Changelog for package pr2eus

0.3.15 (2023-04-17)

• Add enable-roseus-resume for installing default interruption handlers (#488)
• add displaying error msg method to controller-action-client in robot-interface.l (#460)
• .github/workflows/config.yml: enable noetic USE_DEB=true (#484)
• Enable either-or tuckarm-pose (#475)
• Allow to set :use-torso in :move-end-pos (#476)
• disable doc generation if 'catkin bt -vi --cmake-args -DDISABLE_DOCUMENTATION=1' (#482)
• [pr2eus] Fix typo :cmd-vel-topi -> :cmd-vel-topic (#480)
• [pr2eus] Add key topic-name to :send-cmd-vel-raw (#481)
• install pr2-send-joints.l pr2-read-state.l with original permissions (#478)
• integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)
• add dummy_jta_server.py and pr2-ri-jta for example code of (#460)
• add comments to :move-to (#470)
• add test code for (pr2) and (instance pr2-robot :init) (instance r2-sensor-robot :init) (#466)
• add test code for #461 (#468)
• Fix wide_stereo camera model parameters (#426)
• [pr2eus] Fix doc about timeout of :wait-interpolation (#445)
• Add minjerk-interpolation to :angle-vector and :angle-vector-sequence (#456)
• [pr2eus] remove j_robotsound advertise (#450)
• [pr2eus] add provide in pr2-interface.l and pr2-utils.l (#441)
• fix to support namespace (#440)
• define methods for interpolation (#443)
• add pr2-ri-test-namespace.launch to check (#439)
• Fix bug on joint-move-over-180 with tm :fast (#422)
• add pr2-ri-test-simple.l to test/pr2-ri-test.launch (#430)
• Updates to :stop-motion (#402)
• Fix typo move-to-no-wait -> move-to-wait (#409)
• [pr2eus] Add correction arg in :move-to-wait (#418)
• Fix tilt laser mux topic for obstacle observation (#408)
• [pr2eus] add gain key in :stop-grasp (#415)
• Fix return value of clear-costmap function (#396)
• update :go-velocity, :go-pos-unsafe-no-wait for robto without move-base-trajectory-action, add :send-cmd-vel-raw (#425)
• enable to test navigation in gazebo for pr2-ri-test (#420)
• Fix confirmation on warningp (#395)
• Avoid unnecessary convex-hull-3d calculation on :start-grasp (#398)
• Fix typos in comments about :fast utility in :angle-vector* (#391)
• Contributors: Aoi Nakane, Guilherme Affonso, Hiro Ishida, Kei Okada, Naoki Hiraoka, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Shun Hasegawa, Yuto Uchimi, Taichi Higashide

0.3.14 (2019-02-11)

• [pr2eus] add :get-grasp-result methody and :wait key to :start-grasp method (#386 )
• pr2-interface: Make use of return value of :move-gripper method (#364 )
  • pr2-interface: make use of return value for :stop-grasp
  • pr2-interface: fix bug on :start-grasp return value of :joint-angle
  • pr2-interface: make use of return values of :move-gripper
• [pr2eus/speak.l] enable [speak-jp]{.title-ref} with [wait: t]{.title-ref} (#369 )
• add test to reproduce #366 (play-sound could not play file format) (#371 )
  • fix speak-test-action.py, more test on SAY, PLAY_FILE and buiding files
  • [pr2eus/speak.l] use (namestring) to get string from pathname, Fixed #366
  • add test-speak-number / test-ri-speak-number
  • add test to reproduce #366 (play-sound could not play file format)
• pr2-interface.l: Add optional key arguments for :angle-vector-with-constraint (#380 )
  • add :revert-if-fail, :initial-angle-vector, :div optional key for :angle-vector-with-constraint
  • fix minor indent
• robot-interface.l: remove old timer-job (#321 )
• fix speak-test.test to fail on volume==0 (#379 )
  • [pr2eus/speak.l] Fixed volume insertion checking with :volume accessor exists
  • [pr2eus/speak.l] add :volume keyward for play-sound for sound_play >= 0.3.1 (Closes #368)
  • fix speak-test.test to fail on volume==0 pr2eus/test/speak-test.py: check if SoundRequest has volume attribute
• .travis.yml : remove hydro/jade, add melodic, fix speak-test for indigo (#385 )
  • test:speak-test.l add (ros::sleep 2) at the end of script, to wait for last message actually send out
  • fix test for indigo
• Goal header stamp should be the time message is made (#358 )
  • fix goal header stamp time
• [pr2eus/robot-interface.l] Modified warning message in case of we can not connect to follow joint trajectory server (#381 )
• fix typo in error message on pr2eus/pr2-interface.l ( #384 )
• pr2eus: override clear-costmap namespace for pr2 (#343 )
  • pr2eus: override clear-costmap namespace for pr2
  • pr2eus: delegate costmap functions to robot-move-base-interface
  • pr2eus: default value of inflation range: 0.3
• add test for pr2/speak.l (#374 )
  • add test for action interface
  • add speak-test.py to check contents of SpeakRequest message
  • run speak-test.l and catch message by hztest
• Equalize min-time behavior of end-coords-interpolation to usual angle-vector (#355 )
  • Equalize min-time behavior of end-coords-interpolation to usual angle-vector
  • Add test to catch (#354)
  • Add end-coords-interpolation test
• pr2eus_moveit: support motion with mobile base (#357 )
• pr2-ri-test.l : add test to check :wait-interpolation, with timeout (#352 )
  • fix: pr2-ri-test.l: check return value of :wait-ingterpolation as list
  • fix: Calling (load-ros-manifest pr2eus) for the package without msg/srv will be deprecated
  • pr2eus: robot-interface: add :base-controller-joint-names option
  • clean up :interpolatingp of robot-interface, use :interpolatingp in controller-actions class
  • fix :interpolationp of controller-action-client when using real robot
  • pr2-ri-test.l : add test to check return of :wait-interpolation with timeout value
  • fix :wait-interpolation of pr2-interface, do not wait for moving joints when timeout is not equal to 0
  • reduce the retry to 1, 5(retry) x 600 sec exceeds 50min limit of Travis
  • pr2-ri-test.l : add test to check :wait-interpolation, with timeout
• euscollada 0.4.0 requires changes in tests (from = to eps=, but seems the output is both 0.0) (#360 )
  • not sure why we do not need this until now, but we need to use eps=
• Fix typo. stll -> still (#342)
• Fix wrong behaviors in :go-pos-unsafe / :move-trajectory / :move-trajectory (#336)
  • fix: go-pos-unsafe less than expected if msec < 1000
  • fix: move-trajectory wrong document / implementation
• Fix many typos (#337)
• run everything within jenkins (#340)
  • explictly set DISPLAY="" for roseus test
  • re-define :joint-angle to avoid print violate max/min-angle that exceeds 4M log limit
  • test-pr2eus-moveit.l: not sure why, but sometimes utf-8 code is displayed and brakes catkin build
  • set time-limit for pr2-ri-test to 600
  • .travis.yml: run everything within travis
  • install pr2-arm-kinematics for indigo
• increase stall_velocity_threshold to pass grasp test (#338)
  • increase stall_velocity_threshold to pass grasp test
  • add pr2_gazebo and robot_state_publisher to test_depend
  • skip pr2eus_moveit from test
  • set DISPLAY='' when gui is false
  • hydro/indigo run on travis, jade/kinetic run on jenkins
• [pr2eus] do not pass :wait-until-update in :state args (#333 )
  • add comment for :state :wait-until-update
  • add :wait-until-update test
  • pass args not including :wait-until-update keys
• Fix :end-coords-interpolation problems (#325 )
  • Adapt end-coords-interpolation for over-360 deg turns
  • Add :steps to :end-coords-interpolation
  • Changes to :end-coords-interpolation
• pr2eus: partially rever speak function (#332 )
  • sound_play could not run within travis/jenkins, so use hztest a dummy subscriber
  • pr2eus: integrate speak function, add :play-sound :speak-en, :speak-jp method to robot-interface
  • Revert "pr2eus: add text-to-spech method to robot-interface (#318)" This reverts commit ecb2a1e29d2d56ae16035064c91617f2b0afa786.
• pr2eus: add text-to-spech method to robot-interface (#318)
  • pr2eus: cleanup speak.l
  • pr2eus: robot-interface.l: add text-to-speech methods to robot-interface
  • pr2eus: update test for speak
  • pr2eus: migrate text-to-speech to robot-interface
• fix sub-angle-vector when diff is over 640 (#323 )
  • mod 360 to suport rotation over 640
  • add test to chcek sub-angle-vector over 620
  • fix :publish-joint-state after updating angle-vecgtor in robot-interface-simulation-callback, also changed to set av as the keypose
• Contributors: Affonso Guilherme, Kei Okada, Shingo Kitagawa, Shun Hasegawa, Yuki Furuta, Hitoshi Kamada, Iori Yanokura

