From 460f33869e1d239459b3443089f7c53a9e23c83b Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Mon, 20 May 2024 14:39:20 +0900 Subject: [PATCH 1/4] [develop/fetch][gazebo] support fetch noetic build using knorth55's patch --- jsk_fetch_robot/jsk_fetch_user.noetic.repos | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_user.noetic.repos diff --git a/jsk_fetch_robot/jsk_fetch_user.noetic.repos b/jsk_fetch_robot/jsk_fetch_user.noetic.repos new file mode 100644 index 0000000000..15f4b2594f --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_user.noetic.repos @@ -0,0 +1,19 @@ +repositories: + jsk-ros-pkg/jsk_demos: + type: git + url: git@github.com:jsk-ros-pkg/jsk_demos + version: master + # In order to avoid issue https://github.com/jsk-ros-pkg/jsk_robot/issues/1665, + # we need to use development branch until PR below are merged + # https://github.com/ZebraDevs/fetch_ros/pull/162 + # https://github.com/ZebraDevs/fetch_ros/pull/163 + # https://github.com/ZebraDevs/fetch_ros/pull/164 + ZebraDevs/fetch_ros: + type: git + url: git@github.com:mqcmd196/fetch_ros + version: noetic-develop/fetch + # fetch_gazebo for noetic is not released + ZebraDevs/fetch_gazebo: + type: git + url: git@github.com:ZebraDevs/fetch_gazebo + version: gazebo11 From 57f450028fcc9679a201017c761f66e091159abd Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Mon, 20 May 2024 14:54:24 +0900 Subject: [PATCH 2/4] [develop/fetch][gazebo] add arg to launch google_analyze_text cpu_monitor for gazebo --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 3 ++- .../jsk_fetch_startup/launch/fetch_gazebo_bringup.launch | 2 ++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 539974b2b4..44e3a410e5 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -43,6 +43,7 @@ + @@ -152,7 +153,7 @@ + args="--diag-hostname=my_machine" if="$(arg launch_cpu_monitor)"> diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_gazebo_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_gazebo_bringup.launch index 0d48cab9e7..d3a4da481c 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_gazebo_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_gazebo_bringup.launch @@ -80,5 +80,7 @@ + + From 2e1bb20a1afec11ca56b6b621b217c2e90295bdf Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Tue, 21 May 2024 11:06:39 +0900 Subject: [PATCH 3/4] [develop/fetch][gazebo] update README for launching gazebo --- jsk_fetch_robot/README.md | 28 +++++++++++++++++++++++++++- 1 file changed, 27 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/README.md b/jsk_fetch_robot/README.md index 51c6144640..502caa6070 100644 --- a/jsk_fetch_robot/README.md +++ b/jsk_fetch_robot/README.md @@ -38,7 +38,10 @@ First, you need to install ROS. For ROS melodic, please refer to install guide like [here](http://wiki.ros.org/melodic/Installation/Ubuntu). Please make sure your ROS Distribution is indigo, kinetic or melodic. +#### The client user for indigo, kinetic melodic + ```bash +source /opt/ros/*/setup.bash mkdir -p catkin_ws/src cd catkin_ws/src wstool init . @@ -53,7 +56,6 @@ wstool update -t . wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_roseus/master/setup_upstream.sh -O /tmp/setup_upstream.sh bash /tmp/setup_upstream.sh -w ../ -p jsk-ros-pkg/geneus -p euslisp/jskeus -source /opt/ros/$ROS_DISTRO/setup.bash rosdep install -y -r --from-paths . --ignore-src cd ../ # (optional): if you want to use roseus_resume, build roseus_resume, too. @@ -62,6 +64,22 @@ catkin build fetcheus jsk_fetch_startup source devel/setup.bash ``` +#### The client user for noetic + +```bash +source /opt/ros/noetic/setup.bash +mkdir -p catkin_ws/src/jsk-ros-pkg +cd catkin_ws/src/jsk-ros-pkg +git clone git@github.com:jsk-ros-pkg/jsk_robot -b develop/fetch +cd ../ +vcs import < jsk-ros-pkg/jsk_robot/jsk_fetch_robot/jsk_fetch_user.noetic.repos +cd ../ +rosdep update +rosdep install -y -r --from-paths src --ignore-src +catkin build fetcheus jsk_fetch_startup +source devel/setup.bash +``` + #### Setup Environment (For Robot Internal PC, only for advanced developer) ```bash @@ -124,6 +142,14 @@ roslaunch fetch_gazebo simulation.launch roslaunch fetch_moveit_config move_group.launch ``` +Or you can launch + +```bash +roslaunch jsk_fetch_startup fetch_gazebo_bringup.launch launch_move_base:=false +``` + +If you want to use JSK's 73B2 gazebo environment, you can launch + Roseus script can be executed on Gazebo. The whole demo is in `jsk_fetch_gazebo_demo/launch/demo.launch` ```bash roslaunch jsk_fetch_gazebo_demo demo.launch From bc6359c18f29a89f0bd34e0a595dc456d741c4b3 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Tue, 21 May 2024 12:20:24 +0900 Subject: [PATCH 4/4] [develop/fetch][gazebo] remove noetic in launch file for loading navigation yaml parameter because all fetch in jsk are melodic --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 44e3a410e5..96a60ae580 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -343,12 +343,12 @@ + file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_amcl_melodic_params.yaml" /> + file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_move_base_melodic_params.yaml" />