[W4U][hrpsys_ros_bridge_tutorials] Auto-generate Euslisp interface of HIRONX by pazeshun · Pull Request #544 · start-jsk/rtmros_tutorials

pazeshun · 2018-05-26T09:48:11Z

Depends on https://github.com/start-jsk/rtmros_hrp2/pull/505

hironx.l becomes automatically generated by build.

pazeshun · 2018-05-26T09:56:08Z

Current problem: generate_default_launch_eusinterface_files_for_jsk_closed_openhrp_robots macro changes launch/hironx*.launch

rtmros_tutorials/hrpsys_ros_bridge_tutorials/launch$ git status .
On branch hironx-autogen
Changes not staged for commit:
  (use "git add <file>..." to update what will be committed)
  (use "git checkout -- <file>..." to discard changes in working directory)

	modified:   hironx.launch
	modified:   hironx_nosim.launch
	modified:   hironx_ros_bridge.launch
	modified:   hironx_startup.launch

-> Remove launch/hironx*.launch

pazeshun · 2018-05-28T10:47:00Z

Auto-generated hironx-interface.l loses nothing from kawada-hironx-interface.l which is removed in this PR.
Diffs are below:

hrpsys_ros_bridge_tutorials/euslisp$ diff -u kawada-hironx-interface.l ../build/hironx-interface.l 
--- kawada-hironx-interface.l	2018-05-24 16:52:34.587796882 +0900
+++ ../build/hironx-interface.l	2018-05-28 18:07:40.079731912 +0900
@@ -1,15 +1,17 @@
 (load "package://hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l")
-(require :kawadahironx "package://hrpsys_ros_bridge_tutorials/models/kawada-hironx.l")
+(require :hironx "package://hrpsys_ros_bridge_tutorials/models/hironx.l")
+(when (probe-file (ros::resolve-ros-path "package://hrpsys_ros_bridge_tutorials/euslisp/hironx-utils.l"))
+  (require :hironx-utils "package://hrpsys_ros_bridge_tutorials/euslisp/hironx-utils.l"))
 
-(defclass kawadahironx-interface
+(defclass hironx-interface
   :super rtm-ros-robot-interface
   :slots ())
-(defmethod kawadahironx-interface
+(defmethod hironx-interface
   (:init (&rest args)
-	  (send-super :init :robot hironx-robot)))
+         (send-super* :init :robot hironx-robot args)))
 
-(defun kawada-hironx-init (&rest args)
+(defun hironx-init (&rest args)
   (if (not (boundp '*ri*))
-      (setq *ri* (instance* kawadahironx-interface :init args)))
-  (if (not (boundp '*hiro*))
-      (setq *hiro* (instance hironx-robot :init))))
+      (setq *ri* (instance* hironx-interface :init args)))
+  (if (not (boundp '*hironx*))
+      (setq *hironx* (instance hironx-robot :init))))

pazeshun · 2018-05-28T10:57:21Z

Auto-generated launches of hironx lose nothing from original launches which are removed in this PR.
Diffs are below:

