[Collision detector] Add a conf file for the robot that was installed before 2015. #335
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… before 2015. **Issue** An error about `CollisionDetector` such as below or similar might be happening constantly, even though the path in `MODEL_FILE` is correct. ``` $ roslaunch nextage_ros_bridge nextage_ros_bridge_real.launch MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl or $ roslaunch nextage_ros_bridge nextage_ros_bridge_real.launch MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl nameserver:=nextage : [WARN] [WallTime: 1495434563.800814] Could not found CollisionDetector(CollisionDetector0), waiting... ``` **Cause** In [nextage_ros_bridge/conf/realrobot_fixedpath.con](https://github.com/tork-a/rtmros_nextage/blob/a1c21751189a6ea5244519d34f560f288a3d94f9/nextage_ros_bridge/conf/realrobot_fixedpath.conf#L3) (that is passed from [nextage_ros_bridge_real.launch](https://github.com/tork-a/rtmros_nextage/blob/a1c21751189a6ea5244519d34f560f288a3d94f9/nextage_ros_bridge/launch/nextage_ros_bridge_real.launch#L3)) the model file location is hardcoded as: ``` model: file:///opt/jsk/etc/NEXTAGE/model/main.wrl ``` But this path does not exist for robots that were installed earlier (unless robot owners changed by themselves). **Workaround** With this commit, you'll be able to specify a correct conf file like this: ``` roslaunch nextage_ros_bridge nextage_ros_bridge_real.launch MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl nameserver:=nextage CONF_FILE_COLLISIONDETECT:=`rospack find nextage_ros_bridge`/conf/realrobot_fixedpath_-2015.conf ```
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Issue
An error about
CollisionDetectorsuch as below or similar might be happening constantly, even though the path inMODEL_FILEis correct.Cause
In nextage_ros_bridge/conf/realrobot_fixedpath.con (that is passed from nextage_ros_bridge_real.launch) the model file location is hardcoded as:
But this path does not exist for robots that were installed earlier (unless robot owners changed by themselves).
Workaround
With this commit, you'll be able to specify a correct conf file like this: