Package Summary

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

Repository Summary

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VCS Type git
VCS Version 0.0.4
Last Updated 2017-03-15
CI status No Continuous Integration
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Package Description

The jsk_demo_common package

Additional Links


  • Hiroyuki Mikita


  • Hiroyuki Mikita
  • Yohei Kakiuchi
  • Yuki Furuta
  • Kazuto Murase


This package includes common action functions for daily assistant robot and task execution manager which is used for planning and execution with attention observation.


euslisp/: source codes sample/: sample codes



# terminal 0
$ roscore

# terminal 1
$ rosrun roseus roseus
irteusgl$ (load "package://jsk_demo_common/sample/attention-observation-sample.l)
irteusgl$ (test)

while executing actions:

# terminal 2
$ rosrun roseus roseus
irteusgl$ (load "package://jsk_demo_common/euslisp/attention-observation.l")
irteusgl$ (pr2-init)
irteusgl$ (send *ri* :cancel-all-motion)

then robot action is interrupted.


$ rosrun roseus roseus
irteusgl$ (load "package://jsk_demo_common/sample/preemptive-task-execution-sample.l")

you can see generated state machine by executing follow command before executing sample above:

$ rosrun smach_viewer

place smach


Changelog for package jsk_demo_common

0.0.4 (2017-03-15)

  • [jsk_demo_common][pr2-action.l] remove implicit dependency to jsk_smart_gui
  • [jsk_demo_common][pr2-action.l] temp fix until jsk-ros-pkg/jsk_smart_apps#70 is merged
  • [jsk_demo_common/euslisp/pr2-action.l] refactor grasp-can move state
  • Contributors: Yuki Furuta

0.0.3 (2016-02-11)

  • [jsk_demo_common] fix wrong code
  • Merge pull request #1124 from h-kamada/add_reset_pose pr2-action.l: apply reset-pose before open-fridge-func
  • pr2-action.l: apply reset-pose before open-fridge-func
  • [detect_cans] async join based parallel state-machine
  • Contributors: Kamada Hitoshi, Kei Okada, Yuki Furuta

0.0.2 (2015-11-26)

  • jsk_demo_common: add pr2_gripper_sensor_msgs
  • [jsk_demo_common] state_publisher -> robot_state_publisher
  • [jsk_demo_common] run depends for model_filter.launch
  • [jsk_demo_common] Filtering model launch file
  • [jsk_demos] exec fridge demo in smach
  • [jsk_demos] exec fridge demo in simulation mode
  • [jsk_demo_common] add action logging feature to attention-action; add pr2-attention-action.l, pr2-attention-move.l
  • [jsk_demo_common/euslisp/pr2-action.l] fix: use :link to link name
  • [detect_cans_in_fridge_201202 & jsk_demo_common] change name space openni -> kinect_head
  • [jsk_demo_common] remove rosbuild related files
  • [jsk_demo_common] fix error in simulation-modep part
  • [jsk_demo_common] change from :joint-action-enable to :simulation-modep
  • exec in simulation mode
  • [jsk_demo_common] divide-fridge-func
  • [jsk_demo_common/euslisp/pr2-action.l] fix hand-over for issue #381
  • remove dependency to jsk_2013_10_pr2_73b2 package
  • Contributors: Kamada Hitoshi, Kei Okada, Kentaro Wada, Yuki Furuta

0.0.1 (2015-06-11)

  • [jsk_demo_common] add pr2 actions\' action servers
  • use pr2_gripper_sensor_msgs instead of dummy for hydro in pr2-action.l
  • [jsk_demos] remove rosmake files
  • fix typo symbol
  • fix: conflict key arg with class in irtgraph
  • add loop-check-error-p option
  • add add brief description and usage of sample codes.
  • add preemptive-task-execution and its sample
  • add provide attention-observation
  • add sample directory
  • eql -> eq
  • support submachine in loop check
  • add option to grasp; pre-grasp, post-grasp move
  • repair return-from target funcition in pr2-action.l
  • add :outside option when close fridge
  • catkinize jsk_demo_common
  • changed pr2-move.l
  • divided startup.launch
  • modified pr2-action.l
  • modified open-fridge-traj in pr2-action.l
  • modified open-fridge-door function in pr2-action.l
  • modified open-fridge-traj in pr2-action.l
  • changed closign door motion in pr2-action.l
  • changed closing door motion in pr2-action.l
  • changed openning door motion in pr2-action.l
  • changed open-fridge-door function in pr2-action.l
  • added func-time in pr2-action.l
  • added func-time in pr2-action.l
  • modified open-fridge-door function in pr2-action.l
  • (#17) workaround for hydro/euslisp-only environment
  • update topics for detecting
  • add preemptive-action-server
  • update
  • add hand over function
  • remove loading pr2_semantic/actions.l
  • add describing demo
  • use-arm keyword to actions for choosing arm to grasp can
  • update robot actions
  • avoid collision when pr2-reset-pose
  • update pick-tray and place-tray safe for pr2 move
  • improve pick-tray and place-tray
  • bugfix: dont go-pos-unsafe if tray is 180deg rotated
  • bugfix: tray position
  • update parameters
  • udpate pre grasp pose
  • update close firdge motion
  • update open firdge motion
  • add torso-height keyword to pr2-pick-tray-pose
  • add pick-tray to decide position using detection result
  • add comments
  • rename type -> atype
  • [place-tray] option use-base-scan set default value nil
  • add provide
  • fridge demo after moving pr2; bugfix grasp-can; pick/place z-axis ver.
  • use shortname for tilt-laser-obstacle-cloud
  • add hold-chair
  • unsubscribe base-scan-id
  • add move-with-base-scan
  • add pick-tray to pr2-action
  • add place-tray to pr2-action
  • add pr2-pose.l for pose database for pr2
  • add move-to-spot
  • update parameter
  • update attention observation programs
  • add tablet attention node
  • add sound attention node
  • fix typo
  • add loop check
  • minor update
  • add command with recover
  • update parameter
  • do not use :use-torso for limb :inverse-kinematics method ;; behavior will not change because :use-torso was neglected at the previous revision
  • add functions using smach
  • update ros-wait
  • replace sleep to :ros-wait for making interruptible
  • update attention-observation
  • add methods for gripper
  • add wait-android-query for interrupt
  • add func-before-throw
  • override :ros-wait at attention-interface
  • check catch barrier before throw
  • add methods for interrupting by attention-observation
  • add scripts for speaking english
  • update japanese speaking
  • add keyword for fixing torso-lift and head-pitch
  • add put-can-on-turtlebot2
  • add put-can-on-turtlebot
  • add move-to-initial keyword to pr2-look-around
  • fix: parameter for actions
  • add pr2-look-around for looking around
  • fix for preparing pose
  • update demo actions
  • add :open-fridge-func keyword to change basic function
  • moved go-pos-unsafe from close-fridge to grasp-can
  • fixed dependency
  • add test/
  • add jsk_demo_common/
  • Contributors: Yuki Furuta, JSK applications, Kamada Hitoshi, Kei Okada, Ryohei Ueda, Yuto Inagaki, Kazuto Murase, Hiroyuki Mikita, Shunichi Nozawa, Youhei Kakiuchi

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/model_filter.launch
      • model_name
      • model
      • input_cloud
      • output_cloud [default: $(arg input_cloud)_$(arg model_name)_filtered]
      • model_filter_config


No service files found


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