Merge pull request start-jsk#15 from garaemon/use-calib-data-for-hrp2016

Use calibdated hand/eye parameter for hrp2016

jsk_hrp2_ros_bridge/calib_data/hrp2016_carmine_calib_20141204.yaml

@@ -0,0 +1,37 @@
+CARMINE_joint:
+  rpy: [-1.84254184723, -0.0753093417385, -1.53408868542]
+  xyz: [0.109416989164, 0.0112178674184, 0.114145475179]
+HEAD_JOINT0:
+  rpy: [0.0, -0.0, 0.023231783568]
+HEAD_JOINT1:
+  rpy: [0.0, -0.0608277807252, 0.0]
+LARM_JOINT0:
+  rpy: [0.0, 0.0192693826873, 0.0]
+LARM_JOINT1:
+  rpy: [0.0322990511823, -0.0, 0.0]
+LARM_JOINT2:
+  rpy: [0.0, -0.0, 0.00364189627857]
+LARM_JOINT3:
+  rpy: [0.0, 0.00720232384489, 0.0]
+LARM_JOINT4:
+  rpy: [0.0, -0.0, 0.00272752860935]
+LARM_JOINT5:
+  rpy: [0.0150110342001, -0.0, 0.0]
+LARM_JOINT6:
+  rpy: [0.0, 0.166763390317, 0.0]
+LARM_cb_jig_joint:
+  rpy: [0.0, 0.0, 1.57]
+RARM_cb_jig_joint:
+  rpy: [0.0, 0.0, 1.57]
+camera_depth_optical_frame_joint:
+  rpy: [-1.571, 0.0, -1.571]
+camera_link_joint:
+  rpy: [1.571, -1.571, 0.0]
+camera_rgb_optical_frame_joint:
+  rpy: [-1.571, 0.0, -1.571]
+head_end_coords_joint:
+  rpy: [3.14159265359, 1.39626514692, 3.14159265359]
+larm_end_coords_joint:
+  rpy: [-0.0, 1.57079632679, 0.0]
+rarm_end_coords_joint:
+  rpy: [-0.0, 1.57079632679, 0.0]

jsk_hrp2_ros_bridge/launch/hrp2016.launch

@@ -1,13 +1,16 @@
 <launch>
-  <!-- common file -->
+
+  <arg name="CALIB_FILE" default="hrp2016_carmine_calib_20141204.yaml" />
   <rosparam command="load"
             file="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_controller_config.yaml" />
   <include file="$(find jsk_hrp2_ros_bridge)/launch/jsk_hrp2_ros_bridge.launch" >
     <arg name="nameserver" value="hrp2016c"/>
     <arg name="ROBOT_NAME" value="HRP2JSKNT"/>
     <arg name="USE_HAND" default="true" />
     <arg name="NOT_USE_XACRO" value="false" />
-    <arg name="COLLADA_FILE" value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT.urdf.xacro" />
+    <arg name="COLLADA_FILE" value="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_WH_SENSORS.urdf" />
+    <arg name="CALIB_FILE_COMMAND"
+         value="$(find euscollada)/scripts/urdf_patch.py patch $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_WH_SENSORS.urdf $(find jsk_hrp2_ros_bridge)/calib_data/$(arg CALIB_FILE)" />
   </include>
   <include file="$(find jsk_hrp2_ros_bridge)/launch/jsk_robot_common.launch"/>
   <!-- camera setting -->
@@ -20,10 +23,6 @@
   <include file="$(find jsk_hrp2_ros_bridge)/calib_data/cameras_offset_HRP2JSKNT_20141127.launch" />
 
   <include file="$(find jsk_footstep_controller)/launch/hrp2jsk_footcoords.launch" />
-  <!-- publish endcoords TF -->
-  <include file="$(find hrpsys_ros_bridge_tutorials)/launch/publish_end_effector_tf.launch" >
-    <arg name="ROBOT_NAME" default="hrp2jsknt" />
-  </include>
   <!-- for 3hand -->
   <node pkg="jsk_hrp2_ros_bridge" type="hrp3hand_empty_joint_publisher.py"
         name="hrp3hand_empty_joint_publisher" />

jsk_hrp2_ros_bridge/package.xml

@@ -16,6 +16,7 @@
   <build_depend>actionlib</build_depend>
   <build_depend>openrtm_ros_bridge</build_depend>
   <build_depend>hrpsys_ros_bridge_tutorials</build_depend>
+  <build_depend>jsk_footstep_controller</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>rosnode</run_depend>