Use hrpsys_gazebo_general scripts in hrpsys_gazebo_tutorials

hrpsys_gazebo_general/cmake/compile_robot_model_for_gazebo.cmake

@@ -2,6 +2,10 @@
 ## define macros
 ##
 macro (generate_gazebo_urdf_file daefile)
+  if(NOT EXISTS ${daefile})
+    message(WARNING "generate gazebo_urdf_file: ${daefile} not found.")
+    break()
+  endif(NOT EXISTS ${daefile})
   # set variable
   if(hrpsys_gazebo_general_SOURCE_DIR)
     set(hrpsys_gazebo_general_PACKAGE_PATH ${hrpsys_gazebo_general_SOURCE_DIR})
@@ -18,7 +22,7 @@ macro (generate_gazebo_urdf_file daefile)
   add_custom_command(OUTPUT ${_out_dir}/meshes
     COMMAND mkdir ${_out_dir}/meshes)
   # convert dae to urdf
-  message("generate_gazebo_urdf_file ${daefile}")
+  message("generate_gazebo_urdf_file: converting ${daefile}.")
   ## ${compile_robots} is a global target used in compile_robot_model.cmake of hrpsys_ros_bridge.
   ## this dependency means that converting urdf after executing all of ${compile_robots}.
   add_custom_command(OUTPUT ${_out_urdf_file}
@@ -32,22 +36,22 @@ macro (generate_gazebo_urdf_file daefile)
   add_custom_command(OUTPUT ${_out_urdf_gazebo_file}
     COMMAND sed -e "s@package://${PROJECT_NAME}/robot_models/@model://@g" ${_out_urdf_file} > ${_out_urdf_gazebo_file}
     DEPENDS ${_out_urdf_file})
-  add_custom_target(${_robot_name}_compile DEPENDS ${_out_urdf_gazebo_file})
+  add_custom_target(${_robot_name}_${PROJECT_NAME}_compile DEPENDS ${_out_urdf_gazebo_file})
   # generate launch and world file
   set(ROBOT ${_robot_name})
   string(TOLOWER ${_robot_name} _robot_sname)
   if(NOT EXISTS ${PROJECT_SOURCE_DIR}/launch/gazebo_${_robot_sname}_no_controllers.launch)
     configure_file(${hrpsys_gazebo_general_PACKAGE_PATH}/scripts/default_gazebo_robot_no_controllers.launch.in ${PROJECT_SOURCE_DIR}/launch/gazebo_${_robot_sname}_no_controllers.launch)
-    list(APPEND ${_robot_name}_compile ${PROJECT_SOURCE_DIR}/launch/gazebo_${_robot_sname}_no_controllers.launch)
+    list(APPEND ${_robot_name}_${PROJECT_NAME}_compile ${PROJECT_SOURCE_DIR}/launch/gazebo_${_robot_sname}_no_controllers.launch)
   endif()
   if(NOT EXISTS ${PROJECT_SOURCE_DIR}/launch/${_robot_sname}_hrpsys_bringup.launch)
     configure_file(${hrpsys_gazebo_general_PACKAGE_PATH}/scripts/default_robot_hrpsys_bringup.launch.in ${_robot_sname}_hrpsys_bringup.launch)
-    list(APPEND ${_robot_name}_compile ${PROJECT_SOURCE_DIR}/launch/${_robot_sname}_hrpsys_bringup.launch)
+    list(APPEND ${_robot_name}_${PROJECT_NAME}_compile ${PROJECT_SOURCE_DIR}/launch/${_robot_sname}_hrpsys_bringup.launch)
   endif()
   if(NOT EXISTS ${_out_dir}/model.config)
     configure_file(${hrpsys_gazebo_general_PACKAGE_PATH}/scripts/model.config.in ${_out_dir}/model.config)
-    list(APPEND ${_robot_name}_compile ${_out_dir}/model.config)
+    list(APPEND ${_robot_name}_${PROJECT_NAME}_compile ${_out_dir}/model.config)
   endif()
-  list(APPEND compile_urdf_robots ${_robot_name}_compile)
+  list(APPEND compile_urdf_robots ${_robot_name}_${PROJECT_NAME}_compile)
   install(DIRECTORY ${_out_dir} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robot_models/ PATTERN ".svn" EXCLUDE)
 endmacro()

hrpsys_gazebo_general/launch/robot_hrpsys_bringup.launch

@@ -8,8 +8,8 @@
   <arg name="ROBOT_INSTANCE_NAME" default="$(arg ROBOT_TYPE)" />
   <arg name="USE_INSTANCE_NAME" default="false" />
   <arg name="HRPSYS_PY_ARGS" default="" />
-  <arg name="CONF_DIR" value="$(find hrpsys_ros_bridge)/models" />
-  <arg name="CONF_FILE" value="$(arg CONF_DIR)/$(arg ROBOT_TYPE).conf" />
+  <arg name="CONF_DIR" default="$(find hrpsys_ros_bridge)/models" />
+  <arg name="CONF_FILE" default="$(arg CONF_DIR)/$(arg ROBOT_TYPE).conf" />
 
