Merge branch 'master' into fix-virtual-force-rate

.github/labeler_conf/main_labeler.yml

@@ -0,0 +1,24 @@
+aero:
+    - 'jsk_aero_robot/**'
+baxter:
+    - 'jsk_baxter_robot/**'
+cobotta:
+    - 'jsk_denso_robot/**'
+Fetch:
+    - 'jsk_fetch_robot/**'
+jsk_robot_startup:
+    - 'jsk_robot_common/jsk_robot_startup/**'
+naoqi:
+    - 'jsk_naoqi_robot/**'
+magni:
+    - 'jsk_magni_robot/**'
+kinova:
+    - 'jsk_kinova_robot/**'
+panda:
+    - 'jsk_panda_robot/**'
+spot:
+    - 'jsk_spot_robot/**'
+Unitree:
+    - 'jsk_unitree_robot/**'
+PR2:
+    - 'jsk_pr2_robot/**'

.github/workflows/config.yml

@@ -71,12 +71,13 @@ jobs:
         shell: bash
 
       - name: Chcekout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v3.0.2
         with:
           submodules: true
 
       - name: Start X server
         run: |
+          if [[ "${{ matrix.CONTAINER }}" =~ "jskrobotics/ros-ubuntu:14.04" ]]; then exit 0; fi
           echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections || echo "failing on ros-ubuntu is OK" # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata
           sudo apt-get -y -qq install mesa-utils x11-xserver-utils xserver-xorg-video-dummy wget
           export DISPLAY=:0
@@ -85,6 +86,7 @@ jobs:
           sleep 3 # wait x server up
           export QT_X11_NO_MITSHM=1 # http://wiki.ros.org/docker/Tutorials/GUI
           xhost +local:root
+        shell: bash
 
       - name: Run jsk_travis
         uses: jsk-ros-pkg/jsk_travis@master

.github/workflows/main_labeler.yml

@@ -0,0 +1,14 @@
+name: "Pull Request Labeler (Main)"
+on:
+  - pull_request_target
+
+jobs:
+  triage:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/[email protected]
+      with:
+        configuration-path: ".github/labeler_conf/main_labeler.yml"
+        repo-token: "${{ secrets.GITHUB_TOKEN }}"
+        sync-labels: true
+        dot: true

.travis.rosinstall

@@ -17,3 +17,10 @@
     local-name: jsk-ros-pkg/jsk_demos/jsk_maps
     uri: https://github.com/tork-a/jsk_demos-release/archive/release/melodic/jsk_maps/0.0.5-1.tar.gz
     version: jsk_demos-release-release-melodic-jsk_maps-0.0.5-1
+# use naoqi_pose, wait for melodic release https://github.com/ros-naoqi/naoqi_bridge/issues/94
+# use naoqi_apps, wait for merge https://github.com/ros-naoqi/naoqi_bridge/pull/95 & https://github.com/ros-naoqi/naoqi_bridge/pull/96
+# see https://github.com/jsk-ros-pkg/jsk_robot/pull/1718
+- git:
+   local-name: naoqi_bridge
+   uri: https://github.com/kochigami/naoqi_bridge.git
+   version: kochigami-develop

.travis.rosinstall.melodic

@@ -25,10 +25,6 @@
 - git: # https://github.com/ros-naoqi/nao_robot/issues/40
    uri: https://github.com/ros-naoqi/nao_robot.git
    local-name: nao_robot
-- git: # use naoqi_pose, wait for melodic release https://github.com/ros-naoqi/naoqi_bridge/issues/94
-   uri: https://github.com/ros-naoqi/naoqi_bridge-release.git
-   local-name: naoqi_pose
-   version: release/kinetic/naoqi_pose
 # jsk_fetch_startup requires fetch_ros with following PRs.
 # https://github.com/fetchrobotics/fetch_ros/pull/144
 # https://github.com/fetchrobotics/fetch_ros/pull/146
@@ -58,9 +54,3 @@
     local-name: DENSORobot/denso_cobotta_ros
     uri: https://github.com/DENSORobot/denso_cobotta_ros.git
     version: bb60e75adb8477ed3402561b4ec3ba687af3f397
-# switchbot_ros is not correctly released.
-# see: https://github.com/jsk-ros-pkg/jsk_3rdparty/issues/356
-- git:
-    local-name: jsk-ros-pkg/jsk_3rdparty 
-    uri: https://github.com/jsk-ros-pkg/jsk_3rdparty.git
-    version: f0ab7bba54523b8f9945ed4a3e9c0efec0c8dde9 

