RethinkRobotics · prasuchit · May 28, 2020 · May 28, 2020 · Jan 22, 2021
diff --git a/.gitignore b/.gitignore
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
diff --git a/LICENSE b/LICENSE
diff --git a/README.rst b/README.rst
diff --git a/intera_examples/.gitignore b/intera_examples/.gitignore
diff --git a/intera_examples/CHANGELOG.rst b/intera_examples/CHANGELOG.rst
diff --git a/intera_examples/CMakeLists.txt b/intera_examples/CMakeLists.txt
diff --git a/intera_examples/LICENSE b/intera_examples/LICENSE
diff --git a/intera_examples/README.rst b/intera_examples/README.rst
diff --git a/intera_examples/launch/gripper_joystick.launch b/intera_examples/launch/gripper_joystick.launch
diff --git a/intera_examples/launch/joint_position_joystick.launch b/intera_examples/launch/joint_position_joystick.launch
diff --git a/intera_examples/launch/joint_trajectory_client.launch b/intera_examples/launch/joint_trajectory_client.launch
diff --git a/intera_examples/launch/joint_trajectory_file_playback.launch b/intera_examples/launch/joint_trajectory_file_playback.launch
diff --git a/intera_examples/package.xml b/intera_examples/package.xml
diff --git a/intera_examples/setup.py b/intera_examples/setup.py
diff --git a/intera_examples/share/images/sawyer_and_baxter.png b/intera_examples/share/images/sawyer_and_baxter.png
diff --git a/intera_examples/share/images/sawyer_sdk_research.png b/intera_examples/share/images/sawyer_sdk_research.png
diff --git a/intera_examples/src/intera_examples/__init__.py b/intera_examples/src/intera_examples/__init__.py
diff --git a/intera_examples/src/intera_examples/recorder.py b/intera_examples/src/intera_examples/recorder.py
diff --git a/intera_examples/src/intera_external_devices/__init__.py b/intera_examples/src/intera_external_devices/__init__.py
diff --git a/intera_examples/src/intera_external_devices/getch.py b/intera_examples/src/intera_external_devices/getch.py
diff --git a/intera_examples/src/intera_external_devices/joystick.py b/intera_examples/src/intera_external_devices/joystick.py
diff --git a/intera_interface/.gitignore b/intera_interface/.gitignore
diff --git a/intera_interface/CHANGELOG.rst b/intera_interface/CHANGELOG.rst
diff --git a/intera_interface/CMakeLists.txt b/intera_interface/CMakeLists.txt
diff --git a/intera_interface/LICENSE b/intera_interface/LICENSE
diff --git a/intera_interface/README.rst b/intera_interface/README.rst
diff --git a/intera_interface/epydoc.config b/intera_interface/epydoc.config
diff --git a/intera_interface/package.xml b/intera_interface/package.xml
diff --git a/intera_interface/rosdoc.yaml b/intera_interface/rosdoc.yaml
diff --git a/intera_interface/scripts/send_urdf_fragment.py b/intera_interface/scripts/send_urdf_fragment.py
@@ -19,15 +19,15 @@
 import argparse
 
 import rospy
-import xacro_jade
+import xacro
 
 from intera_core_msgs.msg import (
     URDFConfiguration,
 )
 
 def xacro_parse(filename):
-    doc = xacro_jade.parse(None, filename)
-    xacro_jade.process_doc(doc, in_order=True)
+    doc = xacro.parse(None, filename)
+    xacro.process_doc(doc, in_order=True)
     return doc.toprettyxml(indent='  ')
 
 def send_urdf(parent_link, root_joint, urdf_filename, duration):

diff --git a/intera_interface/setup.py b/intera_interface/setup.py
diff --git a/intera_interface/src/intera_control/__init__.py b/intera_interface/src/intera_control/__init__.py
diff --git a/intera_interface/src/intera_control/pid.py b/intera_interface/src/intera_control/pid.py
diff --git a/intera_interface/src/intera_dataflow/__init__.py b/intera_interface/src/intera_dataflow/__init__.py
diff --git a/intera_interface/src/intera_dataflow/signals.py b/intera_interface/src/intera_dataflow/signals.py
diff --git a/intera_interface/src/intera_dataflow/wait_for.py b/intera_interface/src/intera_dataflow/wait_for.py
diff --git a/intera_interface/src/intera_dataflow/weakrefset.py b/intera_interface/src/intera_dataflow/weakrefset.py
diff --git a/intera_interface/src/intera_interface/__init__.py b/intera_interface/src/intera_interface/__init__.py
diff --git a/intera_interface/src/intera_interface/camera.py b/intera_interface/src/intera_interface/camera.py
diff --git a/intera_interface/src/intera_interface/clicksmart_plate.py b/intera_interface/src/intera_interface/clicksmart_plate.py
diff --git a/intera_interface/src/intera_interface/cuff.py b/intera_interface/src/intera_interface/cuff.py
diff --git a/intera_interface/src/intera_interface/digital_io.py b/intera_interface/src/intera_interface/digital_io.py
diff --git a/intera_interface/src/intera_interface/gripper.py b/intera_interface/src/intera_interface/gripper.py
diff --git a/intera_interface/src/intera_interface/gripper_factory.py b/intera_interface/src/intera_interface/gripper_factory.py
diff --git a/intera_interface/src/intera_interface/head.py b/intera_interface/src/intera_interface/head.py
diff --git a/intera_interface/src/intera_interface/head_display.py b/intera_interface/src/intera_interface/head_display.py
diff --git a/intera_interface/src/intera_interface/joint_limits.py b/intera_interface/src/intera_interface/joint_limits.py
diff --git a/intera_interface/src/intera_interface/lights.py b/intera_interface/src/intera_interface/lights.py
diff --git a/intera_interface/src/intera_interface/limb.py b/intera_interface/src/intera_interface/limb.py
@@ -163,21 +163,21 @@ def __init__(self, limb="right", synchronous_pub=False):
         ns_pkn = "ExternalTools/" + limb + "/PositionKinematicsNode/"
         self._iksvc = rospy.ServiceProxy(ns_pkn + 'IKService', SolvePositionIK)
         self._fksvc = rospy.ServiceProxy(ns_pkn + 'FKService', SolvePositionFK)
-        rospy.wait_for_service(ns_pkn + 'IKService', 5.0)
-        rospy.wait_for_service(ns_pkn + 'FKService', 5.0)
+        rospy.wait_for_service(ns_pkn + 'IKService', 25.0)
+        rospy.wait_for_service(ns_pkn + 'FKService', 25.0)
 
         err_msg = ("%s limb init failed to get current joint_states "
                    "from %s") % (self.name.capitalize(), joint_state_topic)
         intera_dataflow.wait_for(lambda: len(self._joint_angle.keys()) > 0,
-                                 timeout_msg=err_msg, timeout=5.0)
+                                 timeout_msg=err_msg, timeout=25.0)
         err_msg = ("%s limb init failed to get current endpoint_state "
                    "from %s") % (self.name.capitalize(), ns + 'endpoint_state')
         intera_dataflow.wait_for(lambda: len(self._cartesian_pose.keys()) > 0,
-                                 timeout_msg=err_msg, timeout=5.0)
+                                 timeout_msg=err_msg, timeout=25.0)
         err_msg = ("%s limb init failed to get current tip_states "
                    "from %s") % (self.name.capitalize(), ns + 'tip_states')
         intera_dataflow.wait_for(lambda: self._tip_states is not None,
-                                 timeout_msg=err_msg, timeout=5.0)
+                                 timeout_msg=err_msg, timeout=25.0)
 
     def _on_joint_states(self, msg):
         for idx, name in enumerate(msg.name):

diff --git a/intera_interface/src/intera_interface/navigator.py b/intera_interface/src/intera_interface/navigator.py
diff --git a/intera_interface/src/intera_interface/robot_enable.py b/intera_interface/src/intera_interface/robot_enable.py
diff --git a/intera_interface/src/intera_interface/robot_params.py b/intera_interface/src/intera_interface/robot_params.py
diff --git a/intera_interface/src/intera_interface/settings.py b/intera_interface/src/intera_interface/settings.py
diff --git a/intera_interface/src/intera_io/__init__.py b/intera_interface/src/intera_io/__init__.py
diff --git a/intera_interface/src/intera_io/io_command.py b/intera_interface/src/intera_io/io_command.py
diff --git a/intera_interface/src/intera_io/io_interface.py b/intera_interface/src/intera_io/io_interface.py
diff --git a/intera_interface/src/intera_joint_trajectory_action/__init__.py b/intera_interface/src/intera_joint_trajectory_action/__init__.py
diff --git a/intera_interface/src/intera_joint_trajectory_action/bezier.py b/intera_interface/src/intera_joint_trajectory_action/bezier.py
diff --git a/intera_interface/src/intera_joint_trajectory_action/joint_trajectory_action.py b/intera_interface/src/intera_joint_trajectory_action/joint_trajectory_action.py
diff --git a/intera_interface/src/intera_joint_trajectory_action/minjerk.py b/intera_interface/src/intera_joint_trajectory_action/minjerk.py
diff --git a/intera_interface/src/intera_motion_interface/__init__.py b/intera_interface/src/intera_motion_interface/__init__.py
diff --git a/intera_interface/src/intera_motion_interface/interaction_options.py b/intera_interface/src/intera_motion_interface/interaction_options.py
diff --git a/intera_interface/src/intera_motion_interface/motion_controller_action_client.py b/intera_interface/src/intera_motion_interface/motion_controller_action_client.py
diff --git a/intera_interface/src/intera_motion_interface/motion_trajectory.py b/intera_interface/src/intera_motion_interface/motion_trajectory.py
diff --git a/intera_interface/src/intera_motion_interface/motion_waypoint.py b/intera_interface/src/intera_motion_interface/motion_waypoint.py
diff --git a/intera_interface/src/intera_motion_interface/motion_waypoint_options.py b/intera_interface/src/intera_motion_interface/motion_waypoint_options.py
diff --git a/intera_interface/src/intera_motion_interface/random_walk.py b/intera_interface/src/intera_motion_interface/random_walk.py
diff --git a/intera_interface/src/intera_motion_interface/utility_functions.py b/intera_interface/src/intera_motion_interface/utility_functions.py
diff --git a/intera_sdk/CHANGELOG.rst b/intera_sdk/CHANGELOG.rst
diff --git a/intera_sdk/CMakeLists.txt b/intera_sdk/CMakeLists.txt
diff --git a/intera_sdk/package.xml b/intera_sdk/package.xml