0.3.13 (2017-07-14)

• [pr2eus] enable controller-type in :cancel-angle-vector (#313)
  • fix typo in robot-interface ( doc string of :cancel-angle-vector method)
  • cancel angle-vector by controller-type
• Contributors: Kei Okada, Shingo Kitagawa

0.3.12 (2017-07-11)

• [robot-interface.l] :angle-vector-duration add document to how we use :max-joint-velocity (#305 )
• Contributors: Kei Okada

0.3.11 (2017-06-25)

• use make-caemra-from-ros-camera-info-aux inroseus, in order to generate pr2 model corresponding to jsk-ros-pkg/jsk_roseus/pulls/#526 (#301)
  • [pr2eus/pr2.l] update make-camera-from-ros-camera-info-aux
  • add comment to why we redefine make-camera-from-ros-camera-info-aux in robot model
  • skip position test in test-cameras on hydro
• [robot_interface.l] add tms comment to :angle-vector-sequence c.f. https://github.com/jsk-ros-pkg/jsk_robot/pull/791#pullrequestreview-45324124 (#299)
• [robot_interface.l] add :stamp method for reading latest stamp (#298)
• .travis.yml: re-enable pr2-ri-test (using gazebo) for indigo (#296
  • pr2-ri-test.l: add test to check :wait-for-interpolation, see (https://github.com/start-jsk/jsk_apc/issues/2106)
  • when unknown goal is received, we assume the original goal is canceled and set time-to-finish to 0.0
  • test-start-grasp: send move-gripper with more gain
  • .travis.yml: re-enable pr2-ri-test (using gazebo) for indigo
• [pr2eus][pr2-interface.l] add switch-controller methods (#295
  • [pr2eus] add pr2_mechanism_msgs to depend
• [pr2eus][pr2eus_moveit] use ctype in :send-trajectory and pass ctype in angle-vector-motion-plan (#295)
  • use only controller-type in send-trajectory
• [pr2eus] fix some funcs that break behaviors written at docs (#289)
  • [pr2eus][default-ri-test.l] fix: load path for passing test on local machine
  • [pr2eus][pr2-ri-test-simple.l] assert return values of robot-interface methods
  • [pr2eus][robot-interface.l] implement :go-waitp when simulation-modep is t
  • [pr2eus][robot-interface.l] :move-to-wait returns t when simulation-modep
  • [pr2eus][robot-interface.l] implement :interpolatingp when :simulation-modep is t
• use link-list instead of (car link-list) in use-base condition(#272)
• Contributors: Yuki Furuta, Kei Okada, Shingo Kitagawa, Yohei Kakiuchi, Chi Wun Au

0.3.10 (2017-03-02)

• [pr2eus][pr2-interface.l] move move-to / go-pos callback for simulation to robot-interface.l (#288)
• [pr2eus] fix: remove the first '/' from frame (#287)
• fix: use movebaseaction name for clear-costmap (#286)
  • [pr2eus/robot-interface.l] fix: use move-base-action name for clear-costmap
  • [pr2eus][robot-interface.l] soft tab
• Contributors: Kei Okada, Yuki Furuta

0.3.9 (2017-02-22)