diff --git a/hrpsys_ros_bridge_tutorials/launch/hironx.launch b/hrpsys_ros_bridge_tutorials/launch/hironx.launch
index 825acad..5782976 100644
--- a/hrpsys_ros_bridge_tutorials/launch/hironx.launch
+++ b/hrpsys_ros_bridge_tutorials/launch/hironx.launch
@@ -1,17 +1,49 @@
 <launch>
   <arg name="KILL_SERVERS" default="false" />
+  <arg name="NOSIM" default="false" />
+  <arg name="REALTIME" default="true" />
+  <arg name="RUN_RVIZ" default="true" />
+  <arg name="GUI" default="true" />
+  <arg name="PROJECT_FILE" default="$(find hrpsys_ros_bridge_tutorials)/models/HIRONX_nosim.xml" if="$(arg NOSIM)"/>
+  <arg name="PROJECT_FILE" default="$(find hrpsys_ros_bridge_tutorials)/models/HIRONX.xml" unless="$(arg NOSIM)"/>
+  <arg name="SIMULATOR_NAME" default="HIRONX(Robot)0" />
+  <arg name="corbaport" default="15005" />
+  <arg name="hrpsys_precreate_rtc" default="HGcontroller"/>
+  <arg name="USE_UNSTABLE_RTC" default="true"/>
+  <!-- following rtc is used for test/hrpsys-samples, mainly full euslisp test -->
+  <arg name="USE_EMERGENCYSTOPPER" default="false" />
+  <arg name="USE_REFERENCEFORCEUPDATER" default="false" />
+  <arg name="USE_OBJECTCONTACTTURNAROUNDDETECTOR" default="false" />
   <include file="$(find hrpsys_ros_bridge_tutorials)/launch/hironx_startup.launch" >
     <arg name="KILL_SERVERS" default="$(arg KILL_SERVERS)" />
+    <arg name="NOSIM" value="$(arg NOSIM)" />
+    <arg name="PROJECT_FILE" value="$(arg PROJECT_FILE)" />
+    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+    <arg name="REALTIME" default="$(arg REALTIME)" />
+    <arg name="corbaport" default="$(arg corbaport)" />
+    <arg name="GUI" default="$(arg GUI)" />
+    <arg name="hrpsys_precreate_rtc" default="$(arg hrpsys_precreate_rtc)" />
+    <arg name="USE_UNSTABLE_RTC" default="$(arg USE_UNSTABLE_RTC)"/>
+  </include>
+  <include file="$(find hrpsys_ros_bridge_tutorials)/launch/hironx_ros_bridge.launch" >
+    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+    <arg name="RUN_RVIZ" default="$(arg RUN_RVIZ)" />
+    <arg name="corbaport" default="$(arg corbaport)" />
+    <arg name="USE_UNSTABLE_RTC" default="$(arg USE_UNSTABLE_RTC)"/>
+    <!-- BEGIN: development -->
+    <arg name="USE_EMERGENCYSTOPPER" default="$(arg USE_EMERGENCYSTOPPER)" />
+    <arg name="USE_REFERENCEFORCEUPDATER" default="$(arg USE_REFERENCEFORCEUPDATER)" />
+    <arg name="USE_OBJECTCONTACTTURNAROUNDDETECTOR" default="$(arg USE_OBJECTCONTACTTURNAROUNDDETECTOR)" />
+    <!-- END: development -->
   </include>
-  <include file="$(find hrpsys_ros_bridge_tutorials)/launch/hironx_ros_bridge.launch" />
 
   <sphinxdoc><![CDATA[
 
 .. code-block:: bash
 
-  rosrun roseus roseus `rospack find hrpsys_ros_bridge_tutorials`/euslisp/kawada-hironx-example.l
+  rosrun roseus roseus `rospack find hrpsys_ros_bridge_tutorials`/euslisp/hironx-interface.l
 
-This launch file shows an example of ros bridge for open kawada hironx robot, `hironx.launch` file launches folloiwng two program
+This launch file shows an example of ros bridge for open hironx robot, `hironx.launch` file launches folloiwng two program
 
 1. `roslaunch hrpsys_ros_bridge_tutorials hironx_startup.launch` : launch simulated robot environment, if you use real robot, you don't need this line
 
@@ -19,26 +51,9 @@ This launch file shows an example of ros bridge for open kawada hironx robot, `h
 
 After that, we need to invoke the client program. Following program is the example of euslisp language
 
-3. `rosrun roseus roseus kawada-hironx-example.l` : sample euslisp script to control the robot.
-
-.. video:: build/images/HIRONX_Example
-  :width: 600
-
-.. video:: build/images/hironx_rviz
-  :width: 600
+3. `rosrun roseus roseus hironx-interface.l` : sample euslisp script to control the robot.
 
   ]]></sphinxdoc>
-  <test type="test-grxui.py" pkg="openhrp3" time-limit="300"
-   test-name="HIRONX_Example"
-   args="--max-time=10
-	 --viewer-name='' #
-	 --no-start-simulation
-	 --capture-window='Irrlicht'
-	 --target-directory=$(find hrpsys_ros_bridge_tutorials)/build/images
-	 --check-tf='/WAIST /HEAD_JOINT1_Link'
-	 --script='rosrun roseus roseus $(find hrpsys_ros_bridge_tutorials)/euslisp/kawada-hironx-example.l __log:=dummy'" /> <!-- add dummy __log/= argument to invoke roseus with non-interactive mode -->
-  <test type="ogv_encode.sh" pkg="jsk_tools" test-name="z_HIRONX_Example" args="$(find hrpsys_ros_bridge_tutorials)/build/images/HIRONX_Example.ogv" time-limit="1000"/>
-  <test type="glc_encode.sh" pkg="jsk_tools" test-name="z_hironx_rviz" args="$(find hrpsys_ros_bridge_tutorials)/build/images/hironx_rviz.glc" time-limit="2000"/>
 </launch>
 
