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[develop/fetch][gazebo] Gazebo for noetic #1913

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28 changes: 27 additions & 1 deletion jsk_fetch_robot/README.md
Original file line number Diff line number Diff line change
@@ -38,7 +38,10 @@
First, you need to install ROS. For ROS melodic, please refer to install guide like [here](http://wiki.ros.org/melodic/Installation/Ubuntu).
Please make sure your ROS Distribution is indigo, kinetic or melodic.

#### The client user for indigo, kinetic melodic

```bash
source /opt/ros/*/setup.bash
mkdir -p catkin_ws/src
cd catkin_ws/src
wstool init .
@@ -53,7 +56,6 @@ wstool update -t .
wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_roseus/master/setup_upstream.sh -O /tmp/setup_upstream.sh
bash /tmp/setup_upstream.sh -w ../ -p jsk-ros-pkg/geneus -p euslisp/jskeus

source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install -y -r --from-paths . --ignore-src
cd ../
# (optional): if you want to use roseus_resume, build roseus_resume, too.
@@ -62,6 +64,22 @@ catkin build fetcheus jsk_fetch_startup
source devel/setup.bash
```

#### The client user for noetic

```bash
source /opt/ros/noetic/setup.bash
mkdir -p catkin_ws/src/jsk-ros-pkg
cd catkin_ws/src/jsk-ros-pkg
git clone [email protected]:jsk-ros-pkg/jsk_robot -b develop/fetch
cd ../
vcs import < jsk-ros-pkg/jsk_robot/jsk_fetch_robot/jsk_fetch_user.noetic.repos
cd ../
rosdep update
rosdep install -y -r --from-paths src --ignore-src
catkin build fetcheus jsk_fetch_startup
source devel/setup.bash
```

#### Setup Environment (For Robot Internal PC, only for advanced developer)

```bash
@@ -124,6 +142,14 @@ roslaunch fetch_gazebo simulation.launch
roslaunch fetch_moveit_config move_group.launch
```

Or you can launch

```bash
roslaunch jsk_fetch_startup fetch_gazebo_bringup.launch launch_move_base:=false
```

If you want to use JSK's 73B2 gazebo environment, you can launch

Roseus script can be executed on Gazebo. The whole demo is in `jsk_fetch_gazebo_demo/launch/demo.launch`
```bash
roslaunch jsk_fetch_gazebo_demo demo.launch
7 changes: 4 additions & 3 deletions jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
Original file line number Diff line number Diff line change
@@ -43,6 +43,7 @@
<arg name="launch_network_status" default="true" />
<arg name="launch_audible_warning" default="true" />
<arg name="launch_check_driver_boards" default="true" />
<arg name="launch_cpu_monitor" default="true" />

<!--iot devices -->
<arg name="launch_rosserial" default="true" />
@@ -152,7 +153,7 @@

<!-- 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="$(arg launch_cpu_monitor)">
<param name="check_ipmi_tool" value="false" type="bool" />
<param name="enforce_clock_speed" value="false" type="bool" />
<param name="num_cores" value="-1" type="int" />
@@ -342,12 +343,12 @@
<rosparam command="load"
file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_amcl_common_params.yaml" />
<rosparam command="load"
file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_amcl_$(env ROS_DISTRO)_params.yaml" />
file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_amcl_melodic_params.yaml" />
<!-- load move_base params -->
<rosparam command="load"
file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_move_base_common_params.yaml" />
<rosparam command="load"
file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_move_base_$(env ROS_DISTRO)_params.yaml" />
file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_move_base_melodic_params.yaml" />
</group>

<!-- slam for build a map -->
Original file line number Diff line number Diff line change
@@ -80,5 +80,7 @@
<arg name="launch_rosserial" default="false" />
<arg name="launch_switchbot" default="false" />
<arg name="launch_fetch_lifelog" default="false" />
<arg name="launch_google_analyze_text" default="false" />
<arg name="launch_cpu_monitor" default="false" />
</include>
</launch>
19 changes: 19 additions & 0 deletions jsk_fetch_robot/jsk_fetch_user.noetic.repos
Original file line number Diff line number Diff line change
@@ -0,0 +1,19 @@
repositories:
jsk-ros-pkg/jsk_demos:
type: git
url: [email protected]:jsk-ros-pkg/jsk_demos
version: master
# In order to avoid issue https://github.com/jsk-ros-pkg/jsk_robot/issues/1665,
# we need to use development branch until PR below are merged
# https://github.com/ZebraDevs/fetch_ros/pull/162
# https://github.com/ZebraDevs/fetch_ros/pull/163
# https://github.com/ZebraDevs/fetch_ros/pull/164
ZebraDevs/fetch_ros:
type: git
url: [email protected]:mqcmd196/fetch_ros
version: noetic-develop/fetch
# fetch_gazebo for noetic is not released
ZebraDevs/fetch_gazebo:
type: git
url: [email protected]:ZebraDevs/fetch_gazebo
version: gazebo11