED_URDF" value="true"/>
+    <arg name="CALIB_FILE_COMMAND" value="$(find euscollada)/scripts/urdf_patch.py patch $(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf $(find jsk_hrp2_ros_bridge)/calib_data/$(arg CALIB_FILE)"/>
   </include>
 </launch>