   <!-- hrpsys_gazebo settings -->
   <arg name="SYNCHRONIZED" default="false" />

hrpsys_gazebo_tutorials/catkin.cmake

@@ -9,12 +9,7 @@ pkg_check_modules(openhrp3 openhrp3.1 REQUIRED)
 pkg_check_modules(hrpsys hrpsys-base REQUIRED)
 pkg_check_modules(collada_urdf_jsk_patch collada_urdf_jsk_patch)
 
-catkin_package(
-    DEPENDS
-    CATKIN_DEPENDS euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials
-    INCLUDE_DIRS # TODO include
-    LIBRARIES # TODO
-)
+catkin_package(CATKIN_DEPENDS euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tutorials)
 
 if(NOT hrpsys_ros_bridge_tutorials_SOURCE_DIR)
   execute_process(
@@ -23,48 +18,26 @@ if(NOT hrpsys_ros_bridge_tutorials_SOURCE_DIR)
   string(REGEX REPLACE "\n" "" hrpsys_ros_bridge_tutorials_SOURCE_DIR ${hrpsys_ros_bridge_tutorials_SOURCE_DIR})
 endif()
 
-install(PROGRAMS robot_models/install_robot_common.sh 
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robot_models/)
+## Convert robot models
+if(EXISTS ${hrpsys_gazebo_general_SOURCE_DIR})
+  set(hrpsys_gazebo_general_PACKAGE_PATH ${hrpsys_gazebo_general_SOURCE_DIR})
+else()
+  set(hrpsys_gazebo_general_PACKAGE_PATH ${hrpsys_gazebo_general_PREFIX}/share/hrpsys_gazebo_general)
+endif()
+include(${hrpsys_gazebo_general_PACKAGE_PATH}/cmake/compile_robot_model_for_gazebo.cmake)
+generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/SampleRobot.dae)
+generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP3HAND_L.dae)
+generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP3HAND_R.dae)
+generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP2JSK.dae)
+generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP2JSKNT.dae)
+generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP2JSKNTS.dae)
+generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/STARO.dae)
+generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP4C.dae)
+add_custom_target(all_robots_compile_tutorials ALL DEPENDS ${compile_urdf_robots})
+
+## install
 install(FILES setup.sh
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY euslisp worlds launch config environment_models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   PATTERN ".svn" EXCLUDE)
-install(PROGRAMS scripts/gazebo scripts/gzclient scripts/gzserver scripts/eus2urdf_for_gazebo_pyscript.py scripts/generate_model_database.py scripts/make_fixed_model.py scripts/remove_all_added_models.py scripts/generate_room_world.py scripts/make_static_model.py scripts/remove_all_generated_files.py
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts/)
-
-
-macro (generate_gazebo_urdf_file _robot_name)
-  set(_out_dir "${PROJECT_SOURCE_DIR}/robot_models/${_robot_name}")
-  set(_out_urdf_file "${_out_dir}/${_robot_name}.urdf")
-  add_custom_command(OUTPUT ${_out_dir}/meshes
-    COMMAND mkdir ${_out_dir}/meshes)
-  add_custom_command(OUTPUT ${_out_dir}/hrpsys
-    COMMAND mkdir ${_out_dir}/hrpsys)
-  message("urdf input -- ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/${_robot_name}.dae")
-  # ${compile_robots} is a global target used in compile_robot_model.cmake of hrpsys_ros_bridge.
-  # this dependency means that run install_robot_common.sh after executing all of ${compile_robots}.
-    add_custom_command(OUTPUT ${_out_urdf_file}
-      COMMAND ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_robot_name} ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models  ${hrpsys_gazebo_tutorials_SOURCE_DIR}/robot_models/${_robot_name} ${collada_urdf_jsk_patch_PREFIX}/lib/collada_urdf_jsk_patch/collada_to_urdf ${PROJECT_SOURCE_DIR}/..
-      DEPENDS ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh ${_out_dir}/hrpsys ${_out_dir}/meshes ${compile_robots})
-  add_custom_target(${_robot_name}_compile DEPENDS ${_out_urdf_file})
-  set(ROBOT ${_robot_name})
-  string(TOLOWER ${_robot_name} _sname)
-  #configure_file(${PROJECT_SOURCE_DIR}/scripts/default_robot_hrpsys_bringup.launch.in ${PROJECT_SOURCE_DIR}/build/${_sname}_hrpsys_bringup.launch)
-  if(NOT EXISTS ${PROJECT_SOURCE_DIR}/launch/gazebo_${_sname}_no_controllers.launch)
-    configure_file(${PROJECT_SOURCE_DIR}/scripts/default_gazebo_robot_no_controllers.launch.in ${PROJECT_SOURCE_DIR}/launch/gazebo_${_sname}_no_controllers.launch)
-  endif()
-  list(APPEND compile_urdf_robots ${_robot_name}_compile)
-  install(DIRECTORY ${_out_dir} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robot_models/ PATTERN ".svn" EXCLUDE)
-endmacro()
-
-generate_gazebo_urdf_file(SampleRobot)
-generate_gazebo_urdf_file(HRP3HAND_L)
-generate_gazebo_urdf_file(HRP3HAND_R)
-generate_gazebo_urdf_file(HRP2JSK)
-generate_gazebo_urdf_file(HRP2JSKNT)
-generate_gazebo_urdf_file(HRP2JSKNTS)
-generate_gazebo_urdf_file(STARO)
-generate_gazebo_urdf_file(HRP4C)
-
-
-add_custom_target(all_robots_compile ALL DEPENDS ${compile_urdf_robots})
+install(DIRECTORY scripts DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} USE_SOURCE_PERMISSIONS)

hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsk_no_controllers.launch

@@ -1,17 +1,18 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="HRP2JSK.world"/>
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+  <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSK" />
-    <arg name="USE_INSTANCE_NAME" value="true" />
-    <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/HRP2JSK.yaml" />
+    <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSK/HRP2JSK.urdf.xacro" />
+
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSK.yaml" /> -->
-    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSK/HRP2JSK.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="gzname" value="$(arg gzname)" />
   </include>
 </launch>

hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknt_no_controllers.launch

@@ -1,22 +1,23 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="HRP2JSKNT.world"/>
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+  <rosparam command="load"
+            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
+  <rosparam command="load"
+            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" ns="HRP3HAND_R" />
+
+  <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSKNT" />
-    <arg name="USE_INSTANCE_NAME" value="true" />
-    <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNT.yaml" />
+    <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro" />
+
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNT.yaml" /> -->
-    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="gzname" value="$(arg gzname)" />
   </include>
-
-  <rosparam command="load"
-	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
-  <rosparam command="load"
-	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" ns="HRP3HAND_R" />
 </launch>

hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsknts_no_controllers.launch

@@ -1,22 +1,23 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="HRP2JSKNTS.world"/>
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+  <rosparam command="load"
+            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
+  <rosparam command="load"
+            file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" ns="HRP3HAND_R" />
+
+  <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
     <arg name="ROBOT_TYPE" value="HRP2JSKNTS" />
-    <arg name="USE_INSTANCE_NAME" value="true" />
-    <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNTS.yaml" />
+    <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro" />
+
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/HRP2JSKNTS.yaml" /> -->
-    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="gzname" value="$(arg gzname)" />
   </include>
-
-  <rosparam command="load"
-	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" ns="HRP3HAND_L" />
-  <rosparam command="load"
-	    file="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" ns="HRP3HAND_R" />
 </launch>

hrpsys_gazebo_tutorials/launch/gazebo_hrp3hand_l_no_controllers.launch

@@ -0,0 +1,18 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
+  <arg name="PAUSED" default="false"/>
+  <arg name="SYNCHRONIZED" default="false" />
+
+  <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="ROBOT_TYPE" value="HRP3HAND_L" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_L.yaml" />
+    <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro" />
+
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="gzname" value="$(arg gzname)" />
+  </include>
+</launch>

hrpsys_gazebo_tutorials/launch/gazebo_hrp3hand_r_no_controllers.launch

@@ -0,0 +1,18 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
+  <arg name="PAUSED" default="false"/>
+  <arg name="SYNCHRONIZED" default="false" />
+
+  <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="ROBOT_TYPE" value="HRP3HAND_R" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/HRP3HAND_R.yaml" />
+    <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro" />
+
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="gzname" value="$(arg gzname)" />
+  </include>
+</launch>

hrpsys_gazebo_tutorials/launch/gazebo_samplerobot_no_controllers.launch

@@ -1,17 +1,18 @@
 <launch>
   <arg name="gzname" default="gazebo"/>
-  <arg name="WORLD" default="SampleRobot.world"/>
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
   <arg name="PAUSED" default="false"/>
   <arg name="SYNCHRONIZED" default="false" />
 
-  <include file="$(find hrpsys_gazebo_tutorials)/launch/gazebo_robot_no_controllers.launch">
+  <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
     <arg name="ROBOT_TYPE" value="SampleRobot" />
-    <arg name="USE_INSTANCE_NAME" value="true" />
-    <arg name="gzname" value="$(arg gzname)" />
     <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/SampleRobot.yaml" />
+    <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf.xacro" />
+
     <arg name="PAUSED" value="$(arg PAUSED)"/>
-    <!-- <arg name="HRPSYS_GAZEBO_CONFIG" value="$(find hrpsys_gazebo_tutorials)/config/SampleRobot.yaml" /> -->
-    <!-- <arg name="ROBOT_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf" /> -->
     <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="gzname" value="$(arg gzname)" />
   </include>
 </launch>