• cleanup CMakeLists.txt, use PR2_CONTROLLERS_MSGS_PACKAGE variable and add geneus for hydro (#285 )
• Support Kinetic (#284 )
  • need to add geneus for hydro? https://s3.amazonaws.com/archive.travis-ci.org/jobs/203074134/log.txt
  • robot-init-test.l: disable test for jade/kinetic, which did not load pr2-interface.l, beacuse of missing pr2_controller_msgs
  • CMakeLists.txt: using PR2_CONTROLLERS_MSGS_PACKAGE variable to control find_package does not work on hydro
  • pr2-interface.l exits without error on kinetic
  • pr2_controllers_msgs is not released on J/K
  • pr2eus/CMakeLists.txt: pr2_controllers_msgs is not released on J/K
• Contributors: Kei Okada

0.3.8 (2017-02-07)

• add end-coords-interpolation (#237 )
  • Fix typos in :angle-vector (if end-coords-interpolation
  • Force end-coords-interpolation to go to given av
  • add end-coords-interpolation in :angle-vector with:end-coords-interpolation t: move robot in cartesian space interpolation
• add more message on kinematics simulator mode
• Contributors: Kei Okada, Shun Hasegawa

0.3.7 (2016-11-08)

• [pr2eus/pr2-interface.l] add :force-assoc option for :start-grasp
• robot-interface.l: send-trajectory-each : check if vels/effs is #f()
• Contributors: Kei Okada, Yuki Furuta

0.3.6 (2016-11-02)

• add :base-controller-action-name for robot does not have move_base_trajectory_action (#253 )
• [pr2eus/robot-interface.l] update actionlib name of default controller. (#250 )
• Contributors: Kei Okada, Masaki Murooka

0.3.5 (2016-09-16)

• robot-interface.l
  • fix :wait-intepolation-smooth for SinglePointJointAcionGoal (#245)
  • use control_msgs/FollowJointTrajectoryAction for base trajectory action (#237)
  • fix: wrong code in :move-trajectory (#240)
  • the implementation of condition to break loop in :wait-until-update-all-joints. (#239)
  • :wait-until-update-all-joints need to call :robot-interface-simulation-callback explicitly (#238)
• sometines :state .. :wait-unitl-update t did not return (https://github.com/jsk-ros-pkg/jsk_robot/pull/627)
  • add test-state-wait-until-updatee (#238)
  • include also redundant links when calculate collision
• speak.l
  • add speak-timeout param to wait action server (#246)
  • use single speak-action-client (#241)
• CMakeLists.txt: remove unused variable from catkin_package (#243)
• pr2.l: comment out pr2 function for pr2-robot (#242)
• Contributors: Kei Okada, MasakiMurooka, Yuki Furuta, Chi Wun Au

0.3.4 (2016-06-22)

• Merge pull request #235 from k-okada/fix_smooth fix :wait-interpolation-smooth for pr2_controllers_msgs/JointTrajectoryActionFeedback
• add code when last-feedback-msgs-stamp is not updated
• robot-interface.l : wait for feedback message is updated
• fix :wait-interpolation-smooth for pr2_controllers_msgs/JointTrajectoryActionFeedback
• Contributors: Kei Okada

0.3.3 (2016-05-28)

0.3.2 (2016-05-26)

• fix typo topuc -> topic
• robot-interface.l : add option to set queue size for /joint_state subscriber
• robot-interface.l : need a consistency of controller order in the the entry of controller-table fix #227
• Contributors: Kei Okada

0.3.1 (2016-05-22)

• [pr2eus/pr2-utils.l] add start-grasp, stop-grasp for pr2
• [pr2eus/test/robot-init-test.*, pr2eus/CMakeLists.txt] Add robot-init function rostest. Add rostest execution for it in CMakeLists.txt.
• [package.xml] Add setting for robot-init to package.xml using export tag and rospack plugin functionality (http://wiki.ros.org/pluginlib).
• [pr2eus/robot-interface.l] Add robot-init function. Add documentation string for it.
• [pr2eus/robot-interface.l] wait /clock publish for a while when /use_sim_time is true
• Contributors: Kamada Hitoshi, Shunichi Nozawa, Yuki Furuta

0.3.0 (2016-03-20)

• add robot-move-base-interface class
  • [robot-interface.l] fix clear-costmap/change-inflation-range to support different move_base node name
  • [robot-interface.l,pr2-interface.l] move clear-costmap and hcange-inflation-range from pr2-interface.l to robot-interface.l
  • [robot-interface.l] check if move-base-trajectory-action is available
  • [robot-interface.l,pr2-interface.l] move odom-callback to robot-move-base-interface class
  • [robot-interface.l] enable to set base_footprint name
  • [test/pr2-ri-test-simple.l] add test for move-to
• Contributors: Kei Okada

0.2.1 (2016-03-04)

• add robot-move-base-interface, which support move_base interface (#208)
• [pr2eus/pr2-interface.l] default argument of change-inflation-range 0.55 -> 0.2 according with the change of default value https://github.com/jsk-ros-pkg/jsk_robot/pull/535 (#204)
• add :state :gripper method (#190)
  • [pr2eus/pr2-interface.l] add :state :gripper method to fetch information of gripper
  • [pr2eus/robot-interface.l] add :gripper virtual method; :state :gripper accessor to :gripper
• fix #179
  • [pr2eus/robot-interface.l] add variable to change default look-all behavior on draw-objects
  • [pr2eus/robot-interface.l] add option :look-all when :draw-objects
• [pr2eus/pr2-interface.l] fix gripper method (#201)
• [pr2eus/pr2-interface.l] add document of :gripper method (#199)
• [pr2eus/robot-interface.l, pr2eus/pr2-interface.l] fix: :wait-interpolation returns :interpolatingp on real robot (#191)
  • [pr2eus/pr2-interface.l] :wait-interpolation returns results of :interpolatingp of controllers on real robot
  • [pr2eus/robot-interface.l] :wait-interpolation returns results of :interpolatingp of controllers on real robot
• [pr2eus] add :go-waitp (#196)
• add :effort-vector for reading effort of joint_states (#188 )
  • [pr2eus/robot-interface.l] Revert https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/188 and fix :torque-vector to return joint torques.
• update speak command
  • [speak.l] add default variable for waiting speak
  • [speak.l] add speak backward compatibility
  • [test/speak-test.test] add test for speak.l
• Contributors: Kei Okada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Yuki Furuta, Hitoshi Kamada

