[jsk_denso_robot] Support COBOTTA OSS type #1509

pazeshun · 2022-06-15T10:16:55Z

Currently, jsk_cobotta_startup and cobottaeus assume that our COBOTTA is not OSS type.
This PR adds support of COBOTTA OSS type.

TODOs

Implement (send *cobotta* :angle-vector (send *ri* :state :potentio-vector)) and (send *ri* :angle-vector (send *cobotta* :angle-vector) 1000)
Add cobotta_bringup.launch for COBOTTA OSS type
Implement gripper interface to *ri*
Add error recovery
Update README

Assumes that following commands are executed on COBOTTA: $ roslaunch denso_cobotta_driver denso_cobotta_driver.launch enable_calset:=false $ roslaunch denso_cobotta_moveit_config planning_context.launch load_robot_description:=true gripper_type:=parallel $ roslaunch denso_cobotta_control denso_cobotta_control.launch https://github.com/DENSORobot/denso_cobotta_ros/blob/bb60e75adb8477ed3402561b4ec3ba687af3f397/denso_cobotta_bringup/launch/denso_cobotta_bringup.launch is exaggerated because it launches MoveIt!

pazeshun · 2022-06-17T03:04:14Z

@k-okada
Could you tell me why

jsk_robot/jsk_denso_robot/README.md

Lines 18 to 19 in eac8151

    
           git clone https://github.com/k-okada/cobotta_descriptions.git 
        
           (cd src/denso_robot_ros/denso_robot_descriptions; ln -sf ../../../cobotta_descriptions/cobotta_description .)

is required?
My first assumption is that you don't want to place whole denso_cobotta_ros to your workspace only for cobotta_descriptions.
However, denso.rosinstall includes denso_cobotta_ros, so my assumption seems wrong:

jsk_robot/jsk_denso_robot/denso.rosinstall

Lines 5 to 7 in eac8151

    
           - git: 
        
               local-name: denso_cobotta_ros 
        
               uri: https://github.com/DENSORobot/denso_cobotta_ros

pazeshun · 2022-06-17T03:25:03Z

@k-okada

Could you tell me why

jsk_robot/jsk_denso_robot/README.md

Lines 18 to 19 in eac8151

git clone https://github.com/k-okada/cobotta_descriptions.git

(cd src/denso_robot_ros/denso_robot_descriptions; ln -sf ../../../cobotta_descriptions/cobotta_description .)

Sorry, maybe I understand.

jsk_robot/jsk_denso_robot/jsk_cobotta_startup/launch/cobotta_bringup.launch

Lines 4 to 9 in eac8151

    
           <include file="$(find denso_robot_control)/launch/denso_robot_control.launch"> 
        
             <arg name="robot_name" value="cobotta"/> 
        
             <arg name="ip_address" value="$(arg ip_address)"/> 
        
             <arg name="send_format" value="0" /> 
        
             <arg name="recv_format" value="2" /> 
        
           </include>

calls https://github.com/DENSORobot/denso_robot_ros/blob/3.2.0/denso_robot_control/launch/denso_robot_control.launch#L34, which assumes cobotta.urdf is placed under denso_robot_descriptions/cobotta_description/.

Now 'roslaunch jsk_cobotta_startup cobotta_oss_bringup.launch' is enough for euslisp interface

…k-ros-pkg#1302 is merged

kinetic: --inorder is not default melodic and upper: --inorder is default cf. http://wiki.ros.org/xacro#Processing_Order

k-okada

LGTM

k-okada · 2022-07-14T08:20:08Z

@pazeshun if you're ok with whit PR, please remove [WIP] ? or Draft label? from this PR.

pazeshun · 2022-07-14T10:47:51Z

@k-okada
I think noetic test becomes failed due to this PR currently.
This is because Segmentation Fault occurs in euslisp model generation of cobottaeus.
Previously, this generation is skipped because denso_cobotta_descriptions is not included in .travis.rosinstall.*.
I have to debug this before this PR becomes ready for review.
So please wait.

k-okada · 2022-08-09T10:54:06Z

@pazeshun can we remove Draft?

pazeshun · 2022-08-09T14:11:50Z

@k-okada No, noetic test failure seems not fixed.
And fixing this has lower priority than some parts of #1544 and RSJ for me.
So please wait (about 1 month?).

