Merge remote-tracking branch 'origin/master' into PR-JAXON_t265_l515

start-jsk · Jun 28, 2024 · df47bb7 · df47bb7
2 parents 985972d + 17b6edf
commit df47bb7
Show file tree

Hide file tree

Showing 25 changed files with 247 additions and 167 deletions.
diff --git a/.github/workflows/kinetic.yml b/.github/workflows/kinetic.yml
@@ -7,13 +7,17 @@ jobs:
     runs-on: ubuntu-latest
     name: kinetic
 
-    container: jskrobotics/ros-ubuntu:16.04
+    container: ubuntu:16.04
 
     steps:
       - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
-        run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
-      - name: Before Checkout # need for actions/checkout with ros-ubuntu container
-        run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME
+        run: |
+          (apt-get update && apt-get install -y sudo) || echo "OK"
+          sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+      - name: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
+        run: |
+          set -x
+          git config --global --add safe.directory $GITHUB_WORKSPACE
       - name: Checkout
         uses: actions/checkout@v2
       - name: Run jsk_travis

diff --git a/.github/workflows/melodic.yml b/.github/workflows/melodic.yml
@@ -7,13 +7,17 @@ jobs:
     runs-on: ubuntu-latest
     name: melodic
 
-    container: jskrobotics/ros-ubuntu:18.04
+    container: ubuntu:18.04
 
     steps:
       - name: Install latest git ( use sudo for ros-ubuntu, remove sudo for ubuntu container), checkout@v2 uses REST API for git<2.18, which removes .git folder and does not checkout .travis submodules
-        run: sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
-      - name: Before Checkout # need for actions/checkout with ros-ubuntu container
-        run: sudo chown -R user:jenkins $RUNNER_WORKSPACE $HOME
+        run: |
+          (apt-get update && apt-get install -y sudo) || echo "OK"
+          sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+      - name: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
+        run: |
+          set -x
+          git config --global --add safe.directory $GITHUB_WORKSPACE
       - name: Checkout
         uses: actions/checkout@v2
       - name: Run jsk_travis

diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,23 @@
+# Emacs
+*~
+\#*\#
+.\#*
+
+# generated files from hrpsys_choreonoid
+hrpsys_choreonoid/lib/
+hrpsys_choreonoid/*.so
+
+# generated files from jvrc_models
+jvrc_models/model
+
+# generated files from hrpsys_ros_bridge/cmake/compile_robot_model.cmake
+hrpsys_choreonoid_tutorials/models/*.conf
+hrpsys_choreonoid_tutorials/models/*.xml
+hrpsys_choreonoid_tutorials/models/*.l
+hrpsys_choreonoid_tutorials/models/*.dae
+hrpsys_choreonoid_tutorials/models/*/*.dae
+hrpsys_choreonoid_tutorials/models/*.urdf
+
+# generated files from hrpsys_choreonoid_tutorials configure_file
+hrpsys_choreonoid_tutorials/config/*.cnoid
+hrpsys_choreonoid_tutorials/config/*.yaml
diff --git a/hrpsys_choreonoid_tutorials/config/TABLIS_BASE_RH_FLAT.cnoid.in b/hrpsys_choreonoid_tutorials/config/TABLIS_BASE_RH_FLAT.cnoid.in
@@ -29,8 +29,8 @@ items:
             jointPositions: [0, 0, -0.174532925, 0.523598776, -0.34906585, 0,
                              0, 0, -0.174532925, 0.523598776, -0.34906585, 0,
                              0,
-                             0, 0, 0, 0, 0, 0, 0,
-                             0, 0, 0, 0, 0, 0, 0]
+                             0, 0, 0, 0, 0, 0, 0, 0,
+                             0, 0, 0, 0, 0, 0, 0, 0]
             initialRootPosition: [ 0.0, 0.0, 1.44 ]
             initialRootAttitude: [
               0, -1, 0,
@@ -39,8 +39,8 @@ items:
             initialJointPositions: [0, 0, -0.174532925, 0.523598776, -0.34906585, 0,
                                     0, 0, -0.174532925, 0.523598776, -0.34906585, 0,
                                     0,
-                                    0, 0, 0, 0, 0, 0, 0,
-                                    0, 0, 0, 0, 0, 0, 0]
+                                    0, 0, 0, 0, 0, 0, 0, 0,
+                                    0, 0, 0, 0, 0, 0, 0, 0]
             zmp: [ 0, 0, 0 ]
             collisionDetection: true
             selfCollisionDetection: false

