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[gazebo] Resupport gazebo environment Fetch and PR2 #1912

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[gazebo] Resupport gazebo environment Fetch and PR2 #1912

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0f7b9e1
[jsk_fetch_startup] Support fetch gazebo in noetic
mqcmd196 May 2, 2024
773eca0
[jsk_fetch_startup] create arguments of fetch_bringup for gazebo
mqcmd196 May 4, 2024
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18 changes: 18 additions & 0 deletions jsk_fetch_robot/README.md
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Expand Up @@ -96,6 +96,19 @@ or
Gazebo can be used for simulating robot's movements.
It is unable to communicate to the real robot when running the simulation.

#### Create the environment

``` bash
cd catkin_ws/src
vcs import < jsk-ros-pkg/jsk_robot/jsk_fetch_robot/jsk_fetch_gazebo.noetic.repos
rosdep install -y -r --from-paths . --ignore-src
cd ../
catkin build
source devel/setup.bash
```

#### How to run

```bash
roslaunch fetch_gazebo simulation.launch
roslaunch fetch_moveit_config move_group.launch
Expand All @@ -106,6 +119,11 @@ Roseus script can be executed on Gazebo. The whole demo is in `jsk_fetch_gazebo_
roslaunch jsk_fetch_gazebo_demo demo.launch
```

If you want to spawn 73B2 model
```bash
roslaunch jsk_fetch_startup fetch_gazebo_73b2.launch
```

## Fetcheus APIs

### Common
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9 changes: 9 additions & 0 deletions jsk_fetch_robot/jsk_fetch_gazebo.noetic.repos
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@@ -0,0 +1,9 @@
repositories:
ZebraDevs/fetch_gazebo:
type: git
url: [email protected]:ZebraDevs/fetch_gazebo
version: gazebo11
GT-RAIL/robot_pose_publisher:
type: git
url: [email protected]:GT-RAIL/robot_pose_publisher
version: develop
41 changes: 27 additions & 14 deletions jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
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Expand Up @@ -12,6 +12,19 @@
<arg name="use_build_map" default="false" />
<arg name="use_keepout" default="true" />
<arg name="fetch_switchbot" default="true" />
<arg name="launch_fetch_lifelog" default="true" />
<arg name="use_diagnostic_aggregator" default="true" />
<arg name="use_cpu_monitor" default="true" />
<arg name="launch_twitter" default="true" />
<arg name="launch_app_manager" default="true" />
<arg name="use_network_status" default="true" />
<arg name="use_network_detector" default="true" />
<arg name="use_respeaker" default="true" />
<arg name="check_room_light" default="true" />
<arg name="check_driver_boards" default="true" />
<arg name="use_email" default="true" />
<arg name="use_serial" default="true" />


<param name="robot/type" value="fetch" />
<param name="robot/name" command='bash -c "hostname | xargs echo -n"' />
Expand Down Expand Up @@ -73,20 +86,20 @@
</node>

<!-- logging -->
<include file="$(find jsk_fetch_startup)/launch/fetch_lifelog.xml">
<include file="$(find jsk_fetch_startup)/launch/fetch_lifelog.xml" if="$(arg launch_fetch_lifelog)">
<arg name="map_frame" value="$(arg map_frame)" />
<arg name="vital_check" value="false" />
</include>

<!-- diagnostic aggregator -->
<node pkg="diagnostic_aggregator" type="aggregator_node"
name="diag_agg" args="CPP" output="screen" >
name="diag_agg" args="CPP" output="screen" if="$(arg use_diagnostic_aggregator)">
<rosparam command="load" file="$(find jsk_fetch_startup)/config/fetch_analyzers.yaml" />
</node>

<!-- publish CPU status to diagnostics -->
<node name="cpu_monitor" pkg="pr2_computer_monitor" type="cpu_monitor.py"
args="--diag-hostname=my_machine" >
args="--diag-hostname=my_machine" if="$(arg use_cpu_monitor)">
<param name="check_ipmi_tool" value="false" type="bool" />
<param name="enforce_clock_speed" value="false" type="bool" />
<param name="num_cores" value="-1" type="int" />
Expand All @@ -95,15 +108,15 @@
</node>

<!-- twitter -->
<include file="$(find jsk_fetch_startup)/launch/fetch_tweet.launch" />
<include file="$(find jsk_fetch_startup)/launch/fetch_tweet.launch" if="$(arg launch_twitter)"/>

<!-- switchbot -->
<include file="$(find switchbot_ros)/launch/switchbot.launch" if="$(arg fetch_switchbot)">
<arg name="token" value="/var/lib/robot/switchbot_token.txt" />
</include>

<!-- app manager -->
<include file="$(find jsk_robot_startup)/lifelog/app_manager.launch">
<include file="$(find jsk_robot_startup)/lifelog/app_manager.launch" if="$(arg launch_app_manager)">
<arg name="use_applist" value="false" /> <!-- use plugin -->
<arg name="respawn" value="false" />
<arg name="basic" value="true" />
Expand All @@ -122,25 +135,25 @@
</include>

<!-- network status -->
<node pkg="jsk_network_tools" type="network_status.py" name="network_status" />
<node pkg="jsk_network_tools" type="network_status.py" name="network_status" if="$(arg use_network_status)"/>
<!-- network detector -->
<node pkg="pr2_computer_monitor" type="network_detector" name="network_detector">
<node pkg="pr2_computer_monitor" type="network_detector" name="network_detector" if="$(arg use_network_detector)">
<rosparam>
interface_name: wlan0
</rosparam>
</node>

