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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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415e794
skip fixed joint, see https://github.com/start-jsk/denso/issues/68#is…
k-okada Oct 22, 2017
eb1dd85
vs060/model/vs060A1_AV6_NNN_NNN.urdf: add missing safety_controller f…
k-okada Oct 22, 2017
5d471bc
loopback read and write for dryrun mode
k-okada Oct 22, 2017
9d95594
use position_trajectory_controller (use joint tarjectory action inste…
k-okada Oct 22, 2017
d54819a
position_control.launch: add server_ip, udp_timeout, server_port, dry…
k-okada Oct 22, 2017
6ce91d3
position_control.launch: add --shutdown-timeout 0.1 to clean? shutdow…
k-okada Oct 22, 2017
af46a2d
update moveit configuration for new denso_ros_controller package
k-okada Oct 22, 2017
24eb4dd
Deprecation warning: Trajectory execution service is deprecated (was …
k-okada Oct 22, 2017
c4eb35d
run controller with position_control.launch, not launch in denso_launch
k-okada Oct 22, 2017
4b2e380
change arg name from mode to dryrun
k-okada Oct 22, 2017
ec699b3
import dummy pyassimp: workaround until https://github.com/ros-planni…
k-okada Oct 22, 2017
d0e4924
irex_demo_noteaching.py : enable to run arm.go()
k-okada Oct 22, 2017
b4ec29c
remove redundant code from demo_simulation_cage.launch
k-okada Oct 22, 2017
d16b52f
rm denso_vs060_startup_*
k-okada Oct 22, 2017
0750519
clean up launch file for newer demo.launch in vs060_moveit_config, wh…
k-okada Oct 22, 2017
d917c8f
re-enable vs060.test, add workaround for pyassimp, run go() twice
k-okada Oct 22, 2017
960518c
CMakeLists.txt: add install target
k-okada Oct 22, 2017
b584662
wait for /move_group/goal
k-okada Oct 22, 2017
5270354
add position_controllers depends denso_ros_control/package.xml
k-okada Oct 22, 2017
28185bf
add joint_trajectory_controller depends denso_ros_control/package.xml
k-okada Oct 22, 2017
84467a5
run catkin_test_results with --verbose
k-okada Oct 22, 2017
b6ed8f3
test_moveit.py: sleep before retry go()
k-okada Oct 23, 2017
e3fcfe5
add joint_state_controller
k-okada Oct 23, 2017
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wait for /move_group/goal

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k-okada committed Oct 22, 2017
commit b5846622d1e9d87ea5f41a9c23316ed962a6df86
@@ -50,6 +50,8 @@
from moveit_msgs.srv import GetPlanningScene
import rospy

import actionlib
from moveit_msgs.msg import MoveGroupAction

class TestMoveit(unittest.TestCase):
_MOVEGROUP_MAIN = 'manipulator'
@@ -58,6 +60,11 @@ class TestMoveit(unittest.TestCase):
@classmethod
def setUpClass(self):
rospy.init_node('test_moveit_vs060')
# wait for /move_group/goal
client = actionlib.SimpleActionClient('move_group', MoveGroupAction)
rospy.loginfo('wait for move_group')
client.wait_for_server();
rospy.loginfo('wait for move_group done')
self.robot = RobotCommander()
self._mvgroup = MoveGroupCommander(self._MOVEGROUP_MAIN)
# Temporary workaround of planner's issue similar to https://github.com/tork-a/rtmros_nextage/issues/170
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