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fix kinetic-devel (denso_ros_control) for simulation usage #88

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merged 23 commits into from Oct 23, 2017

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commented Oct 22, 2017

@ompugao , please reviewer if this does not break your environment.

  • clean up launch file for newer demo.launch in vs060_moveit_config, which accepts dryrun argument
  • rm denso_vs060_startup_*
  • remove redundant code from demo_simulation_cage.launch
  • irex_demo_noteaching.py : enable to run arm.go()
  • import dummy pyassimp: workaround until ros-planning/moveit#581 is released
  • change arg name from mode to dryrun
  • run controller with position_control.launch, not launch in denso_launch
  • Deprecation warning: Trajectory execution service is deprecated (was replaced by an action). Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch
  • update moveit configuration for new denso_ros_controller package
  • position_control.launch: add --shutdown-timeout 0.1 to clean? shutdown of controllers
  • position_control.launch: add server_ip, udp_timeout, server_port, dryrun arguments
  • use position_trajectory_controller (use joint tarjectory action instead of poision conttoller for each joint)
  • loopback read and write for dryrun mode
  • vs060/model/vs060A1_AV6_NNN_NNN.urdf: add missing safety_controller for j4
  • skip fixed joint, see #68 (comment)

k-okada added some commits Oct 22, 2017

Deprecation warning: Trajectory execution service is deprecated (was …
…replaced by an action).

Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch

@k-okada k-okada merged commit 58b29a4 into start-jsk:kinetic-devel Oct 23, 2017

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@k-okada k-okada deleted the k-okada:enable_dry_run branch Oct 23, 2017

@ompugao

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commented Oct 23, 2017

okada-sensei, you don't need to care about me, I'll fix it and send p-r if it does matter.

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