k-okada · 2022-08-10T01:27:12Z

I see, please try pazeshun#1
and if this not working, just to skip noetic

if($ENV{ROS_DISTRO} STREQUAL "noetic") # noetic fails to generate cobotta.l (segfaults)
  return()
endif()

euscollada is now released on noetic

we can not remove collada_urdf from .travis.rosinstall.noetic

pazeshun · 2022-08-10T04:48:01Z

I made this PR ready for review because CI passed thanks to @k-okada , but I'm not confident because current state of this PR ignores

jsk_robot/.travis.rosinstall.noetic

Line 20 in 69f1bd5

# compile euscollada for installed collada_urdf

k-okada

LGTM

I made this PR ready for review because CI passed thanks to @k-okada , but I'm not confident because current state of this PR ignores

 # compile euscollada for installed collada_urdf

I think this is ok, because the problems is wrong path in /opt/ros/noetic/share/collada_urdf/cmake/collada_urdfConfig.cmake , so it does not need to recompile euscollada.
(see ros/collada_urdf#43 (comment) )

pazeshun · 2022-08-10T08:13:24Z

I think this is ok, because the problems is wrong path in /opt/ros/noetic/share/collada_urdf/cmake/collada_urdfConfig.cmake , so it does not need to recompile euscollada.
(see ros/collada_urdf#43 (comment) )

Oh, I see.
Thank you very much!

pazeshun force-pushed the support-cobotta-oss branch 2 times, most recently from 6976d71 to 404fcd1 Compare June 17, 2022 02:54

pazeshun mentioned this pull request Jun 17, 2022

add initial jsk cobotta packages #1302

Merged

pazeshun force-pushed the support-cobotta-oss branch from 2d72317 to 086c15f Compare June 17, 2022 09:48

[jsk_cobotta_startup] Add cobotta_oss_bringup.launch

69b0c97

Now 'roslaunch jsk_cobotta_startup cobotta_oss_bringup.launch' is enough for euslisp interface

pazeshun force-pushed the support-cobotta-oss branch 3 times, most recently from 6cd3b65 to 7b49903 Compare June 18, 2022 07:41

pazeshun added 8 commits June 22, 2022 10:36

[cobottaeus] Add interface to gripper of COBOTTA OSS type

c3a4dda

[cobottaeus] Add interface to gripper of COBOTTA model

87a5900

[cobottaeus] Add error recovery of COBOTTA OSS type

19c76f0

[jsk_denso_robot] Update old URLs on README and rosinstall because js…

e9fa1c3

…k-ros-pkg#1302 is merged

[jsk_denso_robot] Fix typo in README

96d2ffd

[jsk_denso_robot] Update README to support COBOTTA OSS type

f7bc7b9

Test cobotta_oss_bringup.launch correctly

82924ff

[jsk_denso_robot] Add --inorder to xacro for kinetic

3b128f1

kinetic: --inorder is not default melodic and upper: --inorder is default cf. http://wiki.ros.org/xacro#Processing_Order

pazeshun force-pushed the support-cobotta-oss branch from ffc6b3e to 3b128f1 Compare June 22, 2022 01:38

[cobottaeus] Ignore cobotta.l

d531d7f

k-okada approved these changes Jul 14, 2022

View reviewed changes

k-okada added the MergeOK label Jul 14, 2022

k-okada added the WaitForFix label Jul 15, 2022

pazeshun and others added 3 commits July 25, 2022 15:58

Merge branch 'master' into support-cobotta-oss

fdd6a53

Merge branch 'master' into support-cobotta-oss

cd85a11

Merge branch 'master' into support-cobotta-oss

7974021

euscollada is now released on noetic

67c5598

pazeshun and others added 3 commits August 10, 2022 10:50

Merge pull request #1 from k-okada/support-cobotta-oss

10a44e5

euscollada is now released on noetic

we can not remove collada_urdf from .travis.rosinstall.noetic

6100e76

Merge pull request #2 from k-okada/support-cobotta-oss

9047085

we can not remove collada_urdf from .travis.rosinstall.noetic

pazeshun marked this pull request as ready for review August 10, 2022 04:46

pazeshun changed the title ~~[WIP][jsk_denso_robot] Support COBOTTA OSS type~~ [jsk_denso_robot] Support COBOTTA OSS type Aug 10, 2022

k-okada approved these changes Aug 10, 2022

View reviewed changes

k-okada merged commit 60e85bd into jsk-ros-pkg:master Aug 10, 2022

pazeshun deleted the support-cobotta-oss branch August 10, 2022 08:13

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[jsk_denso_robot] Support COBOTTA OSS type #1509

[jsk_denso_robot] Support COBOTTA OSS type #1509

pazeshun commented Jun 15, 2022 •

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[jsk_denso_robot] Support COBOTTA OSS type #1509

[jsk_denso_robot] Support COBOTTA OSS type #1509

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pazeshun commented Jun 15, 2022 • edited Loading

TODOs

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