.travis.rosinstall.noetic

@@ -41,10 +41,6 @@
 - git: # https://github.com/ros-naoqi/nao_robot/issues/40
    uri: https://github.com/ros-naoqi/nao_robot.git
    local-name: nao_robot
-- git: # use naoqi_pose, wait for melodic release https://github.com/ros-naoqi/naoqi_bridge/issues/94
-   uri: https://github.com/ros-naoqi/naoqi_bridge-release.git
-   local-name: naoqi_pose
-   version: release/kinetic/naoqi_pose
 # for drc_task_common in jsk_demos
 # jsk_control is not released in noetic
 - git:

jsk_baxter_robot/baxtereus/baxter-softhand-interface.l

@@ -42,29 +42,29 @@
           ((equal arm :arms)
            (list lgripper-interface rgripper-interface))
           (t nil)))
-  (:start-grasp (&optional (arm :arms) &key (rotate-angle nil) &rest args &allow-other-keys)
+  (:start-grasp (&optional (arm :arms) &rest args &key (rotate-angle nil) &allow-other-keys)
     (cond
       ((equal arm :arms)
        (let ((larm-start-grasp-p (send* self :start-grasp-step :larm :rotate-angle rotate-angle args))
              (rarm-start-grasp-p (send* self :start-grasp-step :rarm :rotate-angle rotate-angle args)))
          (and larm-start-grasp-p rarm-start-grasp-p)))
       (t (send* self :start-grasp-step arm :rotate-angle rotate-angle args))))
-  (:start-grasp-step (arm &key (rotate-angle nil) &rest args &allow-other-keys)
+  (:start-grasp-step (arm &rest args &key (rotate-angle nil) &allow-other-keys)
     (cond
       ((equal (send self :get-gripper-type arm) :parallel)
        (send-super* :start-grasp arm args))
       ((or (equal (send self :get-gripper-type arm) :softhand)
            (equal (send self :get-gripper-type arm) :softhand-v2))
        (send (send self :get-gripper-interface arm) :start-grasp :rotate-angle rotate-angle))
       (t nil)))
-  (:stop-grasp (&optional (arm :arms) &key (rotate-angle nil) &rest args &allow-other-keys)
+  (:stop-grasp (&optional (arm :arms) &rest args &key (rotate-angle nil) &allow-other-keys)
     (cond
       ((equal arm :arms)
        (let ((larm-stop-grasp-p (send* self :stop-grasp-step :larm :rotate-angle rotate-angle args))
              (rarm-stop-grasp-p (send* self :stop-grasp-step :rarm :rotate-angle rotate-angle args)))
          (and larm-stop-grasp-p rarm-stop-grasp-p)))
       (t (send* self :stop-grasp-step arm args))))
-  (:stop-grasp-step (arm &key (rotate-angle nil) &rest args &allow-other-keys)
+  (:stop-grasp-step (arm &rest args &key (rotate-angle nil) &allow-other-keys)
     (cond
       ((equal (send self :get-gripper-type arm) :parallel)
        (send-super* :stop-grasp arm args))

jsk_baxter_robot/jsk_baxter_startup/jsk_baxter_description/baxter_softhand.urdf.xacro

@@ -0,0 +1,19 @@
+<?xml version="1.0" ?>
+<robot name="baxter_softhand" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:arg name="gazebo" default="false"/>
+  <xacro:arg name="pedestal" default="true"/>
+  <xacro:arg name="right_electric_gripper" default="false"/>
+  <xacro:arg name="left_electric_gripper" default="false"/>
+
+  <xacro:include filename="$(find jsk_baxter_startup)/jsk_baxter_description/baxter.urdf.xacro">
+    <xacro:arg name="gazebo" value="false"/>
+    <xacro:arg name="pedestal" value="true"/>
+    <xacro:arg name="right_electric_gripper" value="false"/>
+    <xacro:arg name="left_electric_gripper" value="false"/>
+  </xacro:include>
+
+  <xacro:include filename="$(find jsk_baxter_startup)/jsk_baxter_description/right_softhand.urdf.xacro"/>
+
+  <xacro:include filename="$(find jsk_baxter_startup)/jsk_baxter_description/left_softhand.urdf.xacro"/>
+
+</robot>

jsk_baxter_robot/jsk_baxter_startup/jsk_baxter_description/left_softhand.urdf.xacro

@@ -0,0 +1,7 @@
+<?xml version="1.0" ?>
+<robot name="left_softhand" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find jsk_baxter_startup)/jsk_baxter_description/softhand.urdf.xacro"/>
+  <xacro:softhand side="left"/>
+
+</robot>

jsk_baxter_robot/jsk_baxter_startup/jsk_baxter_description/right_softhand.urdf.xacro

@@ -0,0 +1,7 @@
+<?xml version="1.0" ?>
+<robot name="right_softhand" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find jsk_baxter_startup)/jsk_baxter_description/softhand.urdf.xacro"/>
+  <xacro:softhand side="right"/>
+
+</robot>

jsk_baxter_robot/jsk_baxter_startup/jsk_baxter_description/softhand.urdf.xacro

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<robot name="softhand" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="softhand" params="side">
+    <joint name="softhand_${side}_endpoint" type="fixed">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <parent link="${side}_gripper"/>
+      <child link="${side}_softhand"/>
+    </joint>
+    <xacro:include filename="$(find softhand_ros)/urdf/softhand_${side}.urdf.xacro" />
+  </xacro:macro>
+</robot>

jsk_denso_robot/cobottaeus/cobotta-oss-interface.l

@@ -13,7 +13,9 @@
   (:init
     (&rest args)
     (prog1
-      (send-super* :init :robot cobotta-robot :joint-states-topic "/cobotta/joint_states"
+      (send-super* :init :robot cobotta-robot
+                   :joint-states-topic "/cobotta/joint_states"
+                   :joint-states-queue-size 2  ;; joint_states of arm and gripper are separated
                    :groupname "cobotta_oss_interface" args)
       (send self :add-controller :rarm-controller)
       (ros::subscribe "/cobotta/gripper_state" std_msgs::Bool

jsk_fetch_robot/fetcheus/fetch-interface.l

@@ -6,6 +6,20 @@
 (ros::load-ros-package "fetch_driver_msgs")
 (ros::load-ros-package "robot_controllers_msgs")
 
+(when (null (assoc :delete-object-by-id (send collision-object-publisher :methods)))
+  (ros::ros-warn ";;")
+  (ros::ros-warn ";;")
+  (ros::ros-warn ";; jsk-ros-pkg/jsk_pr2eus <0.3.14 does not have :delete-object-by-id method")
+  (ros::ros-warn ";;   If you need full features of latest fetcheus, please use jsk_pr2eus from source")
+  (ros::ros-warn ";;   See https://github.com/jsk-ros-pkg/jsk_demos/pull/1375#issuecomment-1292943531")
+  (ros::ros-warn ";;")
+  (ros::ros-warn ";;")
+  (defmethod collision-object-publisher
+    (:delete-attached-object-by-id (object-id)
+      (ros::ros-warn ";; did not delete attached object \"~A\"" object-id))
+    (:delete-object-by-id (object-id)
+      (ros::ros-warn ";; did not delete object \"~A\"" object-id))))
+
 (defclass fetch-interface
   :super robot-move-base-interface
   :slots (gripper-action moveit-robot fetch-controller-action)
@@ -401,18 +415,24 @@ Example: (send self :gripper :position) => 0.00"
     t)
   (:go-pos-unsafe
     (x y d &rest args) ;; [m] [m] [degree]
+    (if (send self :simulation-modep)
+      (return-from :go-pos-unsafe (send-super* :go-pos-unsafe x y d args)))
     (send self :put :go-pos-unsafe-no-wait-goal (float-vector x y d))
     (send* self :go-pos-unsafe-wait args)
     t)
   (:go-pos-unsafe-no-wait
     (x y &optional (d 0)) ;; [m] [m] [degree]
+    (if (send self :simulation-modep)
+      (return-from :go-pos-unsafe-no-wait (send-super :go-pos-unsafe-no-wait x y d)))
     (ros::ros-warn ":go-pos-unsafe-no-wait is not supported for this robot.")
     (send self :put :go-pos-unsafe-no-wait-goal (float-vector x y d))
     t)
   (:go-pos-unsafe-wait
     (&key (translation-threshold 0.05) (rotation-threshold (deg2rad 5))
           (translation-gain 1.0) (rotation-gain 1.0)
           (min-translation-abs-vel 0.3) (min-rotation-abs-vel 0.8))
+    (if (send self :simulation-modep)
+      (return-from :go-pos-unsafe-wait (send-super :go-pos-unsafe-wait)))
     (unless (send self :get :go-pos-unsafe-no-wait-goal)
       (ros::ros-error ":go-pos-unsafe-wait is called without goal")
       (return-from :go-pos-unsafe-wait nil))

jsk_fetch_robot/fetcheus/test/test-fetcheus.l

@@ -126,6 +126,23 @@
             (format nil ":go-velocity returns t with argument ~A" go-vel-arg))
     ))
 
+;; test for kinematics simulation
+(deftest fetch-go-pos
+  (let (go-pos-arg)
+    (setq go-pos-arg (list 0.1 0.1 0.5))
+    (assert (send* *ri* :go-pos go-pos-arg)
+            (format nil ":go-pos doesn't return t with argument ~A" go-pos-arg))
+    ))
+
+;; test for kinematics simulation
+(deftest fetch-go-pos-unsafe
+  (let (go-pos-arg)
+    (setq go-pos-arg (list 0.1 0.1 0.5))
+    ;; :go-pos-unsafe returns nil
+    (assert (null (send* *ri* :go-pos-unsafe go-pos-arg))
+            (format nil ":go-pos-unsafe doesn't return t with argument ~A" go-pos-arg))
+    ))
+
 (deftest fetch-use-torso
   (let ()
     (setq *ri* (instance fetch-interface :init))

jsk_fetch_robot/jsk_fetch.rosinstall.indigo

@@ -4,29 +4,32 @@
 - git:
     local-name: PR2/app_manager
     uri: https://github.com/PR2/app_manager.git
-    version: 1.1.0
-# For fetch to use twitter
+    version: kinetic-devel
 - git:
-    local-name: furushchev/image_pipeline
-    uri: https://github.com/furushchev/image_pipeline.git
-    version: develop
-# To send lifelog data to musca
+    local-name: RobotWebTools/rosbridge_suite
+    uri: https://github.com/RobotWebTools/rosbridge_suite.git
+    version: 0.11.9
 - git:
-    local-name: strands-project/mongodb_store
-    uri: https://github.com/strands-project/mongodb_store.git
-    version: 0.4.4
-# to install jsk_robot_startup/lifelog/common_logger.launch
-# remove after current master is released
+    local-name: RoboticMaterials/FA-I-sensor
+    uri: https://github.com/RoboticMaterials/FA-I-sensor.git
+- git:
+    local-name: fetchrobotics/fetch_ros
+    uri: https://github.com/fetchrobotics/fetch_ros.git
+    version: indigo-devel
 - git:
-    local-name: jsk-ros-pkg/jsk_robot
-    uri: https://github.com/jsk-ros-pkg/jsk_robot.git
+    local-name: fetchrobotics/robot_controllers
+    uri: https://github.com/fetchrobotics/robot_controllers.git
+    version: indigo-devel
+- git:
+    local-name: jsk-ros-pkg/jsk_3rdparty
+    uri: https://github.com/jsk-ros-pkg/jsk_3rdparty.git
     version: master
 # to pass build of jsk_robot
-# remove after 2.2.10 is released
+# remove after 2.2.11 is released
 - git:
     local-name: jsk-ros-pkg/jsk_common
     uri: https://github.com/jsk-ros-pkg/jsk_common.git
-    version: 2.2.10
+    version: 799fd309c1519801fcb3a37c9094814004d78594
 # to avoid volume 0 problem
 # remove after 0.3.14 (https://github.com/jsk-ros-pkg/jsk_pr2eus/commit/41183fe3401d742bbec0edd13b67cb909a6968bd) is released
 - git:
@@ -39,7 +42,12 @@
 - git:
     local-name: jsk-ros-pkg/jsk_demos
     uri: https://github.com/jsk-ros-pkg/jsk_demos.git
-    version: 810acc7
+    version: 7c429715d0adf12c5dd34459ceb4b0a5b11dec6c
+# need to build from source because of nodelet version
+- git:
+    local-name: jsk-ros-pkg/jsk_recognition
+    uri: https://github.com/jsk-ros-pkg/jsk_recognition.git
+    version: acb7e7dc5b549f8663dec403abdb80cbac36edf1
 # jsk_topic_tools requires nodelet gte 1.9.11
 # remove after 1.9.11 is released by apt
 - git:
@@ -51,20 +59,20 @@
 - git:
     local-name: ros-drivers/audio_common
     uri: https://github.com/ros-drivers/audio_common.git
-    version: 0.3.3
+    version: master
 # to install nodelet_plugins.xml
 # remove after 1.3.10 is released by apt
 - git:
     local-name: ros-perception/slam_gmapping
     uri: https://github.com/ros-perception/slam_gmapping.git
     version: 1.3.10
-# indigo is already EOL and 2.1.13 is never released.
+# indigo is already EOL and 2.1.15 is never released.
 # set the same version as https://github.com/jsk-ros-pkg/jsk_robot/blob/master/.travis.rosinstall.indigo#L7-L11
-# change to 2.1.14 when it is released.
+# change to 2.1.15 when it is released.
 - git:
     local-name: jsk-ros-pkg/jsk_3rdparty
     uri: https://github.com/jsk-ros-pkg/jsk_3rdparty.git
-    version: 82e897dcbdcd6aa0cbd126fa122d4dbdc9df67c9
+    version: ffbd7b0592d7dd2f830f185636a1dd1695d8cb44
 # Use joy/joy_remap.py
 - git:
     local-name: ros-drivers/joystick_drivers
@@ -103,3 +111,12 @@
     local-name: fetchrobotics/fetch_open_auto_dock
     uri: https://github.com/fetchrobotics/fetch_open_auto_dock.git
     version: 0.1.2
+# indigo is already EOL and visualization_msgs is never released
+- tar:
+    local-name: ros/common_msgs/visualization_msgs
+    uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/visualization_msgs/1.12.7-0.tar.gz
+    version: common_msgs-release-release-kinetic-visualization_msgs-1.12.7-0
+- git:
+    local-name: locusrobotics/catkin_virtualenv
+    uri: https://github.com/locusrobotics/catkin_virtualenv.git
+    version: 0.5.0