 
diff --git a/hrpsys_ros_bridge_tutorials/launch/hironx_nosim.launch b/hrpsys_ros_bridge_tutorials/launch/hironx_nosim.launch
index 15367de..f1c27fe 100644
--- a/hrpsys_ros_bridge_tutorials/launch/hironx_nosim.launch
+++ b/hrpsys_ros_bridge_tutorials/launch/hironx_nosim.launch
@@ -1,18 +1,21 @@
 <launch>
   <arg name="KILL_SERVERS" default="false" />
+  <arg name="RUN_RVIZ" default="true" />
   <include file="$(find hrpsys_ros_bridge_tutorials)/launch/hironx_startup.launch" >
     <arg name="KILL_SERVERS" default="$(arg KILL_SERVERS)" />
     <arg name="NOSIM" default="true" />
   </include>
-  <include file="$(find hrpsys_ros_bridge_tutorials)/launch/hironx_ros_bridge.launch" />
+  <include file="$(find hrpsys_ros_bridge_tutorials)/launch/hironx_ros_bridge.launch">
+    <arg name="RUN_RVIZ" default="$(arg RUN_RVIZ)" />
+  </include>
 
   <sphinxdoc><![CDATA[
 
 .. code-block:: bash
 
-  rosrun roseus roseus `rospack find hrpsys_ros_bridge_tutorials`/euslisp/kawada-hironx-example.l
+  rosrun roseus roseus `rospack find hrpsys_ros_bridge_tutorials`/euslisp/hironx-pickup.l
 
-This launch file shows an example of ros bridge for open kawada hironx robot, `hironx_nosim.launch` file launches folloiwng two program
+This launch file shows an example of ros bridge for open hironx robot, `hironx.launch` file launches folloiwng two program
 
 1. `roslaunch hrpsys_ros_bridge_tutorials hironx_startup.launch NOSIM:=true` : launch simulated robot environment, if you use real robot, you don't need this line
 
@@ -20,26 +23,9 @@ This launch file shows an example of ros bridge for open kawada hironx robot, `h
 
 After that, we need to invoke the client program. Following program is the example of euslisp language
 
-3. `rosrun roseus roseus kawada-hironx-example.l` : sample euslisp script to control the robot.
-
-.. video:: build/images/HIRONX_Example
-  :width: 600
-
-.. video:: build/images/hironx_rviz
-  :width: 600
+3. `rosrun roseus roseus hironx-interface.l` : sample euslisp script to control the robot.
 
   ]]></sphinxdoc>
-  <test type="test-grxui.py" pkg="openhrp3" time-limit="300"
-   test-name="HIRONX_Example"
-   args="--max-time=10
-	 --viewer-name='' #
-	 --no-start-simulation
-	 --capture-window='Irrlicht'
-	 --target-directory=$(find hrpsys_ros_bridge_tutorials)/build/images
-	 --check-tf='/WAIST /HEAD_JOINT1_Link'
-	 --script='rosrun roseus roseus $(find hrpsys_ros_bridge_tutorials)/euslisp/kawada-hironx-example.l __log:=dummy'" /> <!-- add dummy __log/= argument to invoke roseus with non-interactive mode -->
-  <test type="ogv_encode.sh" pkg="jsk_tools" test-name="z_HIRONX_Example" args="$(find hrpsys_ros_bridge_tutorials)/build/images/HIRONX_Example.ogv" time-limit="1000"/>
-  <test type="glc_encode.sh" pkg="jsk_tools" test-name="z_hironx_rviz" args="$(find hrpsys_ros_bridge_tutorials)/build/images/hironx_rviz.glc" time-limit="2000"/>
 </launch>
 
 
diff --git a/hrpsys_ros_bridge_tutorials/launch/hironx_ros_bridge.launch b/hrpsys_ros_bridge_tutorials/launch/hironx_ros_bridge.launch
index 5a50982..550ed37 100644
--- a/hrpsys_ros_bridge_tutorials/launch/hironx_ros_bridge.launch
+++ b/hrpsys_ros_bridge_tutorials/launch/hironx_ros_bridge.launch
@@ -1,17 +1,46 @@
 <launch>
+  <arg name="RUN_RVIZ" default="true" />
+  <arg name="SIMULATOR_NAME" default="HIRONX(Robot)0" />
+  <!-- unstable means minimum rtc set for walking demo -->
+  <arg name="USE_UNSTABLE_RTC" default="true"/>
+  <!-- following rtc is used for test/hrpsys-samples, mainly full euslisp test -->
+  <arg name="USE_EMERGENCYSTOPPER" default="false" />
+  <arg name="USE_REFERENCEFORCEUPDATER" default="false" />
+  <arg name="USE_OBJECTCONTACTTURNAROUNDDETECTOR" default="false" />
 
