.travis.yml: run jsk_pr2eus tests

[k-okada]

we see regression on pr2eus_moveit from roseus 1.7.3
c.f. https://travis-ci.org/jsk-ros-pkg/jsk_pr2eus/jobs/487477143

[k-okada]

1.7.3 finals on moveit test code

https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/386dc06feecb8989dce4e8429cbf8059a8511d23/pr2eus_moveit/test/test-pr2eus-moveit.l#L178-L187

We see several issues

 WARN] [1549169292.352002223, 37182.782000000]: topic /head_traj_controller/follow_joint_trajectory/goal already advertised
[ WARN] [1549169292.352086026, 37182.782000000]: topic /head_traj_controller/follow_joint_trajectory/cancel already advertised
#<hash-table #X74d8a98 10/14>
(:larm-controller (#<controller-action-client #X74d8630 l_arm_controller/follow_joint_trajectory>))
(:rarm-controller (#<controller-action-client #X74d5888 r_arm_controller/follow_joint_trajectory>))
(:head-controller (#<controller-action-client #X7533450 head_traj_controller/follow_joint_trajectory>))
(:fullbody-2-controller (#<controller-action-client #X6dfa2c8 r_arm_controller/follow_joint_trajectory> #<controller-action-client #X6df9938 l_arm_controller/follow_joint_trajectory> #<controller-action-client #X6df7e38 head_traj_controller/follow_joint_trajectory> #<controller-action-client #X6df7910 torso_controller/follow_joint_trajectory>))
(:larm-head-controller (#<controller-action-client #X6df55b8 l_arm_controller/follow_joint_trajectory> #<controller-action-client #X6dfbdf0 head_traj_controller/follow_joint_trajectory>))
(:dummy-head-controller (#<controller-action-client #X6e6b6c8 head_traj_controller/follow_joint_trajectory>))
(:torso-controller (#<controller-action-client #X752dcf0 torso_controller/follow_joint_trajectory>))
(:rarm-head-controller (#<controller-action-client #X6df70b8 r_arm_controller/follow_joint_trajectory> #<controller-action-client #X6df6008 head_traj_controller/follow_joint_trajectory>))
(:dummy-2-head-controller (#<controller-action-client #X6f548f8 head_traj_controller/follow_joint_trajectory>))
(:default-controller (#<controller-action-client #X74d8630 l_arm_controller/follow_joint_trajectory> #<controller-action-client #X74d5888 r_arm_controller/follow_joint_trajectory> #<controller-action-client #X7533450 head_traj_controller/follow_joint_trajectory> #<controller-action-client #X752dcf0 torso_controller/follow_joint_trajectory>))
[ INFO] [1549169292.395499391, 37182.796000000]: check 3
[ INFO] [1549169295.722906675, 37183.836000000]: check 4
TEST-NAME: test-angle-vector-motion-plan
  now testing...
start testing [test-angle-vector-motion-plan]
[ INFO] [1549169295.819467513, 37183.870000000]: ;; Planned Trajectory Total Time   0.089 [sec]
[ INFO] [1549169295.820223010, 37183.870000000]: ;; Scaled Trajectory Total Time 0.089(0.089) [sec]
[ INFO] [1549169295.820353584, 37183.870000000]: ;; generated 10 points for 0.088826 sec using [right_arm_and_torso] group
[ INFO] [1549169295.820457564, 37183.870000000]: ;; will send to (torso_lift_joint r_shoulder_pan_joint r_shoulder_lift_joint r_upper_arm_roll_joint r_elbow_flex_joint r_forearm_roll_joint r_wrist_flex_joint r_wrist_roll_joint)
[ INFO] [1549169295.820764360, 37183.870000000]: ;; send self :angle-vector :larm-controller (#<controller-action-client #X74d8630 l_arm_controller/follow_joint_trajectory>) (without planning)
[ INFO] [1549169295.821024878, 37183.870000000]: ;; send self :angle-vector :head-controller (#<controller-action-client #X7533450 head_traj_controller/follow_joint_trajectory>) (without planning)
[ INFO] [1549169295.821147922, 37183.870000000]: ;; send self :send-trajectory :default-controller