0.2.0 (2015-11-03)

• Bug Fixes
  • [robot-interface.l] change-inflation-range to use new service name (https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/169)
  • :interpolating-smoothp not working (https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/158)
    • [pr2eus/robot-interface] fix to work :wait-interpolation-smooth (https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/159)
    • test/default-ri-test.l: add test code for :wait-interpolation-smooth,
    • mv default-ri-test.launch-> default-ri-test.test, and add to CMakeLists.txt
• Add :go-* prototype functions (https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/164, https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/171)
  • robot-interface.l: use error instead of warn for :go-* prototype functions (https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/163)
  • [pr2eus/pr2-interface.l] fix return value of [:go-pos-unsafe-wait]{.title-ref} along with (https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/164)
  • [pr2eus/robot-inferface.l] clarify return value policy (https://github.com/k-okada/jsk_pr2eus/pull/5)
  • [pr2eus] fix go-pos-unsafe
  • pr2-interface.l: add :go-pos-unsafe, :go-pos-unsafe-no-wait, :go-pos-unsafe-wait
  • robot-interface.l: add go-* function prototype
  • pr2-interface.l : addk go-pos-no-wait and go-wait

• Support go-pos-no-wait in simulation mode

  • Display objects in simulationp (https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/168)
    • [robot-interface.l]: (send self :objects objs) should call even in simulationp
    • [test/default-ri-test.l] add test for :objects methods
  • Fix :move-to in sim mode (check frame-I'd) add test for :move-to (https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/167)
    • [pr2-interface.l] move to relative to current position only if frame-id argument is /base_footprint
    • [test/pr2-ri-test-simple.l] add test for move-to
  • Support move-to-no-wait in simplationp (https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/165)

  • [pr2-interface.l] :move-to-send , for simulation mode, do not try to call :lookup-transform
  • [pr2-interface.l] fix typo : if -> when, return-from :move-to -> return-from :move-to-send, https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/165#discussion_r37421484
  • [test/pr2-ri-test-simple.l] add test for go-pos, go-pos-no-wait, go-wait
  • [pr2eus/pr2eus/pr2-interface.l] fix typo (short modify) \@h-kamada
  • test/test-ri-test.l: :wait-interpolation retuns a list of :interpolationg
  • pr2-interface : support timer-based motion for :move-to
  • more realistic simulation mode

• use default pr2_description (https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/149)
  • [pr2eus] change pr2 camera frame namespace from /openni to /kinect_head (https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/153)
• Other New Features
  • [pr2eus/robot-interface.l] add method :find-object to robot-interface and test code (https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/180)
• Misc Updates
  • [pr2eus/CMakeLists.txt]: remove old groovy codes
  • [pr2eus/speak.l] refactor speak.l (https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/176)
    • super easy to read code
    • support wait and timeout for every speaking
    • support multi language with google engine
  • pass additional-weight-list when calling super class method (https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/148)
  • [pr2ues/robot-interface.l] check length of avs and tms in :angle-vector-sequence; add test code (https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/151)
• Contributors: Kamada Hitoshi, Kei Okada, Masaki Murooka, Yuki Furuta, Yuto Inagaki

0.1.11 (2015-06-11)

• [pr2eus] Print warning message if controller-timeout is nil in robot-interface
• [robot-interface.l] do not raise error when controller have wrong joint name
• [test/pr2-ri-test-simple.l] add test for wrong controller
• Revert "[pr2eus] Use get-topics in speak.l to check whether already advertised or not" This reverts commit 134353868b4e826a8a879bb3ac3b9dcbb500a7da.
• [robot-interface.l] update joint in (ri . robot) only in controller-type
• [robot-interface.l] update only cotroller joint for simulation mode
• [robot-interface.l] add documents for public methods
• [robot-interface.l] :angle-vector-sequence use default if nil ctype was passed
• [robot-interface.l] :angle-vector use default if nil ctype was passed
• [pr2eus] Use get-topics in speak.l to check whether already advertised or not
• [pr2eus/CMakeLists.txt] add eusdoc
• [pr2eus] remove old manifest.xml
• [pr2eus] Fix :interpolatingp by using ros::simple-goal-state-active instead of actoinlib_msgs::GoalStatus::active
• [pr2eus] Support ctype in :interpolatingp
• add publish-joint-state and update viewer for the last pose in angle-vector-sequence
• [robot-interface.l] add zero div check
• Contributors: Kei Okada, Kentaro Wada, Ryohei Ueda, Yuto Inagaki, Shintaro Noda

0.1.10 (2015-04-03)

• [robot-interface.l, pr2-interface.l] support :fast in :angle-vector-sequence
• Contributors: Yuto Inagaki

0.1.9 (2015-04-03)

• [robot-interface.l] :min-time=0.0 in :angle-vector-sequence because smooth angle-vector may have short duration for each angle-vector
• [jsk_pr2eus] FIx :angle-vector-sequence by passing ctype argument to :angle-vector-duration
• [pr2-interface.l] remove unused service call '/move_base_node/clear_unknown_space'
• [robot-interface.l] change default 5 to 1 as :scale in angle-vector
• [robot-intetface.l] check if :controller-type is valid in :angle-vector and :angle-vector-sequence
• [robot-interface.l] Support ctype in :angle-vector-duration
• [robot-interface.l] add :angle-vector-safe for prototype robot
• [robot-interface.l] Add euslisp implementation mannequin mode. (:eus-mannequin-mode)
• [robot-interface.l] modify robot-interface.l to support control_msgs::SingleJointPositionGoal
• Contributors: Kei Okada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Yuki Furuta, Yuto Inagaki

0.1.8 (2015-02-25)

