Merge pull request jsk-ros-pkg#6 from YoheiKakiuchi/add_jsk_moveit_pr2

Add jsk moveit pr2
aginika · Apr 11, 2014 · 0651dc0 · 0651dc0
2 parents 095cf53 + fe34a97
commit 0651dc0
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diff --git a/jsk_pr2_startup/jsk_pr2_moveit/demo.launch b/jsk_pr2_startup/jsk_pr2_moveit/demo.launch
@@ -0,0 +1,29 @@
+<launch>
+  <include file="$(find pr2_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <node pkg="tf" type="static_transform_publisher" name="virtual_joint_broadcaster_0"
+        args="0 0 0 0 0 0 odom_combined base_footprint 100" />
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="true"/>
+    <rosparam>
+      source_list: [joints_set]
+    </rosparam>
+  </node>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <include file="$(find pr2_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="moveit_octomap_sensor_params_file"
+         value="$(find jsk_pr2_startup)/jsk_pr2_moveit/sensors_kinect.yaml" />
+  </include>
+
+  <include file="$(find pr2_moveit_config)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+  </include>
+
+  <!--include file="$(find pr2_moveit_config)/launch/default_warehouse_db.launch" /-->
+</launch>
diff --git a/jsk_pr2_startup/jsk_pr2_moveit/sensors_kinect.yaml b/jsk_pr2_startup/jsk_pr2_moveit/sensors_kinect.yaml
@@ -0,0 +1,8 @@
+sensors:
+  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
+    point_cloud_topic: /openni/depth_registered/points_throttle
+    max_range: 5.0
+    point_subsample: 2
+    shape_padding: 0.08
+    shape_scale: 1.0
+    filtered_cloud_topic: filtered_cloud
diff --git a/jsk_pr2_startup/jsk_pr2_moveit/sensors_laser.yaml b/jsk_pr2_startup/jsk_pr2_moveit/sensors_laser.yaml
@@ -0,0 +1,8 @@
+sensors:
+  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
+    point_cloud_topic: /tilt_laser_cloud2
+    max_range: 5.0
+#    point_subsample: 1
+    shape_padding: 0.06
+    shape_scale: 1.0
+    filtered_cloud_topic: filtered_cloud
diff --git a/jsk_pr2_startup/jsk_pr2_moveit/start_pr2_moveit.launch b/jsk_pr2_startup/jsk_pr2_moveit/start_pr2_moveit.launch
@@ -0,0 +1,32 @@
+<launch>
+  <arg name="USE_KINECT" default="true" />
+
+  <arg if="$(arg USE_KINECT)"
+       name="sensor_params_file"
+       value="$(find jsk_pr2_startup)/jsk_pr2_moveit/sensors_kinect.yaml" />
+  <arg unless="$(arg USE_KINECT)"
+       name="sensor_params_file"
+       value="$(find jsk_pr2_startup)/jsk_pr2_moveit/sensors_laser.yaml" />
+
+  <include file="$(find pr2_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="false"/>
+  </include>
+
+  <!--node pkg="tf" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 odom_combined base_footprint 100" /-->
+  <!--node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="true"/>
+  </node-->
+  <!--node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" /-->
+
+  <include file="$(find pr2_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="moveit_octomap_sensor_params_file"
+         value="$(arg sensor_params_file)" />
+  </include>
+
+  <include file="$(find pr2_moveit_config)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+  </include>
+
+  <!--include file="$(find pr2_moveit_config)/launch/default_warehouse_db.launch" /-->
+</launch>
diff --git a/jsk_pr2_startup/manifest.xml b/jsk_pr2_startup/manifest.xml
@@ -49,4 +49,10 @@
   <export>
     <rqt_gui plugin="${prefix}/plugin.xml"/>
   </export>
+
+  <!--
+      jsk_pr2_moveit should be updated after merged pull requests listed below
+      https://github.com/ros-planning/moveit_pr2/pull/46
+      https://github.com/ros-planning/moveit_pr2/pull/47
+  -->
 </package>