   <rosparam command="load"
             file="$(find hrpsys_ros_bridge_tutorials)/models/HIRONX_controller_config.yaml" />
 
+  <arg name="corbaport" default="15005" />
+  <arg name="nameserver" default="localhost" />
   <include file="$(find hrpsys_ros_bridge)/launch/hrpsys_ros_bridge.launch">
-    <arg name="SIMULATOR_NAME" value="HiroNX(Robot)0" />
-    <arg name="MODEL_FILE" value="$(find collada_robots)/data/robots/kawada-hironx.dae" />
-    <arg name="COLLADA_FILE" value="$(find collada_robots)/data/robots/kawada-hironx.dae" />
-  </include>
+    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+    <arg name="MODEL_FILE" value="$(find hrp2_models)/HIRONX/HIRONXmain.wrl" />
+    <arg name="COLLADA_FILE" value="$(find hrpsys_ros_bridge_tutorials)/models/HIRONX.dae" />
+    <arg name="CONF_FILE" value="$(find hrpsys_ros_bridge_tutorials)/models/HIRONX.conf" />
+    <arg name="corbaport" default="$(arg corbaport)" />
+    <arg name="nameserver" default="$(arg nameserver)" />
+    <!-- BEGIN: unstable : maintained-->
+    <arg name="USE_WALKING" default="true" if="$(arg USE_UNSTABLE_RTC)"/>
+    <arg name="USE_IMPEDANCECONTROLLER" default="true" if="$(arg USE_UNSTABLE_RTC)" />
+
+    <!-- END: unstable : maintained -->
+    <!-- BEGIN: development -->
+    <arg name="USE_EMERGENCYSTOPPER" default="$(arg USE_EMERGENCYSTOPPER)" />
+    <arg name="USE_REFERENCEFORCEUPDATER" default="$(arg USE_REFERENCEFORCEUPDATER)" />
+    <arg name="USE_OBJECTCONTACTTURNAROUNDDETECTOR" default="$(arg USE_OBJECTCONTACTTURNAROUNDDETECTOR)" />
+    <!-- END: development -->
+    <arg name="ROBOT_TYPE" default="hironx" if="$(arg USE_UNSTABLE_RTC)" />
+    <arg name="USE_ROBOT_TYPE_SETTING" default="true" if="$(arg USE_UNSTABLE_RTC)" />
+    <arg name="BASE_LINK" default="WAIST_LINK0" />
 
-  <node name="hironx_rviz" pkg="rviz" type="rviz" respawn="true"
-	args="-sync -d $(find hrpsys_ros_bridge_tutorials)/launch/hironx.vcg"
-        />
 
+  </include>
+
+  <group if="$(arg RUN_RVIZ)" >
+    <node name="hironx_rviz" pkg="rviz" type="rviz" respawn="true"
+          args="-sync -d $(find hrpsys_ros_bridge_tutorials)/launch/hironx.rviz" />
+  </group>
 </launch>
 
