Merge branch 'master' of https://github.com/si-machines/poli2

poli2_description/robots/poli2_freight.urdf.xacro

@@ -58,7 +58,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
     <xacro:property name="wheel_length" value="0.09224900" />
     <xacro:property name="wheel_radius" value="0.2405681" />
 
-    <xacro:macro name="freight_robot">
+    <xacro:macro name="poli2_freight">
         <gazebo>
           <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
               <robotNamespace>/</robotNamespace>

poli2_launch/config/camera_params.yaml

@@ -1,5 +1,5 @@
 realsense2_camera_manager: {
-  rs435_color_white_balance: 325,
+  rs435_color_white_balance: 350,
   rs435_depth_enable_auto_exposure: true,
   rs435_depth_exposure: 45,
   rs435_depth_error_polling_enabled: false}

poli2_launch/launch/machine1.launch

@@ -52,30 +52,14 @@ ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     <arg name="use_segway" value="$(eval robot_name=='moe')"/>
     <arg name="robot_description_file" value="$(arg robot_description_file)"/>
   </include>
-
-  <!-- Moe -->
-  <group if="$(eval robot_name=='moe')"> <!-- stuff only working on moe right now-->
-    <!-- Bring up pan tilt motors -->
-    <include file="$(find poli_pan_tilt)/launch/pan_tilt.launch">
-      <arg name="robot_name" value="$(arg robot_name)" />
-    </include>
-
-    <!-- Start LED driver and pan/tilt zero switch manager-->
-    <include file="$(find poli2_launch)/launch/torso/led_controller.launch"/>
-  </group>
-
-  <!-- Barton and Lupe -->
-  <group if="$(eval robot_name=='barton' or robot_name=='lupe')">
-    <!-- Bring up pan motor only -->
-    <include file="$(find poli_pan_tilt)/launch/pan_control.launch">
-      <arg name="baud_rate" value="57600"/>
-    </include>
-  </group>
-
-  <!-- Bring up Jaco arm-->
-  <include file="$(find poli2_launch)/launch/torso/kinova_arm.launch">
-    <arg name="comport" value="/dev/robotiq"/>
+
+  <!-- Bring up pan tilt motors -->
+  <include file="$(find poli_pan_tilt)/launch/pan_tilt.launch">
+    <arg name="robot_name" value="$(arg robot_name)" />
   </include>
+
+  <!-- Start LED driver and pan/tilt zero switch manager-->
+  <include file="$(find poli2_launch)/launch/torso/led_controller.launch"/>
 
   <group if="$(arg start_manipulation)">
     <include file="$(find poli2_launch)/launch/manipulation.launch">

poli2_launch/launch/manipulation.launch

@@ -32,6 +32,11 @@ ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 <launch>
   <arg name="robot_name" default="moe"/>
 
+  <!-- Bring up Jaco arm-->
+  <include file="$(find poli2_launch)/launch/torso/kinova_arm.launch">
+    <arg name="comport" value="/dev/robotiq"/>
+  </include>
+
   <include file="$(find poli2_full_moveit)/launch/moveit.launch">
     <arg name="load_robot_description" value="true"/>
     <arg name="robot_name" value="$(arg robot_name)"/>

poli2_launch/launch/orp_headless.launch

@@ -0,0 +1,67 @@
+<!--
+Copyright (c) 2017, Adam Allevato
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<!-- This launch file is an example of how to use ORP in your own application,
+     using one of the built-in classifiers.
+
+     The example uses OpenNI2 (e.g. Asus Xtion Pro), and attempts to find small
+     objects on a planar surface. It detects those objects as type obj_red,
+     obj_green, or obj_blue.
+-->
+<launch>
+  <rosparam command="load" param="/orp/segmentation" file="$(find poli2_launch)/config/segmentation_params.yaml" />
+  <rosparam command="load" param="/camera" file="$(find poli2_launch)/config/camera_params.yaml" />
+
+  <!-- Before calling orp.launch, your list of items should be loaded onto the
+       ROS parameter server. The following line does just that. -->
+  <rosparam command="load" param="/orp/items" file="$(find orp)/data/example_database.yaml" />
+
+  <!-- orp.launch loads some default configuration parameters, such as settings
+       for the segmentation server. If you want to override these, you should
+       add a <rosparam load> tag somewhere after the orp.launch call. -->
+  <include file="$(find orp)/launch/orp.launch">
+    <arg name="realsense_4xx"     value="true"/>
+    <arg name="hue"               value="true"/>
+    <arg name="autostart"         value="true"/>
+    <arg name="reconfigure"	  value="false"/>
+    <arg name="rviz"		  value="false"/>
+    <arg name="recognition_frame" value="j2s7s300_link_base"/>
+  </include>
+
+
+  <!-- additional launch files could be added here to finish the vision stack.
+       It may be necessary to define one or more TF static_transform_publisher
+       nodes to define the transformations between the camera and the world.-->
+
+
+  <node pkg="tf" type="static_transform_publisher" name="camera_connection_tf"
+    args="-0.03 0.035 -0.01 1.57 0 1.57 camera_placement_link camera_link 100" /> 
+</launch>

poli2_launch/scripts/setup_barton_collision_scene.py

@@ -49,7 +49,7 @@
     p.add_box("torso", "base_link", size=(.23,.3,.5), position=(0.,0.,.5+.25), color=(0,0,1.,0.3))
     p.add_sphere("head", "base_link", size=(.22,.2,.2), position=(0.,0.,1+.1), color=(0,0,1.,0.3))
 
-    p.add_box("table", "base_link", size=(1.5,1.5,.58), position=(1.,0.,.3), color=(0,0,1.,1.))
+    p.add_box("table", "base_link", size=(1.5,1.5,.58), position=(1.,0.,.26), color=(0,0,1.,1.))
 
     p.add_box("left", "base_link", size=(2,.3,3.0), position=(1.,-1,1.5), color=(0,0,1.,0.4))
     p.add_box("right", "base_link", size=(2,.3,3.0), position=(1.,1,1.5), color=(0,0,1.,0.4))

setup/optional_setup_steps.sh

@@ -12,19 +12,25 @@ rmdir Templates
 rmdir Videos
 rm examples.desktop
 
+# Dependencies for Sublime Text (from https://www.sublimetext.com/docs/3/linux_repositories.html#apt)
+wget -qO - https://download.sublimetext.com/sublimehq-pub.gpg | sudo apt-key add -
+sudo apt-get install -yq apt-transport-https
+echo "deb https://download.sublimetext.com/ apt/dev/" | sudo tee /etc/apt/sources.list.d/sublime-text.list
+sudo apt-get update
+
 # Install stuff that people in the lab like to use
 sudo apt-get install -yq \
   curl \
   emacs \
   gitk \
+  sublime-text
   terminator \
   vim \
   wget
 
 # Allow SSH into this machine
 sudo apt-get install -yq openssh-server
 
-
 # Set the default settings for gedit to be OK for programming
 gsettings set org.gnome.gedit.preferences.editor auto-indent true
 gsettings set org.gnome.gedit.preferences.editor bracket-matching true

setup/poli2_segway/machine1/udev.rules

@@ -32,7 +32,10 @@ KERNEL=="ttyACM*", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="04[789B]?", MODE:
 
 # Epos (head tilt board)
 # see also https://github.com/RIVeR-Lab/epos_hardware/blob/indigo-devel/epos_hardware/90-ftd2xx.rules
-SUBSYSTEM=="usb|usb_device", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="a8b0", GROUP="dialout", MODE="666", SYMLINK+="tilt_motor"
+ACTION=="add", SUBSYSTEM=="usb|usb_device", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="a8b0", GROUP="dialout", MODE="666", SYMLINK+="tilt_motor"
 
 # Arduino Uno for pillar control
 ACTION=="add", SUBSYSTEM=="tty", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0043", SYMLINK+="tty_pillar"
+
+# Mini DSP
+ACTION=="add", SUBSYSTEM=="usb|usb_device|tty", ATTRS{idVendor}=="2752", ATTRS{idProduct}=="001c", GROUP="dialout", MODE="666", SYMLINK+="mic_array"