Merge branch 'master' into sanity-diagnostics

.travis.rosinstall.kinetic

@@ -34,3 +34,8 @@
     local-name: jsk-ros-pkg/jsk_common
     uri: https://github.com/jsk-ros-pkg/jsk_common.git
     version: 2.2.12
+# denso_cobotta_control, denso_cobotta_descriptions, denso_cobotta_driver, and denso_cobotta_gripper are not released
+- git:
+    local-name: DENSORobot/denso_cobotta_ros
+    uri: https://github.com/DENSORobot/denso_cobotta_ros.git
+    version: 1a4a74a92c763906c47eec574b5b3dbaa52f622e

.travis.rosinstall.melodic

@@ -53,6 +53,11 @@
 - git:
     local-name: UbiquityRobotics/magni_robot
     uri: https://github.com/UbiquityRobotics/magni_robot
+# denso_cobotta_control, denso_cobotta_descriptions, denso_cobotta_driver, and denso_cobotta_gripper are not released
+- git:
+    local-name: DENSORobot/denso_cobotta_ros
+    uri: https://github.com/DENSORobot/denso_cobotta_ros.git
+    version: bb60e75adb8477ed3402561b4ec3ba687af3f397
 # switchbot_ros is not correctly released.
 # see: https://github.com/jsk-ros-pkg/jsk_3rdparty/issues/356
 - git:

.travis.rosinstall.noetic

@@ -1,26 +1,10 @@
-#roseus is not released on melodic
-- git:
-    local-name: euslisp-release
-    uri: https://github.com/tork-a/euslisp-release
-    version: release/melodic/euslisp
-- git:
-    local-name: jskeus-release
-    uri: https://github.com/tork-a/jskeus-release
-    version: release/melodic/jskeus
-- git:
-    local-name: jsk_roseus
-    uri: https://github.com/jsk-ros-pkg/jsk_roseus
 # find_package(collada_urdf) failed due to wrong collada_urdfConfig.cmake
 # - https://github.com/ros/collada_urdf/issues/43
 # - https://github.com/ros/collada_urdf/pull/44
 - git:
     local-name: collada_urdf
     uri: https://github.com/werner291/collada_urdf.git
     version: patch-1
-# compile euscollada for installed collada_urdf
-- tar:
-    local-name: euscollada
-    uri: https://github.com/tork-a/jsk_model_tools-release/archive/refs/tags/rpm/ros-melodic-euscollada-0.4.3-0_28.tar.gz
 # jsk_robot_startup LightweightLogger requires mongodb_store
 # use package.xml format 3 to install python3-pymongo, see https://github.com/strands-project/mongodb_store/pull/269
 - git:
@@ -66,3 +50,8 @@
 - git:
     local-name: jsk_control
     uri: https://github.com/jsk-ros-pkg/jsk_control
+# denso_cobotta_control, denso_cobotta_descriptions, denso_cobotta_driver, and denso_cobotta_gripper are not released
+- git:
+    local-name: DENSORobot/denso_cobotta_ros
+    uri: https://github.com/DENSORobot/denso_cobotta_ros.git
+    version: bb60e75adb8477ed3402561b4ec3ba687af3f397

jsk_denso_robot/README.md

@@ -1,18 +1,22 @@
 # jsk_denso_robot
 
 
-ROS package for Denso b-CAP communication robot.
+ROS package for Denso robot.
+- Non-OSS type robot using b-CAP communication
+- OSS type robot
 
 
-## How to setup development environment
+## Non-OSS type
 
-use `wstool`, `rosdep` and `catkin` to checkout and compile the source tree.
+### How to setup development environment
+
+Use `wstool`, `rosdep` and `catkin` to checkout and compile the source tree.
 
 ```
 mkdir -p ~/denso_ws/src
 cd ~/denso_ws/src
 wstool init
-wstool merge https://raw.githubusercontent.com/k-okada/jsk_robot/add_cobotta/jsk_denso_robot/denso.rosinstall
+wstool merge https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_denso_robot/denso.rosinstall
 wstool update
 cd ../
 git clone https://github.com/k-okada/cobotta_descriptions.git
@@ -23,12 +27,12 @@ catkin build cobottaeus jsk_cobotta_startup -vi
 source devel/setup.bash
 ```
 
-## COBOTTA Setup
+### COBOTTA Setup
 
 Please refer to [COBOTTA User Manuals](https://www.fa-manuals.denso-wave.com/jp/COBOTTA/007030/) to setup your robot.
 To install Virtual TP software, please refer to [Software Install](https://www.fa-manuals.denso-wave.com/jp/COBOTTA/007263/) section of the User Manuals.
 