+
diff --git a/hrpsys_ros_bridge_tutorials/launch/hironx_startup.launch b/hrpsys_ros_bridge_tutorials/launch/hironx_startup.launch
index 1c63f32..21e439a 100644
--- a/hrpsys_ros_bridge_tutorials/launch/hironx_startup.launch
+++ b/hrpsys_ros_bridge_tutorials/launch/hironx_startup.launch
@@ -1,20 +1,26 @@
 <launch>
   <arg name="KILL_SERVERS" default="false" />
   <arg name="GUI" default="true" />
-  <arg name="LAUNCH_HRPSYSPY" default="true" />
   <arg name="NOSIM" default="false" />
-  <!-- begin use sim time -->
+  <arg name="REALTIME" default="true" />
+  <arg name="SIMULATOR_NAME" default="HIRONX(Robot)0" />
+  <arg name="PROJECT_FILE" default="$(find hrpsys_ros_bridge_tutorials)/models/HIRONX_nosim.xml" if="$(arg NOSIM)"/>
+  <arg name="PROJECT_FILE" default="$(find hrpsys_ros_bridge_tutorials)/models/HIRONX.xml" unless="$(arg NOSIM)"/>
+  <arg name="corbaport" default="15005" />
+  <arg name="hrpsys_precreate_rtc" default="HGcontroller"/>
+  <arg name="USE_UNSTABLE_RTC" default="true"/>
   <param name="use_sim_time" value="true" />
-  <!-- end use sim time -->
   <include file="$(find hrpsys_tools)/launch/hrpsys.launch">
-    <arg name="PROJECT_FILE" value="$(find hrpsys_ros_bridge_tutorials)/models/kawada-hironx_nosim.xml" if="$(arg NOSIM)"/>
-    <arg name="PROJECT_FILE" value="$(find hrpsys_ros_bridge_tutorials)/models/kawada-hironx.xml" unless="$(arg NOSIM)"/>
-    <arg name="MODEL_FILE" value="$(find collada_robots)/data/robots/kawada-hironx.dae" />
-    <arg name="CONF_FILE" value="$(find hrpsys_ros_bridge_tutorials)/models/kawada-hironx.conf" />
-    <arg name="SIMULATOR_NAME" value="HiroNX(Robot)0" />
+    <arg name="PROJECT_FILE" value="$(arg PROJECT_FILE)"/>
+    <arg name="MODEL_FILE" value="$(find hrp2_models)/HIRONX/HIRONXmain.wrl" />
+    <arg name="CONF_FILE" value="$(find hrpsys_ros_bridge_tutorials)/models/HIRONX.conf" />
+    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
     <arg name="KILL_SERVERS" default="$(arg KILL_SERVERS)" />
+    <arg name="REALTIME" default="$(arg REALTIME)" />
+    <arg name="corbaport" default="$(arg corbaport)" />
     <arg name="GUI" default="$(arg GUI)" />
-    <arg name="LAUNCH_HRPSYSPY" default="$(arg LAUNCH_HRPSYSPY)" />
-    <arg name="REALTIME" default="true" />
+    <arg name="hrpsys_precreate_rtc" default="$(arg hrpsys_precreate_rtc)" />
+    <arg name="HRPSYS_PY_PKG" default="hrpsys_ros_bridge_tutorials" if="$(arg USE_UNSTABLE_RTC)"/>
+    <arg name="HRPSYS_PY_NAME" default="hironx_hrpsys_config.py" if="$(arg USE_UNSTABLE_RTC)"/>
   </include>
 </launch>

pazeshun · 2018-06-26T10:28:24Z

Move to #549

pazeshun changed the title ~~[WIP][W4U] Auto-generate Euslisp interface of HIRONX~~ [WIP][W4U][hrpsys_ros_bridge_tutorials] Auto-generate Euslisp interface of HIRONX May 26, 2018

pazeshun added 2 commits May 28, 2018 18:10

Auto-generate Euslisp interface of HIRONX

01c62a7

Remove unused lisp files of hironx

c4f909b

pazeshun force-pushed the hironx-autogen branch from ebfc097 to c4f909b Compare May 28, 2018 10:42

Remove hironx launches which are auto-generated

60a226a

pazeshun changed the title ~~[WIP][W4U][hrpsys_ros_bridge_tutorials] Auto-generate Euslisp interface of HIRONX~~ [W4U][hrpsys_ros_bridge_tutorials] Auto-generate Euslisp interface of HIRONX May 28, 2018

Merge remote-tracking branch 'origin/master' into hironx-autogen

0203cf8

pazeshun mentioned this pull request Jun 21, 2018

[hrpsys_ros_bridge_tutorials] Add Euslisp interface of HIRONX supporting impedance and hand #548

Closed

Add _InitialPose in py API as reset-manip-pose

d992a5a

pazeshun closed this Jun 26, 2018

pazeshun mentioned this pull request Jun 26, 2018

[W4U][hrpsys_ros_bridge_tutorials] Add Euslisp interface of HIRONXJSK #549

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[W4U][hrpsys_ros_bridge_tutorials] Auto-generate Euslisp interface of HIRONX#544

[W4U][hrpsys_ros_bridge_tutorials] Auto-generate Euslisp interface of HIRONX#544
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