drc_task_common

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

No version for distro jazzy showing indigo. Known supported distros are highlighted in the buttons above.

drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

No version for distro kilted showing indigo. Known supported distros are highlighted in the buttons above.

drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

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drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

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drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

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drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

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drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

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drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

No version for distro dashing showing indigo. Known supported distros are highlighted in the buttons above.

drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

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drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

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drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

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drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

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drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
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Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

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drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

No version for distro hydro showing indigo. Known supported distros are highlighted in the buttons above.

drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

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drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

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drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at Robotics Stack Exchange

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drc_task_common package from jsk_demos repo

ROS Distro
indigo

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It’s required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"
  

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable “ROBOT” For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs

3D mouse (for move t-marker)
B-Controll (for some bottuns)
Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode

None (Simply solve IK with the coords)
Reach (Solve IK to Reach object coords)
Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode,

autoset (object will be set by click b-box)
manuset (manual set object with 3d mouse)

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package drc_task_common

0.0.4 (2017-03-15)

remove jsk_pcl_ros from generate_messages
Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs see
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1827
- https://github.com/jsk-ros-pkg/jsk_recognition/pull/1914
Stop using deprecated jsk_topic_tools/log_utils.h see
- https://github.com/jsk-ros-pkg/jsk_common/pull/1462
- https://github.com/jsk-ros-pkg/jsk_common/issues/1461
[drc_task_common] Add VIEWER options to toggle using rviz or not. Default behaviors are not changed.
[drc_task_common] Add input_cloud arg to valve detection launch
[drc_task_common] Add valve detection parameter arguments, which do not change default behavior.
[conservative_detection.launch] add simulation setting
[jaxon_demo] fix euslisp for simulation
[drc_task_common] add stair model to drc-testbed-models.l
[drc_task_common] add hrp2 demo of walking down blocks
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/test-drc-terrain-walk.l] Update hrp2jsk stair function.
[jsk_2015_06_hrp_drc/drc_task_common/euslisp/drc-testbed-models.l] Separate block model method as function to reuse it.
add launch and launch with glc is optional behavior
[drc_task_common] Add valve_model for conservative valve detection
[drc_task_common] no-UI valve rotation and opening door
[drc_task_common] Add /map frame_id
remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
remove depends to rosbuild/mk
gen_reconfigure_msg did not work propery on travis
Contributors: Juntaro Tamura, Kei Okada, Kentaro Wada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Iori Kumagai

0.0.3 (2016-02-11)

[robot_model.launch] use upstream launch file
[robot-util.l] add jaxon_jvrc in robot-file
[drc_task_common/euslisp/irex_carry_trass] Set red color for trass interactive marker
[drc_task_common/euslisp/irex_carry_trass] Test large step stride while trass demo walking.
[drc_task_common/irex-large-box] Reduce initialization time by k-kimura.
[drc_task_common/irex_carry_trass] Add viewer title and reduce unnecessary sleep by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Add argument to skip recog&gopos.
[drc_task_common/euslisp/irex-large-box] Add resizing of irt viewer
[drc_task_common/euslisp/irex-large-box] Update for sift recog by k-kimura and youhei
[drc_task_common/euslisp/irex-large-box] Fix via coords for reaching and add setting of time parameter for object turnaround detection for box pushing.(by k-kimura)
[drc_task_common/euslisp/irex_carry_trass] Add y-o-n-p for recognition by rkoyama.
[drc_task_common/euslisp/irex_carry_trass] Use y-or-n-p instead of read-line
[drc_task_common/euslisp/irex_carry_trass] Fix gopos value and rename function
[drc_task_common/euslisp/irex_carry_trass] debug the vibration during carrying the trass
change push emergency stopper threshold parameter to 100N
[drc_task_common] Add imprecise scheduler prototype
[drc_task_common/euslisp/irex_carry_trass]add recognition, and debug the refforce estimation
modify the timing of recognition
add apply-primitive-dimensions-to-midi-device
modify calib-offset-coords parameter
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l] modify demo to use pfilter
add jaxon-wooden-box-okkake loop
receiveing estimated pose from particle filter
change new sift template KEEP DRY label
Delete anybots-box programs
Add maai diff value
[drc_task_common/euslisp/irex_carry_trass] modify the pose to carry trass
Add interactive marker
Change irex demo version for pushing box
Merge remote-tracking branch 'koyama/add_irex_koyama_release'
add snozawa san commit
[drc_task_common/euslisp/irex_carry_trass/carry-trass.l]modify the pose to reach-trass
add box-push emergency stopper
modify comment out
change apc_box name to wooden_box name
[irex_carry_trass] update trass
[drc_task_common/euslisp] add files to carry trass.
add y-or-n-p cancel mode
modify head neck-p joint-angle
change head neck-p angle and sift-label-coords
Merge pull request #1126 from mmurooka/valve-motion-slower [drc_task_common] make slow valve motion a little
CMakeLists.txt : clean up install rules
CMakeLists.txt remove install FILES plugin_description.xml, which is

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	move_base_msgs
	rosgraph_msgs
	roseus
	roseus_smach
	message_generation
	roslib
	roscpp
	rospy
	rqt_gui
	rqt_gui_py
	geometry_msgs
	sensor_msgs
	visualization_msgs
	message_filters
	jsk_pcl_ros
	jsk_interactive_marker
	tf
	interactive_markers
	pcl_conversions
	topic_tools
	jsk_topic_tools
	rviz
	eigen_conversions
	dynamic_tf_publisher
	dynamic_reconfigure
	jsk_teleop_joy
	jsk_recognition_msgs
	jsk_ik_server
	pr2eus
	pcl_msgs
	jsk_footstep_msgs
	jsk_footstep_planner
	jsk_footstep_controller
	drc_com_common
	jsk_perception
	jsk_calibration
	resized_image_transport
	jsk_rqt_plugins
	jsk_rviz_plugins
	smach_msgs
	checkerboard_detector
	catkin
	message_runtime
	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Deps
drc_valve_task

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drill_recognition_demo.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_button_checker.launch
launch/fc/drill_recognition.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/drill_sift.launch
launch/fc/drill_standing.launch
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/fc_misc.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/go_pos.launch
launch/fc/hose_connect.launch
launch/fc/hose_grasp.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/zbar_ros_for_cameras.launch
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/field_computer_main_fc.launch
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/ocs/b_control_ui.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main_ocs.launch
launch/remote_server.launch
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/teleop_interface.launch
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]

Messages

Services

Plugins

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