• Modify wrong maintainer and author name.
• [pr2eus/robot-interface.l] load rosgraph_msgs
• [pr2eus/catkin.cmake] need to call roseus at the end of find_package so that roseus.cmake can read all package files
• Contributors: Kei Okada, Yuto Inagaki

0.1.7 (2015-02-10)

• [pr2eus] Add sound_play and rosgraph_msgs to find_package to generate messages for roseus
• Updat definition of make-robot-interface-from-name and add robot-init-from-name function
• modify :angle-vector-sequence to use angle-vector-duration
• [pr2eus] Add make-robot-interface-from-name function to create robot-interface instance from name
• [pr2eus] Repair :angle-vector args document
• return list of t at :wait-interpolation on simulation mode
• fix actionlib error
• fix :wait-interpolation-smooth
• create controller-action-client to process feedback for :wait-interpolation-smooth
• use angle-vector-duration when time is not setted
• add make-plan method for move base
• change variables names.
• enable specification of wait-until-update time for joint-state
• fix: do not use limited buffer for publishing joint state at simulation mode
• add :publish-joint-states-topic keyword to robot-interface for publishing joint_states from the other name
• add :wait t option to speak-en
• add nod function for pr2
• add tuckarm outside
• add test code to check default-robot-interface.l
• add google sound option
• add :move-trajectory-sequence
• add codes in order to use move-trajectory
• avoid to create action and subscriber twice
• reduce assoc
• use let only once
• merge joint-states message which contain other joints. add option to wait until all joint data is updated
• (pr2.l) Generate pr2.l model again
• (jsk-ros-pkg/jsk_model_tools#18) pr2eus/make-pr2-model-file.l : remove :camera method which is already committed to irtrobot.l
• do not loop bag file, to privet output TF_OLD_DATA
• add unsubscribe /clock after checking /clock
• Contributors: Hitoshi Kamada, Yuki Furuta, Kei Okada, Yuto Inagaki, JSK Lab member, Chi Wun Au, Masaki Murooka, Ryohei Ueda, Yohei Kakiuchi, Shunichi Nozawa

0.1.6 (2014-05-11)

• Merge pull request #32 from k-okada/add_roseus_msgs remove roseus_msgs from run_depend
• remove roseus_msgs from run_depend

0.1.5 (2014-05-03)

• Merge pull request #26 from k-okada/22_fix_use_sim_time_check fix wrong commit on #22
• fix wrong commit on #22
• Contributors: Kei Okada

0.1.4 (2014-05-02)

• add roseus_msgs to run_depend
• Contributors: Kei Okada

0.1.3 (2014-05-02)

• install sample program with executable bit
• Contributors: Kei Okada

0.1.2 (2014-05-01)

• install only lisp and launch files
• Contributors: Kei Okada

0.1.1 (2014-05-01)

