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Package Summary

Tags No category tags.
Version 0.3.15
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_pr2eus.git
VCS Type git
VCS Version master
Last Updated 2023-06-22
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

pr2eus

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
README
No README found. See repository README.
CHANGELOG

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 )
  • 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)

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,
  • 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

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Package Summary

Tags No category tags.
Version 0.3.15
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_pr2eus.git
VCS Type git
VCS Version master
Last Updated 2023-06-22
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

pr2eus

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Maintainers

  • Kei Okada

Authors

  • Kei Okada
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CHANGELOG

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 )
  • 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)

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,
  • 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

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Package Summary

Tags No category tags.
Version 0.3.15
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_pr2eus.git
VCS Type git
VCS Version master
Last Updated 2023-06-22
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

pr2eus

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Maintainers

  • Kei Okada

Authors

  • Kei Okada
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CHANGELOG

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 )
  • 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)

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,
  • 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

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Package Summary

Tags No category tags.
Version 0.3.15
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_pr2eus.git
VCS Type git
VCS Version master
Last Updated 2023-06-22
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

pr2eus

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
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CHANGELOG

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 )
  • 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)

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,
  • 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

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Package Summary

Tags No category tags.
Version 0.3.15
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_pr2eus.git
VCS Type git
VCS Version master
Last Updated 2023-06-22
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

pr2eus

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
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CHANGELOG

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 )
  • 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)

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,
  • 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

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Package Summary

Tags No category tags.
Version 0.3.15
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_pr2eus.git
VCS Type git
VCS Version master
Last Updated 2023-06-22
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

pr2eus

Additional Links

Maintainers

  • Kei Okada

Authors

  • Kei Okada
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CHANGELOG

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 )
  • 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)

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,
  • 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

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