Add robot init function to create ri and robot instance #222

snozawa · 2016-04-26T03:12:31Z

Add robot init function to create *ri* and robot instance according to the following discussion:
#175

Behavior
1. Without /robot/type and argument, or no interface file is found, robot instance and interface instance are not created and errors are invoked.
  (robot-init) ;; without ros param -> error.
2. If argument are specified and robot interface file is found, robot instance and interface with given name are created.
  (robot-init "pr2") -> OK
3. If no argument is specified, /robot/type ROSPARAM is set, and robot interface file is found, robot instance and interface with given name are created.
  (robot-init) ;; with /robot/type setting -> OK. Create *ri* and robot from /robot/type.
Typical usage:

     (robot-init) ;; With setting /robot/type ROSPARAM anywhere. 
     (robot-init (or (ros::get-param \"/robot/type\") \"pr2\")) ;; If /robot/type ROSPARAM is specified, use it. Otherwise, use \"pr2\" by default.

Configuring user-defined robot:
This function searches robot interface file from rospack plugins.
If user want to use their own robots from robot-init function,
please write export tag in [user_defined_rospackage]/package.xml as pr2eus/package.xml.

  <export>
    <pr2eus robot-name="pr2" interface-file="${prefix}/pr2-interface.l" />
 </export>

I also add test code for it (robot-init-test.l).

…hrp2 and jsk robots according to jsk-ros-pkg/jsk_pr2eus#222

… string for it.

…tag and rospack plugin functionality (http://wiki.ros.org/pluginlib).

… function rostest. Add rostest execution for it in CMakeLists.txt.

snozawa · 2016-04-27T00:07:39Z

Travis passed thanks for #223.

k-okada · 2016-04-27T00:32:12Z

I think you'd better to leave this PR open for a while, if you want promote this new way of initialize *ri* and *robot*, otherwise no one realize this changes...

where piped-fork-returns-list defined ?
is calling rospack from piped fork safe? (c.f. http://www.jsk.t.u-tokyo.ac.jp/redmine/public/issues/134)
do we have to write export tag for all robots? ened todo list?

snozawa · 2016-04-27T00:51:06Z

I think you'd better to leave this PR open for a while, if you want promote this new way of initialize ri and robot, otherwise no one realize this changes...

This PR is discussed more than a half year,
#175
and I waited as your comments in almost one day.
But I'm very sorry for too short period to leave this PR open.

where piped-fork-returns-list defined ?

Defined in jskeus : https://github.com/euslisp/jskeus/blob/master/irteus/irtutil.l#L369.
This is the commit at sourforge age.
This performs

Close p-opened stream after using
Returns list

11.irteusgl$ ls -l /tmp/irtmodel-ik-14751/
合計 12
-rw-r--r-- 1 leus leus 1347 Apr 27 09:33 hrp2jsknts-robot-2016-04-27-09-33-51-95-16-97-failure.l
-rw-r--r-- 1 leus leus 1351 Apr 27 09:33 hrp2jsknts-robot-2016-04-27-09-33-51-99-51-47-failure.l
-rw-r--r-- 1 leus leus 1277 Apr 27 09:33 hrp2jsknts-robot-2016-04-27-09-33-52-03-33-48-failure.l
0

13.irteusgl$ pprint (piped-fork-returns-list "ls -l /tmp/irtmodel-ik-14751/")
("合計 12"
 "-rw-r--r-- 1 leus leus 1347 Apr 27 09:33 hrp2jsknts-robot-2016-04-27-09-33-51-95-16-97-failure.l"
 "-rw-r--r-- 1 leus leus 1351 Apr 27 09:33 hrp2jsknts-robot-2016-04-27-09-33-51-99-51-47-failure.l"
 "-rw-r--r-- 1 leus leus 1277 Apr 27 09:33 hrp2jsknts-robot-2016-04-27-09-33-52-03-33-48-failure.l")
nil

is calling rospack from piped fork safe? (c.f. http://www.jsk.t.u-tokyo.ac.jp/redmine/public/issues/134)

Oh, is this resolved by ueda's commit??

For this PR, originally I did not use piped-fork and I used ros::rospack-plugins.
However, ros::rospack-plugins euslisp function is too new
jsk-ros-pkg/jsk_roseus@e538fdd.
So we could not use ros::rospack-plugins from ros-hydro-roseus because of ros hydro deb freeze.
Moreover, jsk_pr2eus's hydro travis test failed because of this reason.
Therefore, I reluctantly add piped-fork for robot-init.

do we have to write export tag for all robots? ened todo list?

Yes, if we want to initialize our own robot from robot-init,

Just call (robot-init "pepper")
Call (robot-init) with writing export tag for robot-defined rso package.

Currently, hrpsys_ros_bridge_tutorials and pr2eus have this export tag.

k-okada · 2016-04-27T01:11:03Z

This PR is discussed more than a half year,

This PR is leave more than a half year, without any discussion. This means

no one feel this is required
no one noticed
every one agreed but too shy to say +1

snozawa · 2016-04-27T01:44:41Z

no one feel this is required

no one noticed

every one agreed but too shy to say +1

Exactly, as your comment, all of these are correct.

The purpose of this PR is

Enable to select robot model and ri without writing hard-coded if or cond : Introducing robot-init function #175 (comment).

In addition to your comments,

Some people think this functionality is required, but write similer code everywhere.
Some people unexpectedly load the above-mentioned similer code (for example, silimer code in drc_task_common are used for drc programers.)
If students use just one robot, they do not think this functionality is required because they do not change robot for their programs.

k-okada · 2016-04-27T01:50:42Z

pr2eus/robot-interface.l

+         (robot-name-list
+          (if (fboundp 'ros::rospack-plugins)
+              (mapcar #'cdr (ros::rospack-plugins "pr2eus" "robot-name"))
+            (piped-fork-returns-list "rospack plugins --attrib=robot-name pr2eus | cut -d\\  -f2")))


roseus < 1.4.0 does not support ros::rospack-plugins

Yes, so i used fboundp to check existence.

snozawa added a commit to snozawa/rtmros_tutorials that referenced this pull request Apr 26, 2016

[hrpsys_ros_bridge_tutorials/package.xml] Add robot-init setting for …

9f55f26

…hrp2 and jsk robots according to jsk-ros-pkg/jsk_pr2eus#222

snozawa mentioned this pull request Apr 26, 2016

Add robot-init setting for hrp2 and jsk robots start-jsk/rtmros_tutorials#472

Merged

snozawa force-pushed the add_robot_init branch from 959a2c6 to 1df781c Compare April 26, 2016 11:29

update jsk_travis to 0.4.5

eab48ea

snozawa force-pushed the add_robot_init branch 2 times, most recently from bef9121 to 7d68792 Compare April 26, 2016 16:30

snozawa added 3 commits April 27, 2016 03:01

[pr2eus/robot-interface.l] Add robot-init function. Add documentation…

e6d0f57

… string for it.

[package.xml] Add setting for robot-init to package.xml using export …

d902a9c

…tag and rospack plugin functionality (http://wiki.ros.org/pluginlib).

[pr2eus/test/robot-init-test.*, pr2eus/CMakeLists.txt] Add robot-init…

5c57e06

… function rostest. Add rostest execution for it in CMakeLists.txt.

snozawa force-pushed the add_robot_init branch from 7d68792 to 5c57e06 Compare April 26, 2016 18:02

snozawa merged commit c1e6a27 into jsk-ros-pkg:master Apr 27, 2016

snozawa deleted the add_robot_init branch April 27, 2016 00:07

snozawa mentioned this pull request Apr 27, 2016

Revert "Add robot init function to create *ri* and robot instance" #224

Open

k-okada reviewed Apr 27, 2016
View reviewed changes

This was referenced Dec 13, 2018

Introducing robot-init function #175

Open

[WIP] [pr2eus] Remove init-robot-from-name and make-robot-interface-from-name from robot-interface.l #173

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Add robot init function to create ri and robot instance #222

Add robot init function to create ri and robot instance #222

snozawa commented Apr 26, 2016

snozawa commented Apr 27, 2016

k-okada commented Apr 27, 2016

snozawa commented Apr 27, 2016

k-okada commented Apr 27, 2016

snozawa commented Apr 27, 2016 •

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k-okada Apr 27, 2016

snozawa Apr 27, 2016

Add robot init function to create *ri* and robot instance #222

Add robot init function to create *ri* and robot instance #222

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snozawa commented Apr 26, 2016

snozawa commented Apr 27, 2016

k-okada commented Apr 27, 2016

snozawa commented Apr 27, 2016

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Add robot init function to create ri and robot instance #222

Add robot init function to create ri and robot instance #222

snozawa commented Apr 27, 2016 •

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