• add metapackage
• change roseus-svnrevision -> roseus-repo-version, due to https://github.com/jsk-ros-pkg/jsk_roseus/pull/34
• set time-limit 1800
• bugfix: change link name
• disable pr2-ri-test since this requires gazebo
• fix find_package components for groovy, generae missing package via generete-all-msg-srv.sh
• add :controller-timeout keyword to robot-interface to specify the timeout to wait controller
• add warn and exit the program for jsk-ros-pkg/jsk_common#186
• Merge pull request #8 from YoheiKakiuchi/fix_joint_trajectory fix send-trajectory
• #11: back to gazebo from gzserver when testing pr2-ri-test.launch
• #11: use gzserver instead of gazebo on test
• Merge remote-tracking branch 'origin/master' into youhei-tip
• fix send-trajectory
• fix send-trajectory
• add keyword :joint-states-topic for changing jonit_states name
• install euslisp files in the package root directory: last catkinize commit was also done by murooka
• catkinize pr2eus
• fixed method to get links for new pr2 model
• update pr2 model, fix kinect geometry
• use joint_trajectory_action -> follow_joint_trajectory
• delete commit r5583
• add --no-link-suffix,--no-joint-suffix, concerning backword compatibility
• update pr2 model
• do not use 0.2 sec marge, now the mergin is only 0.1 sec, see https://code.google.com/p/rtm-ros-robotics/issues/detail?id=276 for more detail
• fix window name and draw floor for robot-interface's simulation mode, see Isseue 42, this requries r979(https://sourceforge.net/p/jskeus/code/979/) of jskeus
• add comments for go-velocity arguments and use msec in animation codes
• remove unused local variables
• ignore not existing joint
• add move base range in args of ik
• use :additional-weight-list to set weight without using index of weight vector explicitly ;; test pr2's ik by euscollada/pr2.sh and ik-test.l
• update ros-wait
• fix minor bug
• add :ros-wait method to robot-interface
• fix for using :move-to with /base_footprint as frame_id, [#234]
• update parameter for avoiding warning message, [#233]
• remove :wait-interpolation finish check on pr2-tuckarm-pose
• move code of visuazlizing trajectory to robot-inreface.l from pr2eus_openrave
• modified loading dependant programs, no longer needed require basic roseus codes
• modified time-limit for low power PC
• add checking correctly finished :wait-interpolation on pr2-tuckarm-pose
• add check code for result of move command, nil will be returned if failed or canceled
• add optional force-stop to :go-stop method
• add check of length c = 2 for dual arm manipulation
• use angle-vector-sequence in angle-vector-with-constraint when ri simulation
• #216, support select-target-arm for dual ik
• setup :header :seq, see [#160]
• send with move_base_simplw if /move_base/goal failed, see [#160]
• use /map frame to send move_base/goal, see [#160]
• add description for voice text command
• enable to add arguments for xx-vector methods, which is reported kuroiwa
• r4702 requires fix to make-pr2-model-file.l #200
• fix pr2-ri-test to pass the test
• fix :stop-grasp retunrs t
• add :namespace keyword to robot-interface, see [tickets:#203]
• remove / from /joint_states according to [tickets:#202]
• add -r option (headless) for fuerte
• until hydro, gazebo needs GPU to start, so use DISPLAY to :0.0 for test
• do not wrap around -180/180 degree [#91]
• support :angle-vector over 360 degree, [#91]
• fix time-limit 300->600
• add test code for :angle-vector-with-constraint
• support :arms in :angle-vector-with-constraint, [#91]
• retry twice if :move-gripper is not converged, see [#159]
• remove pause mode flag
• add :angle-vector-with-constraiont method, may be we can move to robot-interface?
• add tset code for #91
• expand pr2_empty_world.launch files to respawn gazebo
• add test code which show wait-interpolation get dead
• use package:// for loading speak.l
• groovy needs throttled true to launch head-less gazebo?
• add debug message for :start-grasp
• fix #159, use robot-update-state to double check the length between tips
• set time-limit to 300
• shorten test code
• return gripper with when simulation mode
• [#159] fix start-grasp, resend move-gripper when reached_goal is nil
• add test-start-grasp
• fix commit error [r4499]
• fix: relax camera position differs
• add keyword :use-tf2 and :joint-state-topic to robot-interface
• relax camera position differs
• update pr1012 bag/yaml file for new pr2 robot with sensor robot
• add comment to get bag files
• update pr2.l eus model with sensor head
• update robot_description dump for pr1040
• add PR2_NO argument to make-pr2-model-file-test.launch
• add urdf file which dumped robot_description in pr1040
• add pr2-ri-test.launch
• fix for joint name mismatch between ros and eus
• :move-to retunls nil if not reached to the goal (not closer than 200mm) #160
• relax test sequence
• do not use collada_urdf_jsk_patch, use collada_urdf
• (send ri :state :worldcoords) return worldcoords when ri simulation
• commit add :draw-objects methods, update robot-interface viewer while :move-to in simulation mode
• :move-to takes absolute coordinats as an arguments, currently it does not take into account frame-id, every coords must be relative to world
• add comment
• revert [#1445], since min/max limit of infinite rotational joint has changed from 180 to 270 in https://sourceforge.net/p/jskeus/tickets/25/
• go-pos moves robot in relatively: fix code unless joint-action-enable, Fixed [#146]
• fix wreit-r of reset pose from 180->0 [#145]
• support :object key in :start-grasp [#144]
• support if link-list and move-target is not defined in dual-arm ik mode
• add pr2 ik test with both hands
• support when dual-arm-ik when link-list is not set
• use ros::service-call to change tilt_laser_mux/select [#94]
• use check-continuous-joint-move-over-180 for simulation-modep [#91]
• fixed tuckarm-pose angle-vector
• fix: using :{larm,rarm,head,torso}-controller and :{larm,rarm,head,torso}-angle-vector
• add use-tilt-laser-obstacle-cloud
• workaround for unintentional 360 joint rotation problem [#91]
• fix to work pr2-read-state with X-less environment [#59]
• change name cancel-all-goals -> go-stop and do not speak in the method, check joint-action-enable, [#66]
• add cancel-all-goals
• add test for start-grasp
• add :simulation-modep method to robot-interface
• do not launch viewer when robot-interface is already created [#71]
• add pr2-grasp-test
• support no display environment [#59]
• fix [#49] by mikita
• suport (send ri :init :objects (list (roomxxx))) style interface for simulation environment with objects [#49]
• fix: add keyword :timeout
• temporary remove :add-controller for pr2
• fix: larm-angle-vector and rarm-angle-vector
• update robot-interface.l for using joint group
• method for adding additional controllers
• fix: tuckarm pose
• add :wait-torso method to pr2-interface
• update for using (send ri :potentio-vector)
• fix #50, velocity limit for both plug/minus
• added wait option for stop-grasp
• use PLATFORM_FLOAT64 for daeFloat, collada-fom for groovy uses -DCOLLADA_DOM_DAEFLOAT_IS64, update pr2.l to use double precision value
• update: method :state .. use :update-robot-state
• remove debug message
• fix bug for continuous turning
• add a missing variable
• fix: initialization function name should be {robotname}-init
• fix: check absolute rotation angle
• using method :cancel-all-goals instead of :cancel-goal
• add :cancel-angle-vector and :stop-motion method for stopping motion
• add updated urdf file and corresponding bag files
• update pr2 model for fuerte
• autogenerating camera frame for fuerte
• fix calling ros::init if ros is not running
• add :ros-joint-angle for using meter/radian unit
• change: enable to pass robot instance
• fix minor bugs
• fix minor bugs
• fix for liner-joint
• add :send-trajectory to robot interface for using directly JointTrajectory.msg
• move pr2-arm-navigation from pr2eus to pr2eus_armnavigation
• add arm-navigation wrapper for PR2
• add pr2-arm-navigation.l for using arm_navigation stack
• fix go-pos-unsafe, cehck if reached to the original goal using odom and retly if needed, set minimum go-pos-unsafe time to 1000 add debug message
• move kinect_frame transform infrmatin to /opt/ros/electric/urdf/robot.xml
• remove description for static tf nodes
• find vector method from (send self :methods) if exists such as :reference-vector and :error-vector
• find vector method from (send self :methods) if exists such as :reference-vector and :error-vector
• add groupname to slots variables of robot-interface
• add ros node initialize check
• change variable name viewer -> create-viewer
• add pr2-interface setup function
• change for using private queue group in robot-interface in order to divide spin group
• use rosrun rosbag play instaed of rosrun rosbag rosbag
• use equal, not eq to check link name
• use string joint/link name rule, add pr2-senros-robot for camera model
• fix for r3056 (use string as link name too, see #748)
• support dual-arm ik which uses target-coords, move-target, and link-list as cons ;; fix move-arm, thre, and rthre definitions
• update tuckarm-pose for non-collision and min-max safe version
• support :joint-action-enable to change real/virtual robot environment. Ask users to really move robot? when :warningp is set, #758
• support :stop keyword to :inverse-kinematics
• use lib/llib/unittest.l
• use string-equal to check joint-name
• key of controller action name (:controller -> :controller-action)
• fixed to use string type joint names
• fix for jskeus r773 :gripper method in irtrobot class
• add reference/error vector method in robot-interface
• fix for joint with string name, <euscollada/src/collada2eus.cpp@2969>
• use string joint-name
• spin once before check robot state variables
• fix typo
• update for #719, add accessor to openni camera frames
• support loos checking of cmaera name, currently we are trying to move namer name from string style to keyword style
• use (pr2) to instantiate pr2 robot
• change parent of larm-end-coords from l/r_gripper_parm_link to l/r_gripper_tool_frame
• fix pr2.l compile rule
• use _roscore_failed for not run make-pr2-model-file without roscore and /robot_description environment
• eps=0.01 for camera projection check
• update pr2.l
• update pr2model to r2714 euscollada
• update pr2 model for r2693 or euscollada
• add a test for link weight, update pr2.l model file
• retake pr1012_sensors.bag
• update test bagfile for pr2 sensors and kinect/tf
• check link-coords, currently this is commented out
• fix openni camera link coordinates see jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch
• update test bagfile for pr2 sensors
• add debug message and add pr2-camera-coords-test
• add debug message
• update pr2eus-test to make robot model on the fly
• update l_finger_tip_link position
• fix syntax error on :publish-joint-state
• fix syntax error on :publish-joint-state
• update publish-joint-state for pr2, publish gripper joint_state
• remove dependency for pr2* from roseus
• update pr2.l with safty controller limit
• add black color to kinect
• add test for link position
• rename j_robotsound -> robotsound_jp
• sleep 1 second after advertising
• add japanese speech topic for pr2-interface
• move robot-interface from roseus to pr2eus
• added sound_play function
• add kinect camera
• add strict check for camera number test
• fix make-pr2-model-file as urdf_to_collada supports dae file loading
• robot-interface :state with no argument is obsolated, and add warning messages
• :go-pos-unsafe updated, 1000 times msec
• removed initialize-costmap, this is obsolated
• I checked latest pr2.l works well by my program
• pr2-interface :state :odom :pose should return coordinates
• add test for sensor read methods of pr2-interface
• added :set-robot-state1 method to update robot-state variable, and store the time stamp of current joint_states
• changed global frame for (:move-to and :state :worldcoords), /map -> /world
• unchanged min-max angle is OK
• added prosilica and kinect camra to bag in test
• change count for wait slow camera info topic
• do not make error when expected difference between unstable and stable model
• fix assert message type
• add debug messages
• fix tpo in format string
• rename variable, use stable and unstable
• fix camera test code
• fix to work when camera_info is not found
• add make-pr2-model-file-test
• remove debug code
• fix make-pr2-model-file so that other package can use this
• default frame-id of pr2:move-to is /map
• pr2-robot does not calcurate joint-torque in torque-vector method
• changed to use robot-interface
• devide pr2-interface into robot common interface and pr2 specific methods
• check if velocity and efforts in /joint_states are same length as joint list
• added joint-action-enable check for :publish-joint-state
• instantiate transform-listener in ros-interface :init
• error handling when time list contains 0.0 in angle-vector-sequence
• miss understanding of pr2-robot origin coords, base_footprint
• add (if p) in pr2-interface :objects
• fix when frame_id is base_link
• fix compile warning -> velocities in :update-robot-state
• add :state :worldcoords, update :move-to, use :go-velocity after the robot reached gaol using move_base navigation controller
• dissoc before copy-object
• check viewer in :objects, because viewer only exists in simulation mode
• changed go-pos-unsafe to use 80% of max velocity
• remove x::draw-things
• fix :start-grasp, dissoc if already assoced, use x::draw-thing in :objects, etc
• fix segfault
• add :objects for simulation mode to display objects in pr2-interface viewer, also simulation mode is supported in :start-grasp and :stop-grasp
• add :gripper :links to return gripper links
• do not call dynamic reconfigure to static costmap, but it will repaired
• update navigation utility to electric
• add simulation mode to go-pos-unsafe and go-velocity
• add go-pos-unsafe
• update navigation parameter methods in pr2-interface
• change pr2-interface to update robot-model by joint_state msg which contains unknown joint names
• add joint-action-enable for :move-to
• add accessor to :robot and :viewer
• fix when x::display is 0
• fix type anlge -> angle
• change :start-grasp :wait nil -> t, and returns the space length of the gripper
• update :move-gripper, move gripper in simulation mode
• update pr2-tuckarm-pose smarter
• fix gripper joint manually
• update tuckarm pose method, and send angle-vector by each controller
• dump euscollada-robot definition to euscollada robot files and update pr2eus/pr2.l
• update pr2.l for latest euscollada/pr2.l ;; use euscollada-robot class instead of robot-model class ;; please refer to jsk-ros-pkg -r1822 commit
• fix previous commit : do not invoke viewer when no x:display found
