From 4688216411f84bb9815711426aea063cf497f287 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 16 Oct 2023 00:18:14 +0900 Subject: [PATCH 1/4] [jsk_fetch_robot] add noetic version of robot_localization to rosinstall --- jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic index 955cac07a4..870546a1e8 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic +++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic @@ -192,3 +192,9 @@ local-name: sktometometo/esp_now_ros uri: https://github.com/sktometometo/esp_now_ros.git version: v0.4.0 +# melodic version of robot_localization causes TF_REPEATED_DATA Errors to noetic client +# So we have to use noetic-devel of robot_localization +- git: + local-name: cra-ros-pkg/robot_localization + uri: https://github.com/cra-ros-pkg/robot_localization.git + version: noetic-devel From ffed5089f52d0ab932b185e1b7167634f80945be Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 16 Oct 2023 00:18:49 +0900 Subject: [PATCH 2/4] [jsk_fetch_startup] set permit_corrected_publication to true --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch index 16dea4af56..a3f3529442 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch @@ -111,7 +111,12 @@ false, false, false] odom0_nodelay: true odom0_differential: true + permit_corrected_publication: true + From 62aa7b046d2688d55743afe2427828456967cca1 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Thu, 2 Nov 2023 10:30:00 +0900 Subject: [PATCH 3/4] [jsk_fetch_robot] use 2.6.9-suppress version of robot_localization for adopt https://github.com/cra-ros-pkg/robot_localization/pull/595 --- jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic index 870546a1e8..4fc3e3e074 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic +++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic @@ -193,8 +193,9 @@ uri: https://github.com/sktometometo/esp_now_ros.git version: v0.4.0 # melodic version of robot_localization causes TF_REPEATED_DATA Errors to noetic client -# So we have to use noetic-devel of robot_localization +# So we have to adopt https://github.com/cra-ros-pkg/robot_localization/pull/595 (Using noetic-devel causes some localization trouble) +# After https://github.com/cra-ros-pkg/robot_localization/pull/840 has been merged, we can use upstream melodic-devel branch - git: local-name: cra-ros-pkg/robot_localization - uri: https://github.com/cra-ros-pkg/robot_localization.git - version: noetic-devel + uri: https://github.com/mqcmd196/robot_localization.git + version: 2.6.9-suppress From a427ab4fda48e831d9dcd3f2dcb926b1b5a91509 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Thu, 2 Nov 2023 11:36:43 +0900 Subject: [PATCH 4/4] [jsk_fetch_startup] set permit_corrected_publication false by default --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch index a3f3529442..f06beff91f 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch @@ -111,7 +111,7 @@ false, false, false] odom0_nodelay: true odom0_differential: true - permit_corrected_publication: true + permit_corrected_publication: false