Merge remote-tracking branch 'origin/master' into feature/battery_war…

…ning_msi_laptop
tue-robotics · Nov 3, 2021 · 1b3ad51 · 1b3ad51
2 parents 2a961b4 + 55df9e6
commit 1b3ad51
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diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -0,0 +1,15 @@
+name: CI
+
+on: [push, pull_request]
+
+jobs:
+  tue-ci:
+    name: TUe CI - ${{ github.event_name }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: TUe CI
+        uses: tue-robotics/tue-env/ci/main@master
+        with:
+          package: ${{ github.event.repository.name }}
+          ssh-key: ${{ secrets.SSH_DEPLOY_KEY }}
+          ssh-known-hosts: github.com
diff --git a/.travis.yml b/.travis.yml
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(hero_bringup)
 
 find_package(catkin REQUIRED COMPONENTS

diff --git a/README.md b/README.md
diff --git a/deploy_key.enc b/deploy_key.enc
diff --git a/hsrb_bringup/launch/hsrb_bringup_common.launch b/hsrb_bringup/launch/hsrb_bringup_common.launch
@@ -16,12 +16,12 @@
   <!-- include PHASE info -->
   <include file="$(find hero_bringup)/hsrb_bringup/launch/include/hsrb_bringup_common_$(optenv ROBOT_VERSION HSRB-PHASE5).xml">
     <arg name="namespace" value="$(arg namespace)" /> <!-- TUe Added -->
-    <arg name="use_hand_camera" value="$(arg use_hand_camera)"/>
-    <arg name="use_head_center_camera" value="$(arg use_head_center_camera)"/>
-    <arg name="use_head_stereo_camera" value="$(arg use_head_stereo_camera)"/>
-    <arg name="use_head_rgbd_sensor" value="$(arg use_head_rgbd_sensor)"/>
+    <arg name="use_hand_camera" default="$(arg use_hand_camera)"/>
+    <arg name="use_head_center_camera" default="$(arg use_head_center_camera)"/>
+    <arg name="use_head_stereo_camera" default="$(arg use_head_stereo_camera)"/>
+    <arg name="use_head_rgbd_sensor" default="$(arg use_head_rgbd_sensor)"/>
     <arg name="use_base_range_sensor" value="$(arg use_base_range_sensor)" />
-    <arg name="use_blackfly" value="$(arg use_blackfly)" />
+    <arg name="use_blackfly" default="$(arg use_blackfly)" />
   </include>
 
   <include file="$(find hero_bringup)/hsrb_bringup/launch/include/hsrb_bringup_common.xml">

diff --git a/hsrb_bringup/launch/hsrb_monitor.launch b/hsrb_bringup/launch/hsrb_monitor.launch
@@ -3,28 +3,31 @@
   <arg name="namespace" default="/hsrb" />
   <arg name="param_file" default="$(env HOME)/.ros/params.yaml" />
   <arg name="robot_name" default="hsrb" />
-  <arg name="upload_robot_model_launch" default="$(find hsrb_description)/robots/upload_hsrb.launch" />
+  <arg name="personal_name" default="hero" /> <!-- TUe Added -->
+  <arg name="upload_robot_model_launch" default="$(find hero_bringup)/hsrb_description/robots/upload_hsrb.launch" />
   <arg name="computer_config_list" default="['$(find hsrb_bringup)/params/hsrb_computer_diag_common.yaml', '$(find hsrb_bringup)/params/hsrb_computer_diag_$(optenv ROBOT_VERSION HSRB-PHASE5).yaml']"/>
   <arg name="use_talk_hoya" default="true" />
+  <arg name="use_battery_notifier" default="$(optenv USE_BATTERY_NOTIFIER true)" />
+  <arg name="use_dualshock4" default="$(optenv USE_DUALSHOCK4 false)" />
 
   <!-- prepare params.yaml -->
   <param name="/tmp" command="rosrun tmc_roslaunch_tools symboliclink -f $(arg param_file) /etc/opt/tmc/robot/params.yaml $(find hsrb_common_launch)/params/empty_params.yaml" />
 
   <!-- upload robot_description -->
-  <include file="$(arg upload_robot_model_launch)" ns="$(arg namespace)"/>
+  <include file="$(arg upload_robot_model_launch)" >
+    <arg name="namespace" value="$(arg namespace)" /> <!-- TUe Added -->
+    <arg name="personal_name" value="$(arg personal_name)" /> <!-- TUe Added -->
+  </include>
 
   <!-- include robot_name config -->
-  <include file="$(find hsrb_bringup)/launch/include/hsrb_monitor_$(arg robot_name).xml" >
-    <arg name="namespace" value="$(arg namespace)" />
+  <include file="$(find hsrb_bringup)/launch/include/hsrb_monitor_$(arg robot_name).xml">
+    <arg name="namespace" value="$(arg namespace)" /> <!-- TUe Added -->
+    <arg name="use_battery_notifier" value="$(arg use_battery_notifier)" />
   </include>
 
   <group ns="$(arg namespace)">
     <remap from="/diagnostics" to="$(arg namespace)/diagnostics" />
 
-    <!-- io monitor -->
-    <node name="hsrb_io_monitor" pkg="hsrb_io_monitor" type="hsrb_io_monitor_node"
-	  respawn="true" />
-
     <!-- computer monitor -->
     <node pkg="tmc_computer_monitor" name="computer_monitor_node" type="tmc_computer_monitor_node" >
       <rosparam param="config_file" subst_value="True">$(arg computer_config_list)</rosparam>
@@ -38,6 +41,10 @@
     <arg name="respawn" value="true"/>
   </include>
 