diff --git a/hrpsys_choreonoid_tutorials/config/TABLIS_RH_FLAT.cnoid.in b/hrpsys_choreonoid_tutorials/config/TABLIS_RH_FLAT.cnoid.in
@@ -29,8 +29,8 @@ items:
             jointPositions: [0, 0, -0.174532925, 0.523598776, -0.34906585, 0,
                              0, 0, -0.174532925, 0.523598776, -0.34906585, 0,
                              0,
-                             0, 0, 0, 0, 0, 0, 0,
-                             0, 0, 0, 0, 0, 0, 0]
+                             0, 0, 0, 0, 0, 0, 0, 0,
+                             0, 0, 0, 0, 0, 0, 0, 0]
             initialRootPosition: [ 0.0, 0.0, 1.27 ]
             initialRootAttitude: [
               0, -1, 0,
@@ -39,8 +39,8 @@ items:
             initialJointPositions: [0, 0, -0.174532925, 0.523598776, -0.34906585, 0,
                                     0, 0, -0.174532925, 0.523598776, -0.34906585, 0,
                                     0,
-                                    0, 0, 0, 0, 0, 0, 0,
-                                    0, 0, 0, 0, 0, 0, 0]
+                                    0, 0, 0, 0, 0, 0, 0, 0,
+                                    0, 0, 0, 0, 0, 0, 0, 0]
             zmp: [ 0, 0, 0 ]
             collisionDetection: true
             selfCollisionDetection: false

diff --git a/hrpsys_choreonoid_tutorials/config/floor.yaml b/hrpsys_choreonoid_tutorials/config/floor.yaml
@@ -0,0 +1,5 @@
+obj1:
+  name: 'VISIBLE_FLOOR'
+  file: '$(find choreonoid)/share/model/misc/floor.body'
+  translation: [0, 0, -0.1]
+  rotation: [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
diff --git a/hrpsys_choreonoid_tutorials/config/footsal.yaml.in b/hrpsys_choreonoid_tutorials/config/footsal.yaml.in
@@ -6,12 +6,12 @@ obj1:
 obj2:
   name: 'GOAL'
   file: '@jvrc_models_MODEL_DIR@/models/footsal_goal.wrl'
-  translation: [9.5, 0.0, 0.0]
-  rotation: [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
+  translation: [0.0, 9.5, 0.0]
+  rotation: [[0, -1, 0], [1, 0, 0], [0, 0, 1]]
 obj3:
   name: 'BALL'
   file: '@jvrc_models_MODEL_DIR@/models/yellow_ball.wrl'
-  translation: [2.0, 0.0, 0.12]
+  translation: [0.0, 2.0, 0.12]
   rotation: [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
 obj4:
   name: 'WALL_BACK'

diff --git a/hrpsys_choreonoid_tutorials/config/soccer.yaml.in b/hrpsys_choreonoid_tutorials/config/soccer.yaml.in
@@ -6,12 +6,12 @@ obj1:
 obj2:
   name: 'GOAL'
   file: '@jvrc_models_MODEL_DIR@/models/soccer_goal.wrl'
-  translation: [26.0, 0.0, 0.0]
-  rotation: [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
+  translation: [0.0, 26.0, 0.0]
+  rotation: [[0, -1, 0], [1, 0, 0], [0, 0, 1]]
 obj3:
   name: 'BALL'
   file: '@jvrc_models_MODEL_DIR@/models/yellow_ball.wrl'
-  translation: [2.0, 0.0, 0.12]
+  translation: [0.0, 2.0, 0.12]
   rotation: [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
 obj4:
   name: 'WALL_BACK'

diff --git a/hrpsys_choreonoid_tutorials/euslisp/action_and_perception/kick-ball-demo.l b/hrpsys_choreonoid_tutorials/euslisp/action_and_perception/kick-ball-demo.l
@@ -94,8 +94,8 @@
 
 (defun ball-is-goalq ()
   (let ((pos (send (get-coords-on-simulation :robot "BALL") :worldpos)))
-    (and (> (elt pos 0) 9600)
-         (> 1560 (elt pos 1) -1560)
+    (and (> (elt pos 1) 9600)
+         (> 1560 (elt pos 0) -1560)
          (> 2200 (elt pos 2) 0))
     ))
 

diff --git a/hrpsys_choreonoid_tutorials/launch/perception/image_processing.launch b/hrpsys_choreonoid_tutorials/launch/perception/image_processing.launch
@@ -1,5 +1,6 @@
 <launch>
   <arg name="gui" default="false" />
+  <arg name="resized_gui" default="false" />
   <arg name="MANAGER" value="color_filter_nodelet_manager" />
   <arg name="INPUT_LEFT_IMAGE"  default="/multisense_local/left/image_rect_color" />
   <arg name="INPUT_RIGHT_IMAGE" default="/multisense_local/right/image_rect_color" />
@@ -67,5 +68,31 @@
       <remap from="image" to="right_hsv_color/image" />
     </node>
   </group>
+  <group if="$(arg resized_gui)">
+    <node name="left_resize"
+          pkg="nodelet" type="nodelet"
+          args="load image_proc/resize $(arg MANAGER)" >
+      <remap from="image" to="left_hsv_color/image" />
+      <param name="scale_width" value="0.5" />
+      <param name="scale_height" value="0.5" />
+    </node>
+    <node name="right_resize"
+          pkg="nodelet" type="nodelet"
+          args="load image_proc/resize $(arg MANAGER)" >
+      <remap from="image" to="right_hsv_color/image" />
+      <param name="scale_width" value="0.5" />
+      <param name="scale_height" value="0.5" />
+    </node>
+    <node name="left_image_view_resized"
+          pkg="image_view2" type="image_view2">
+      <remap from="image" to="left_resize/image" />
+      <param name="autosize" value="true" />
+    </node>
+    <node name="right_image_view_resized"
+          pkg="image_view2" type="image_view2">
+      <remap from="image" to="right_resize/image" />
+      <param name="autosize" value="true" />
+    </node>
+  </group>
 
 </launch>
diff --git a/hrpsys_choreonoid_tutorials/launch/perception/tracking_recognition.launch b/hrpsys_choreonoid_tutorials/launch/perception/tracking_recognition.launch
@@ -1,8 +1,9 @@
 <launch>
   <arg name="gui" default="false" />
-
+  <arg name="resized_gui" default="false" />
   <include file="$(find hrpsys_choreonoid_tutorials)/launch/perception/image_processing.launch" >
     <arg name="gui" value="$(arg gui)" />
+    <arg name="resized_gui" value="$(arg resized_gui)" />
   </include>
 
   <node type="calc-target-point.l"

diff --git a/hrpsys_choreonoid_tutorials/launch/tablis_base_choreonoid.launch b/hrpsys_choreonoid_tutorials/launch/tablis_base_choreonoid.launch
@@ -46,9 +46,9 @@
   <arg name="CONNECT_CONSTRAINT_FORCE_LOGGER_PORTS" default="false"/>
 
   <!-- unstable RTC -->
-  <arg name="USE_WALKING"               default="true" />
-  <arg name="USE_IMPEDANCECONTROLLER"   default="true" />
-  <arg name="USE_EMERGENCYSTOPPER"    default="true"  />
+  <arg name="USE_WALKING"               default="false" />
+  <arg name="USE_IMPEDANCECONTROLLER"   default="false" />
+  <arg name="USE_EMERGENCYSTOPPER"    default="false"  />
   <arg name="USE_REFERENCEFORCEUPDATER" default="false" />
   <arg name="USE_OBJECTCONTACTTURNAROUNDDETECTOR" default="false" />
 

diff --git a/hrpsys_choreonoid_tutorials/launch/tablis_choreonoid.launch b/hrpsys_choreonoid_tutorials/launch/tablis_choreonoid.launch
@@ -46,9 +46,9 @@
   <arg name="CONNECT_CONSTRAINT_FORCE_LOGGER_PORTS" default="false"/>
 
   <!-- unstable RTC -->
-  <arg name="USE_WALKING"               default="true" />
-  <arg name="USE_IMPEDANCECONTROLLER"   default="true" />
-  <arg name="USE_EMERGENCYSTOPPER"    default="true"  />
+  <arg name="USE_WALKING"               default="false" />
+  <arg name="USE_IMPEDANCECONTROLLER"   default="false" />
+  <arg name="USE_EMERGENCYSTOPPER"    default="false"  />
   <arg name="USE_REFERENCEFORCEUPDATER" default="false" />
   <arg name="USE_OBJECTCONTACTTURNAROUNDDETECTOR" default="false" />
 

diff --git a/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains.sav b/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains.sav
@@ -1,38 +1,38 @@
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
-1 0 1
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
+1 0 1 1 0 0
diff --git a/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains_sim.dat b/hrpsys_choreonoid_tutorials/models/JAXON_JVRC.PDgains_sim.dat
@@ -1,38 +1,38 @@
-33000 240
-83000 240
-33000 240
-33000 240
-47000 240
-33000 240
-33000 240
-83000 240
-33000 240
-33000 240
-47000 240
-33000 240
-83000 240
-83000 240
-83000 240
-10000 200
-10000 200
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-400 10
-400 10
-400 10
-400 10
-100 5
+33000 240 1 0
+83000 240 1 0
+33000 240 1 0
+33000 240 1 0
+47000 240 1 0
+33000 240 1 0
+33000 240 1 0
+83000 240 1 0
+33000 240 1 0
+33000 240 1 0
+47000 240 1 0
+33000 240 1 0
+83000 240 1 0
+83000 240 1 0
+83000 240 1 0
+10000 200 1 0
+10000 200 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+400 10 1 0
+400 10 1 0
+400 10 1 0
+400 10 1 0
+100 5 1 0
-Original file line number
+Diff line change
@@ -1,38 +1,38 @@
-240
-240
-240
-240
-240
-240
-240
-240
-240
-240
-240
-240
-240
-240
-240
-200
-200
-320
-320
-320
-320
-320
-320
-320
-320
-320
-320
-320
-320
-320
-320
-320
-320
-10
-10
-10
-10
-5
+240 1 0
+240 1 0
+240 1 0
+240 1 0
+240 1 0
+240 1 0
+240 1 0
+240 1 0
+240 1 0
+240 1 0
+240 1 0
+240 1 0
+240 1 0
+240 1 0
+240 1 0
+200 1 0
+200 1 0
+320 1 0
+320 1 0
+320 1 0
+320 1 0
+320 1 0
+320 1 0
+320 1 0
+320 1 0
+320 1 0
+320 1 0
+320 1 0
+320 1 0
+320 1 0
+320 1 0
+320 1 0
+320 1 0
+10 1 0
+10 1 0
+10 1 0
+10 1 0
+5 1 0