-## Start Virtual IP
+### Start Virtual IP
 
 To control the robot, you need to start Virtual TP software and push top-left 'Connect' menu.
 
@@ -39,19 +43,19 @@ Then you need to input the IP address of your robot. The default robot IP addres
 
 ![](img/vtp-connect.png)
 
-To control the robot, you need to specify user level and password. The default password can be find [COBOTTA User Manuals](https://www.fa-manuals.denso-wave.com/jp/COBOTTA/007030/)
+To control the robot, you need to specify user level and password. The default password can be found on [COBOTTA User Manuals](https://www.fa-manuals.denso-wave.com/jp/COBOTTA/007030/).
 
 ![](img/vtp-login.png)
 
-You can skip calibration section and also put "Prepare Motion"
+You can skip calibration section and also put "Prepare Motion".
 
 ![](img/vtp-skip.png)
 
 This is main user interface. You can push 'cancel' button on right-top to back to this panel.
 
 ![](img/vtp-display.png)
 
-### Setup IP address of the robot
+#### Setup IP address of the robot
 
 You may want to change IP address of the robot, to connect your network. To do this, please push "Setting" button on the right bottom.
 
@@ -69,12 +73,12 @@ You can set the IP address by using this 10-key like interface. You need to push
 
 ![](img/vtp-network3.png)
 
-### Setup IP address of client computer
+#### Setup IP address of client computer
 
 To work with ROS node. You need to tell IP address of your ROS node running computer to the robot.
 This is called 'executable' and you need to set 'executable' IP address from Virtual TP software.
 
-Form main panel, push "Setting" button on the right bottom.
+From main panel, push "Setting" button on the right bottom.
 
 ![](img/vtp-exec2.png)
 
@@ -88,7 +92,7 @@ Select 'Ethernet' tab and change IP address.
 
 You can set the IP address by using this 10-key like interface. You need to push 'OK' button of 10-key like panel, and then push 'OK' button of 'Communication Setting' panel.
 
-## Start ROS Node
+### Start ROS Node
 
 ```
 source ~/denso_ws/devel/setup.bash
@@ -97,9 +101,9 @@ roslaunch --screen jsk_cobotta_startup cobotta_bringup.launch ip_address:=192.16
 
 Make sure that `ip_address` is set by [Setup IP address of the robot](#setup-ip-address-of-the-robot) and your ROS client node IP address is set by [Setup IP address of client computer](#setup-ip-address-of-client-computer).
 
-## Use EusLisp model
+### Use EusLisp model
 
-To control the robot form EusLisp. Please start `roseus` and type as follows.
+To control the robot from EusLisp. Please start `roseus` and type as follows.
 
 ```
 (load "package://cobottaeus/cobotta-interface.l")
@@ -128,7 +132,7 @@ You can also use `move-end-rot` method to turn the gripper.
 ```
 
 
-To control real robot. you can use `*ri*` object.
+To control real robot, you can use `*ri*` object.
 ```
 (send *ri* :angle-vector (send *cobotta* :angle-vector) 2000)
 ```
@@ -139,15 +143,15 @@ To obtain current robot pose, use `:state :potentio-vector` method.
 (send *ri* :state :potentio-vector)
 ```
 
-To open and close the gripper. You can use `:start-grasp` and `:stop-grasp`.
+To open and close the gripper, you can use `:start-grasp` and `:stop-grasp`.
 ```
 (send *ri* :stop-grasp)
 (send *ri* :start-grasp)
 ```
 
 `:start-grasp` method returns `t` if it succeeded to grasp object. If it returns `nil`, nothing was grasped.
 
-When the robot detect errors, the LED of the robot become yellow or red. Or you can find warning message like follows.
+When the robot detects errors, the LED of the robot becomes yellow or red. Or you can find warning message like follows.
 ```
 [ WARN] [1607683352.232275227]: Call {func_id: 72, vntArgs: ({vt: 3, value: 182} {vt: 3, value: 1} {vt: 8, value: P(210.0,0.0,-60.0,180.0,0.0,80.0,261)} {vt: 8, value: })}
 -2111814862 -7ddfbcce
@@ -164,5 +168,91 @@ If error still occurs, try `:dispose` and `:init` again.
 (send *ri* :init)
 ```
 
+## COBOTTA OSS type
+
+### Official documents
+
+- [ROS Wiki](http://wiki.ros.org/denso_cobotta_ros)
+- [Web manual](https://densorobot.github.io/docs/denso_cobotta_ros)
+- [Driver page](https://www.denso-wave.com/ja/robot/download/application/cobotta_driver_for_linux.html)
+
+### How to setup development environment on your PC
+
+If you already setup environment for Non-OSS type, you can reuse it.
+Just in case, do `wstool update` and `catkin build cobottaeus jsk_cobotta_startup -vi` again.
+Otherwise, do the following:
+```bash
+mkdir -p ~/denso_ws/src
+cd ~/denso_ws/src
+wstool init
+wstool merge https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_denso_robot/denso.rosinstall
+wstool update
+cd ../
+source /opt/ros/melodic/setup.bash
+rosdep install -y -r --from-paths src --ignore-src
+catkin build cobottaeus jsk_cobotta_startup -vi
+source devel/setup.bash
+```
+
+### COBOTTA Setup
+
+#### 1st step: setup Denso default environment
+
+Basically, refer to the documents in the file downloaded from [Driver page](https://www.denso-wave.com/ja/robot/download/application/cobotta_driver_for_linux.html) to setup your robot.
+But please read the following before setup:
+
+- After installing Ubuntu on the robot, you should install and use the Kernel version supported by COBOTTA.
+  Supported versions are listed on README in the top directory.
+  You should install and use the latest version currently supported (hereinafter `XX`, e.g., `5.4.0-58-generic`):
+  ```bash
+  sudo apt install linux-image-XX
+  sudo apt install linux-modules-extra-XX
+  sudo vi /etc/default/grub  # Set GRUB_DEFAULT as "Ubuntu, with Linux XX"
+  sudo update-grub
+  # cf. https://askubuntu.com/questions/68547/editing-the-default-boot-item-in-grub-menu-a-definitive-answer
+  ```
+  After this, you should reboot the robot by turn the switch OFF and ON.
+
+- By default, you should load the driver and change permission of the device file every time rebooting the robot.
+  If you want the robot to execute them automatically, do the following setting:
+  ```bash
+  echo -e '#!/bin/bash\nsudo modprobe denso_cobotta io_power_mode=1\nsudo chown [YOUR LOGIN NAME]:[YOUR LOGIN GROUP] /dev/denso_cobotta' > ~/cobotta_startup.sh
+  chmod +x ~/cobotta_startup.sh
+  sudo bash -c "echo -e '@reboot root /home/[YOUR LOGIN NAME]/cobotta_startup.sh\n' > /etc/cron.d/cobotta_startup"
+  ```
+
+#### 2nd step: setup JSK environment
+
+```bash
+source ~/[WORKSPACE YOU CREATED AT 1ST STEP]/devel/setup.bash
+mkdir -p ~/jsk_ws/src
+cd ~/jsk_ws/src
+git clone https://github.com/jsk-ros-pkg/jsk_robot.git
+cd ../
+rosdep install -y -r --from-paths src/jsk_robot/jsk_denso_robot --ignore-src
+catkin build cobottaeus jsk_cobotta_startup -vi
+source devel/setup.bash
+```
+
+### Start ROS Node
+
+Run the following inside the robot (via SSH or keyboard):
+```bash
+roslaunch jsk_cobotta_startup cobotta_oss_bringup.launch
+```
+
+### Use EusLisp model
+
+Almost the same as [the instruction of COBOTTA non-OSS type](#use-euslisp-model) except:
+
+- Model loading should be:
+  ```lisp
+  (load "package://cobottaeus/cobotta-oss-interface.l")
+  (cobotta-oss-init)
+  ```
+- Warning message while the robot detects errors is mainly displayed on `cobotta_oss_bringup.launch`
+- After clearing error (`(send *ri* :clear-error)`), you should call `(send *ri* :motor-on)` to return your robot to normal state
+- `(send *ri* :dispose)` is not implemented (we do not think this is needed on OSS type)
+
 ---
 If you have any question, please feel free to file open at https://github.com/jsk-ros-pkg/jsk_robot/issues

jsk_denso_robot/cobottaeus/.gitignore

@@ -0,0 +1 @@
+cobotta.l

jsk_denso_robot/cobottaeus/CMakeLists.txt

@@ -34,7 +34,7 @@ message("cobotta_urdf: ${_cobotta_urdf}")
 message("collada2eus: ${_collada2eus}")
 
 add_custom_command(OUTPUT ${PROJECT_BINARY_DIR}/cobotta.urdf
-  COMMAND xacro ${_cobotta_urdf}/cobotta.urdf.xacro > ${PROJECT_BINARY_DIR}/cobotta.urdf
+  COMMAND xacro --inorder ${_cobotta_urdf}/cobotta.urdf.xacro > ${PROJECT_BINARY_DIR}/cobotta.urdf
   DEPENDS ${_cobotta_urdf}/cobotta.urdf.xacro)
 add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/cobotta.l
   COMMAND echo "${_collada2eus} ${PROJECT_BINARY_DIR}/cobotta.urdf cobotta.l"