[ INFO] [1549169295.851415999, 37183.887000000]: #<controller-action-client #X74d5888 r_arm_controller/follow_joint_trajectory> send-goal #<actionlib_msgs::goalid #Xcf6b1c0> r_arm_controller/follow_joint_trajectory
[ INFO] [1549169295.863084256, 37183.894000000]: #<controller-action-client #X752dcf0 torso_controller/follow_joint_trajectory> send-goal #<actionlib_msgs::goalid #X86bc6d0> torso_controller/follow_joint_trajectory
[ INFO] [1549169295.970978163, 37183.935000000]: ;; Planned Trajectory Total Time   0.073 [sec]
[ INFO] [1549169295.972132989, 37183.936000000]: ;; Scaled Trajectory Total Time 0.073(0.073) [sec]
[ INFO] [1549169295.972225656, 37183.936000000]: ;; generated 10 points for 0.072632 sec using [left_arm_and_torso] group
[ INFO] [1549169295.972409836, 37183.936000000]: ;; will send to (torso_lift_joint l_shoulder_pan_joint l_shoulder_lift_joint l_upper_arm_roll_joint l_elbow_flex_joint l_forearm_roll_joint l_wrist_flex_joint l_wrist_roll_joint)
[ INFO] [1549169295.972693979, 37183.936000000]: ;; send self :angle-vector :rarm-controller (#<controller-action-client #X74d5888 r_arm_controller/follow_joint_trajectory>) (without planning)
[ INFO] [1549169295.972990415, 37183.936000000]: ;; send self :angle-vector :head-controller (#<controller-action-client #X7533450 head_traj_controller/follow_joint_trajectory>) (without planning)
[ INFO] [1549169295.973118846, 37183.936000000]: ;; send self :send-trajectory :default-controller
[ INFO] [1549169295.996314954, 37183.944000000]: #<controller-action-client #X74d8630 l_arm_controller/follow_joint_trajectory> send-goal #<actionlib_msgs::goalid #X8bcdda0> l_arm_controller/follow_joint_trajectory
[ INFO] [1549169296.011960909, 37183.949000000]: #<controller-action-client #X752dcf0 torso_controller/follow_joint_trajectory> send-goal #<actionlib_msgs::goalid #X7b14140> torso_controller/follow_joint_trajectory
[ INFO] [1549169296.013684139, 37183.950000000]: wait-interpolation debug: start
[ INFO] [1549169296.037321704, 37183.960000000]: #<controller-action-client #X6df7910 torso_controller/follow_joint_trajectory> action-result-cb nil torso_controller/follow_joint_trajectory[ WARN] [1549169296.037462357, 37183.960000000]: [torso_controller/follow_joint_trajectory] action-result-cb may recieved old client's goal
[ WARN] [1549169296.037633373, 37183.960000000]:      expected goal id nil

1. change robot-interfacel . we have multiple controller-action-clients instance for single follow_joint_trajectory action server, At this moment, we assume if we subscribe same topic, call back function is destroied (??? add test for subscribe object dispose #525) . We could allow multiple callbacks for single topic, or change robot-interface.l to reuse single action client. the test called with :add-controller with :create-action t keyword, if we just call :add-controller, then we do not have errors.

2. change roseus.cpp, roseus: add :last-status-msg method for simple-action-client #578 added a line

     (if (null goal_id) (return-from :action-result-cb nil))

Which is the directo cause of this, if we call :wait-interprolation or :wait-for-result with out calling send-result, then we should not busy wait.

3. change robot-interface.l . Need to investigate why :wait-interpolation wait for client which is not sent the goal before :wait-interpolation wait for default controller-actions, but :angle-vector-with-motion-plan calls different controllers, :angle-vector-with-motion-plan and :wait-interpolation uses same subscriber instance, but the goal topic is taken by different subscriber, which is instant instead after constructing default controller.