+  <!-- DualShock4 support -->
+  <include file="$(find tmc_dualshock4_node)/launch/dualshock4_node.launch"
+           if="$(arg use_dualshock4)" />
+
   <!-- load override parameters-->
   <rosparam command="load" file="$(arg param_file)" />
 

diff --git a/hsrb_bringup/launch/include/hsrb_bringup_common.xml b/hsrb_bringup/launch/include/hsrb_bringup_common.xml
@@ -3,7 +3,9 @@
   <arg name="namespace" default="/hsrb" />
   <arg name="enable_emergency_stop" default="true" />
   <arg name="use_laser_odom" default="true" />
-  <arg name="odometry_config" default="$(find hsrb_common_config)/params/hsrb_odometry_config.yaml" />
+  <arg name="odometry_config" default="$(find hero_bringup)/hsrb_common_config/params/hsrb_odometry_config.yaml" /> <!-- TU/e changed -->
+  <arg name="bumper_mode" default="stop" />
+  <arg name="target_controller_list" default="[omni_base_controller, head_trajectory_controller, arm_trajectory_controller, gripper_controller]"/>
 
   <group ns="$(arg namespace)">
     <remap from="robot_description" to="$(arg namespace)/robot_description" />
@@ -46,9 +48,6 @@
     <node name="status_led_node" pkg="hsrb_status_led" type="status_led_node" />
 
     <!-- bumper action -->
-    <arg unless="$(arg enable_emergency_stop)" name="bumper_mode" value="back"/>
-    <arg     if="$(arg enable_emergency_stop)" name="bumper_mode" value="stop"/>
-
     <node name="hsrb_bumper" pkg="hsrb_bumper" type="hsrb_bumper_node" >
       <rosparam file="$(find hsrb_bumper)/param/mode_dict.yaml" command="load" />
       <param name="enable_emergency_stop" value="$(arg enable_emergency_stop)" />
@@ -62,6 +61,7 @@
       <param name="crescent_moon_object" value="false" />
       <param name="bumper_binarization" value="false" />
       <param name="to_temp_object_distance" value="0.7" />
+      <rosparam param="target_controller_list" subst_value="True">$(arg target_controller_list)</rosparam>
     </node>
 
     <!-- odometry_switcher -->

diff --git a/hsrb_bringup/launch/include/hsrb_bringup_common_HSRB-PHASE5.xml b/hsrb_bringup/launch/include/hsrb_bringup_common_HSRB-PHASE5.xml
@@ -1,7 +1,10 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="namespace" default="/hsrb" />
-  <include file="$(find hsrb_description)/robots/upload_hsrb.launch" />
+  <arg name="personal_name" default="" />
+  <include file="$(find hero_bringup)/hsrb_description/robots/upload_hsrb.launch" >
+    <arg name="namespace" value="$(arg namespace)" />
+  </include>
 
   <!-- sensor -->
   <arg name="config_dir" default="/etc/opt/tmc/robot/conf.d" />
@@ -15,22 +18,19 @@
   <arg name="enable_usb_hub_reset" default="false" />
 
   <group ns="$(arg namespace)">
-    <!-- TU/e added: for laser_scan_matcher_node; This should be fixes in
-    common.xml itself; Not related to HERO setup -->
-    <remap from="imu/data" to= "base_imu/data" />
-
-    <include file="$(find hsrb_bringup)/launch/include/sensors/common.xml">
+      <include file="$(find hero_bringup)/hsrb_bringup/launch/include/sensors/common.xml">
       <arg name="namespace" value="$(arg namespace)" />
       <arg name="config_dir" value="$(arg config_dir)" />
       <arg name="calib_dir" value="$(arg calib_dir)" />
-      <arg name="use_hand_camera" value="$(arg use_hand_camera)"/>
-      <arg name="use_head_center_camera" value="$(arg use_head_center_camera)"/>
-      <arg name="use_head_stereo_camera" value="$(arg use_head_stereo_camera)"/>
-      <arg name="use_head_rgbd_sensor" value="$(arg use_head_rgbd_sensor)"/>
+      <arg name="use_hand_camera" default="$(arg use_hand_camera)"/>
+      <arg name="use_head_center_camera" default="$(arg use_head_center_camera)"/>
+      <arg name="use_head_stereo_camera" default="$(arg use_head_stereo_camera)"/>
+      <arg name="use_head_rgbd_sensor" default="$(arg use_head_rgbd_sensor)"/>
       <arg name="use_base_range_sensor" value="$(arg use_base_range_sensor)" />
       <arg name="use_blackfly" value="$(arg use_blackfly)" />
       <arg name="enable_usb_hub_reset" value="$(arg enable_usb_hub_reset)" />
     </include>
-    <include file="$(find hsrb_bringup)/launch/include/sensors/dynpick.xml"/>
+    <include file="$(find hero_bringup)/hsrb_bringup/launch/include/sensors/dynpick.xml"/>
   </group>
 </launch>
+
diff --git a/hsrb_bringup/launch/include/hsrb_controller_hsrb.xml b/hsrb_bringup/launch/include/hsrb_controller_hsrb.xml
@@ -5,6 +5,8 @@
 
   <group ns="$(arg namespace)">
 
+    <rosparam command="load" file="$(find hsrb_common_config)/params/hsrb_controller_config_$(arg robot_name).yaml"/>
+
     <!-- controller -->
     <node name="controller_spawner" pkg="controller_manager" type="spawner"
           respawn="false"