<!-- speech recognition -->
<node name="respeaker_transformer" pkg="tf" type="static_transform_publisher"
args="0 0 0.1 0 0 0 head_pan_link respeaker_base 100"/>
args="0 0 0.1 0 0 0 head_pan_link respeaker_base 100" if="$(arg use_respeaker)"/>
<!-- disable sound_play in julius.launch and place it in fetch_bringup.launch -->
<!-- see: https://github.com/jsk-ros-pkg/jsk_robot/pull/1140 -->
<include file="$(find julius_ros)/launch/julius.launch">
<arg name="launch_audio_capture" value="false"/>
<arg name="launch_sound_play" value="false"/>
<arg name="speech_to_text_topic" value="speech_to_text_julius"/>
</include>
<include file="$(find respeaker_ros)/launch/sample_respeaker.launch">
<include file="$(find respeaker_ros)/launch/sample_respeaker.launch" if="$(arg use_respeaker)">
<arg name="publish_tf" default="false"/>
<arg name="launch_soundplay" default="false"/>
<arg name="audio" value="speech_audio"/>
Expand Down Expand Up @@ -232,7 +245,7 @@
</node>

<!-- check if room light is on -->
<node name="check_room_light" pkg="jsk_robot_startup" type="check_room_light.py">
<node name="check_room_light" pkg="jsk_robot_startup" type="check_room_light.py" if="$(arg check_room_light)">
<remap from="~input" to="/head_camera/rgb/image_raw" />
</node>

Expand All @@ -245,26 +258,26 @@
</node>

<!-- Check fetch's boards in a constant period -->
<node name="check_board_info" pkg="jsk_fetch_diagnosis" type="check_driver_boards.py" output="screen">
<node name="check_board_info" pkg="jsk_fetch_diagnosis" type="check_driver_boards.py" output="screen" if="$(arg check_driver_boards)">
</node>

<!-- send email by rostopic -->
<node name="email_topic" pkg="jsk_robot_startup" type="email_topic.py" output="screen">
<node name="email_topic" pkg="jsk_robot_startup" type="email_topic.py" output="screen" if="$(arg use_email)">
<rosparam>
email_info: /var/lib/robot/email_topic.yaml
</rosparam>
</node>

<!-- send email, twitter with smach -->
<node name="server_name" pkg="jsk_robot_startup" type="smach_to_mail.py" output="screen">
<node name="server_name" pkg="jsk_robot_startup" type="smach_to_mail.py" output="screen" if="$(arg use_email)">
<rosparam>
email_info: /var/lib/robot/email_topic.yaml
</rosparam>
</node>

<!-- Two robots cannot use one rosserial device at the same time -->
<group if="$(eval hostname == 'fetch1075')">
<include file="$(find jsk_fetch_startup)/launch/fetch_rosserial.launch" />
<include file="$(find jsk_fetch_startup)/launch/fetch_rosserial.launch" if="$(arg use_serial)"/>
</group>

<!-- Publish /diagnostics based on topics and nodes sanity check -->
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13 changes: 13 additions & 0 deletions jsk_fetch_robot/jsk_fetch_startup/launch/fetch_gazebo_bringup.launch
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Expand Up @@ -39,5 +39,18 @@
<arg name="launch_teleop" value="false" /> <!-- duplicates cmd_vel_mux nodes -->
<arg name="launch_insta360" value="false" />
<arg name="fetch_switchbot" value="false" />
<arg name="launch_fetch_lifelog" default="false" />
<arg name="use_diagnostic_aggregator" default="false" />
<arg name="use_cpu_monitor" default="false" />
<arg name="launch_twitter" default="false" />
<arg name="launch_app_manager" default="false" />
<arg name="use_network_status" default="false" />
<arg name="use_network_detector" default="false" />
<arg name="use_respeaker" default="false" />
<arg name="check_room_light" default="false" />
<arg name="check_driver_boards" default="false" />
<arg name="use_email" default="false" />
<arg name="use_serial" default="false" />
<arg name="use_voice_text" default="false" />
</include>
</launch>
2 changes: 2 additions & 0 deletions jsk_fetch_robot/jsk_fetch_startup/launch/gazebo/fetch_gazebo_73b2.launch
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Expand Up @@ -3,6 +3,7 @@
<arg name="INITIAL_POSE_Y" default="0.0" />
<arg name="INITIAL_POSE_Z" default="0.0" />
<arg name="INITIAL_POSE_YAW" default="0.0" />
<arg name="launch_move_base" default="false" />

<include file="$(find jsk_fetch_startup)/launch/fetch_gazebo_bringup.launch">
<arg name="world" value="$(find eusurdf)/worlds/room73b2.world" />
Expand All @@ -11,6 +12,7 @@
<arg name="INITIAL_POSE_Y" value="$(arg INITIAL_POSE_Y)" />
<arg name="INITIAL_POSE_Z" value="$(arg INITIAL_POSE_Z)" />
<arg name="INITIAL_POSE_YAW" value="$(arg INITIAL_POSE_YAW)" />
<arg name="launch_move_base" default="$(arg launch_move_base)" />
</include>

<node name="initial_pose_publisher" output="screen"
Expand Down
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