• do not invoke viewer when no x:display found
• add pr2-ik-test.l and pr2eus-test.launch
• fix l_gripper_r_finger_tip_link -> l_wrist_roll_link
• add pr2-ik-test.l
• manually fix bug #560
• use palm link as parent of endcoords
• update with kinect model
• update pr2 model with safety_limit
• use :state :potentio-vector instead of old :state method call
• update pr2-read-state.l to draw torque
• add max velocity and torque in :init-ending
• set the name of base_trajectory action to same other actions
• fix typo pr2_base_trajectory_action
• update topic name for pr2_base_trajectory_action
• revert accidentally commit
• update namespace of pr2_base_trajectory_action
• add publish-joint-state method, which publish joint_states when joint-action-enable is nil
• set joint-action-enable t before wait-fore pr2-action-server
• wait for joint-velocity to zero, in wait-interpolation for pr2
• add defun make-camera-from-ros-camera-info-aux
• make-camera-from-ros-camera-info-aux is required for non-roseus users
• fix hrp4 -> robot
• split pr2-interface to pr2-interface and ros-interface
• remove defun make-camera-from-ros-camera-info-aux, which is now defined in roseus-utils.l
• support :state :torque-vector, by mikita
• add effort to state in pr2-interface class
• use :torso_lift_joint method
• add dummy massproperty pr2.l
• add message name to constant in msg definition
• update pr2.l model 2010523
• add clear-costmap, initialize-costmap, change-inflation-range, call clear-costmap when the robot retry move-to function i n (send ri :move-to)
• fix contious rotational joint problems, pr2 controller use joint angle value directory, so we add offset before sending the trajectory
• add and fix sub-angle-vector method, fix simulation mode
• :angle-vector-sequence returns angle-vector-sequence
• send only one message in pr2-angle-vector-sequence method
• fix diff-angle-vector in :angle-vector-sequence
• add diff-angle-vector function in :anlge-vector-sequence for calculating velocity vector for interpolation
• cropping angle of infinite rotational joint supported in irtmodel.l
• set :min and :max for infinite rotational joint is inf and -inf
• add simulation mode code in :angle-vector-sequence
• draw interpolated postures unless joint-action-enable in :angle-vector
• remove typo
• remove spin-once in (:angle-vector-sequence
• remove spin-once in (:angle-vector
• fix :inverse-kinematics move-arm move-target link-list, #493
• if no viewer is executed before pr2-interface viewer, set pr2-interface viewer as a defulat viewer, so that users are able to use them as a default view
• fix fingertip pressure zero-reset, update pr2-read-state sample
• add ** to msg constant type
• we can send JointTrajectoryActionGoal to torso and head in diamondback
• update grasp timing in tuckarm-pose, add pr2-reset-pose
• add pr2 tuckarm pose function
• remove useless number 1 in ros::ros-warn
• use ros::ros-warn instaed of warning-message
• support sending go-velocity countinously, and once
• support sending go-velocity countinously
• fix go-velocity function
• add go-velocity method using trajectoy and safe_teleop
• add go-velocity to pr2-interface.l
• torso and head did not accept time_from_start, it only accept duration
• update pr2.l with :camera and :cameras
• add to generate :cameras and :camera by chen and k-okada
• require pr2-utils, show viewer in NON-joint-action-enable mode
• if robot-joint-disabled, :state sends recieved angle-vector
• pr2-interface :init works unless it connected to pr2
• update ros-infro comment
• update pr2.l using r769
• update :*-cmaera method definitoin, support forward-message-to
• fix :inverse-kinematics with use-base
• update :inverse-kinematics with use-base
• update :inverse-kinematics support use-torso, use-base, move-arm
• In head point action, pointing_frame is not used, and change translate length
• add fingertip pressure subscriber, to use finger-pressure call reset-fingertip beforehand
• set time out for gripper action
• action start time should be future, i think
• use :wait-interpolation, remove sleep
• fix do not generate pr2.l if it already exists
• add move_base_msgs
• fix problem, when not add roseus to /home/k-okada/ros/cturtle/ros/bin:/usr/local/cuda/bin/:.:/home/k-okada/bin:/usr/local/bin:/usr/local/svs/bin:/usr/java/j2sdk1.4.1/bin/:/usr/bin:/bin/:/usr/sbin:/sbin:/usr/X11R6/bin:/usr/local/jsk/bin:/home/k-okada/ros/cturtle/jsk-ros-pkg/euslisp/jskeus/eus/Linux/bin:/bin:/usr/h8300-hitachi-hms/bin:/usr/local/ELDK4.1/usr/bin:/home/k-okada/prog/scripts:/usr/local/src/gxp
• rename cmaera->camera-model, viewing->vwing
• update pr2model with new make-camera-from-ros-info-aux
• update to new make-camera-from-ros-info-aux
• update pr2 model file
• add pr2 model file at 100929
• delete load-pr2-file.l
• load-pr2-file is removed, now we use make-pr2-modle-file
• generate pr2model from camera_info and /robot_description
• front of high_def_frame is +x
• set pointing_frame to look-at-point action goal
• fix to move head-end-coords in sending current pose
• update :angle-vector-sequence to work with real-pr2 robot
• add :angle-vector-sequence based on interpolator::push in rats/src/interpolator.cpp
• update :send-pr2-controller interface (:send-pr2-controller nil (action joint-names all-positions all-velocities starttiem duration)
• support send pr2 :inverse-kinematics c
• add test code for load-pr2-file
• add load-pr2-file
• add dual arm jacobian, torque sample by s.nozawa
• fix pr2 gripper action sending
• add hrp2 compatible :go-pos [m] [m] [degree] method
• remove waiting for move-base action in pr2-interface :init
• change to startable pr2-interface when move_base not found
• add :move-to method and move-base-action slot variable
• add :gripper and :override :limb of irtrobot.l to suppoer send pr2 :larm :gripper :angle-vector
• change to use roseus, whcih automatically load roseus.l eustf.l actionlib.l
• change to use pr2.l in pr2eus directory
• rosmake pr2eus to generate pr2.l
• fix to use require for eustf and actionlib
• revert to r527 float mod is supported in eus
• result of (r2deg p) should be integer for using mod
• crop joint-angle to +- 360 in :state :potentio-vector
• add depend package
• add gripper action to pr2-interface
• wait at most 10 seconds
• fix return-from, in :state method
• fix syntax error (require :keyword path) <- (require path)
• add pr2_controllers_msgs
• fix to use package:// load style
• rename roseus-add-{msgs,srvs}->ros::roseus->add-{msgs,srvs}
• pr2model is obsoluted
• add pr2 ros controlelr and euslisp interface
• add utility functions for pr2 euslisp model
• add sample program and launch file for PR2 users
• remove piped-fork and use ros::rospack-find
• modify pr2model.l to head joint
• add reset manip pose to pr2
• fix pr2model, support :fix and :relative mode in :inverse-kinematics, see hold-cup in 2010_05_pr2ws/sample-motion.l for example
• override :init, set reset-pose as initial pose
• fix many bags to move pr2 by joint angle actionlib interface
• change middle-body-joint-angle-list API: omit string-upcase for joitn name
• add pr2eus model, which depends on urdf2eus
• Contributors: Haseru Chen, Yuki Furuta, Kei Okada, Yuto Inagaki, Satoshi Iwaishi, Manabu Saito, Shunichi Nozawa, Kazuto Murase, Masaki Murooka, Ryohei Ueda, Yohei Kakiuchi, Yusuke Furuta, Hiroyuki Mikita, Otsubo Satoshi