Merge branch 'master' into fix_ci

.github/workflows/config.yml

@@ -38,13 +38,16 @@ jobs:
           - ROS_DISTRO: noetic
             CONTAINER: jskrobotics/ros-ubuntu:20.04-pcl
             EXTRA_DEB : "python3-rospkg python3-rospkg-modules"  #  drc_task_common need rospkg, but not installed
+            USE_DEB : false
 
     container: ${{ matrix.CONTAINER }}
     steps:
       - name: Install latest git ( use sudo for ros-ubuntu )
         run: |
           # https://github.com/osrf/docker_images/issues/697#issuecomment-1819626877
-          sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
+          sudo apt-key del 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA || echo "OK"
+          sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA || echo "OK"
+          sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys AD19BAB3CBF125EA || echo "OK"
           [ -e /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ] && sudo rm /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ## fix Err https://esm.ubuntu.com trusty-infra-security/main amd64 Packages, gnutls_handshake() failed: Handshake failed
           (apt-get update && apt-get install -y sudo) || echo "OK"
           sudo apt-get update

.travis.rosinstall.noetic

@@ -0,0 +1,5 @@
+# this should be removed after updating .rosinstall for each robot
+- git:
+    local-name: jsk_planning
+    uri: https://github.com/jsk-ros-pkg/jsk_planning.git
+    version: master

jsk_2013_04_pr2_610/euslisp/put-cloth-into-laundry.l

@@ -10,6 +10,21 @@
 (load "package://jsk_demo_common/euslisp/pr2-action.l")
 (load "package://jsk_2013_04_pr2_610/euslisp/objectdetection.l")
 
+;; use simple boundingbox for :gripper :link, to avoid 'error: float vector expected in (convex-hull-3d ...'
+(unless (assoc :gripper-org (send pr2-robot :methods))
+  (rplaca (assoc :gripper (send pr2-robot :methods)) :gripper-org))
+(defmethod pr2-robot
+  (:gripper
+   (limb &rest args)
+   (cond
+    ((memq :links args)
+     (let (vert-list)
+       (setq vert-list (list (flatten (send-all (flatten (send-all (send self :gripper-org limb :links) :bodies)) :vertices))))
+       (mapcar #'(lambda (v) (instance bodyset-link :init (make-cascoords) :bodies (list (send (make-bounding-box v) :body)))) vert-list)
+       ))
+    (t
+     (send* self :gripper-org limb args)
+    ))))
 (ros::roseus "laundry_button_marker_publisher")
 (ros::advertise *pub-laundry-button-topic* visualization_msgs::Marker 5)
 
@@ -332,4 +347,4 @@
 (defun push-button-laundry ()
   (warn "There is Nothing to do at func:push-button-laundry")
   t
-  )
+  )

jsk_maps/tools/yaml2owl.py

@@ -317,7 +317,7 @@ def create_bldg(inst,types,width,height,depth, prop=None, objs=None, x=0.0, y=0.
     if objs is not None:
         if objs.has_key(inst):
             create_props(prop, objs[inst])
-    print('</owl:NamedIndividual>')
+    print('</owl:NamedIndividual>')    
 
 def create_props(prop, objs):
     for o in objs: