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drc_task_common package from jsk_demos repo

detect_cans_in_fridge_201202 elevator_move_base_pr2 interactive_behavior_201409 jsk_2011_07_pr2_semantic jsk_2013_04_pr2_610 drc_com_common drc_task_common drc_valve_task gazebo_drive_simulator jsk_demo_common jsk_maps jsk_semantic_maps

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.4
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/jsk-ros-pkg/jsk_demos.git
VCS Type	git
VCS Version	0.0.4
Last Updated	2017-03-14
Dev Status	DEVELOPED
Released	RELEASED

Package Description

drc_task_common

Additional Links

No additional links.

Maintainers

Masaki Murooka

Authors

Masaki Murooka

jsk_2015_06_hrp_drc/drc_task_common/README.md

drc_task_common

Introduction

provides drc_task_ common task programs.

Setup

Setup your account allowing sudo without password and keep environmental variable.

It's required to use socket port 1-1023.

Run following command

$ sudo visudo

And add these lines:

  YOUR_ACCOUNT ALL=(ALL) NOPASSWD:ALL
  Defaults env_keep += "PYTHONPATH"
  Defaults env_keep += "ROS_PACKAGE_PATH"
  Defaults env_keep += "ROS_MASTER_URI"

And restart your computer.

speed up roslaunch

sudo patch -u /usr/lib/python2.7/dist-packages/catkin_pkg/packages.py < $(rospack find drc_task_common)/patch/catkin_packages.patch

Set enviroment variable "ROBOT" For example,

   export ROBOT=HRP2JSKNT

   export ROBOT=JAXON

drc_task_common.launch

DEVICE

this program needs * 3D mouse (for move t-marker) * B-Controll (for some bottuns) * Track ball mouse (for move robot head)

DEPEND

$ sudo aptitude install python-pygame
$ sudo pip install fysom
$ sudo aptitude install spacenavd ros-hydro-spacenav-node
$ sudo aptitude install python-urlgrabber

How to launch

You should put two commands in the defferent terminal

roslaunch drc_task_common operator_station_main.launch
roslaunch drc_task_common field_computer_main.launch

How to Use B-Controll Interface

B-Controll provides 2x8 Buttons and 8 bars. This Section Introduces how to use buttons

for more details, please read source codes https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/scripts/b_control_client.py provides bottun interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Change Transformable Marker Type, for (Box, Cylinder, Torus) Like Objects.

Upper, 4 From the Left, SETPOS Button

Auto Move Robot Before T-Object Marker.(Maybe before 50cm from Objects, But Needs Some Changes)

Upper, 5 From the Left, GOPOS Button

Go Pos From Real Pos To Robot Marker Pos. (Push U8 or D8 to Select)

Upper, 6 From the Left, Save Button

SAVE CURRENT OBJECT POSE(for moving object)

Upper, 7 From the Left, TOGGLE Button

Not Used

Lower, 1 From the Left, APPROACH Button

Change IK mode * None (Simply solve IK with the coords) * Reach (Solve IK to Reach object coords) * Release (Solve IK to Release object) current mode is displayed on rviz.

Lower, 2 From the Left, Mode Button

Change Marker Setting Mode, * autoset (object will be set by click b-box) * manuset (manual set object with 3d mouse) * assoc (object will be assoced to robot hand coords) current mode is displayed on rviz.

Launch Menu * reverse (reverse object coords (z-axis will be reversed)) * chancel (close menu)

Lower, 4 From the Left, IK Button

solve IK with current robot pos and current t-object coords, Robot model will be change pose with the result

Lower, 5 From the Left, Angle Button

send robot model's angle to real robot, You can change the velocity by changing the most right bar.

Launch Robot menu * cancel * switch irm (change ik arm) * inverse-reachabily-map-mode * reachability-map-mode * reset pose (change robot model pose) * reset pose (::)

Trouble Shoot

Q. I can't move robot-head.

A. You should change mode for mouse, first, to know if mouse is connected

sudo hexdump mouse0

then, you should put command

sudo chmod 644 mouse0

Q. The following error occurred.

Traceback (most recent call last):
  File "/home/leus/ros/hydro/src/jsk-ros-pkg/jsk_control/jsk_teleop_joy/scripts/midi_config_player.py", line 97, in <module>
    main()
  File "/home/leus/ros/hydro/src/jsk-ros-pkg/jsk_control/jsk_teleop_joy/scripts/midi_config_player.py", line 63, in main
    controller = openMIDIInputByName(config["device_name"])
  File "/home/leus/ros/hydro/src/jsk-ros-pkg/jsk_control/jsk_teleop_joy/src/jsk_teleop_joy/midi_util.py", line 83, in openMIDIInputByName
    return openMIDIByName(device_name, 1)
  File "/home/leus/ros/hydro/src/jsk-ros-pkg/jsk_control/jsk_teleop_joy/src/jsk_teleop_joy/midi_util.py", line 97, in openMIDIByName
    raise MIDIException("Cannot find the device: %s" % (device_name))

A. MIDI controller （B-CONTROL) is not connected.

Q. The following error occurred.

Traceback (most recent call last):
  File "/home/leus/ros/hydro/src/jsk-ros-pkg/jsk_control/joy_mouse/scripts/mouse.py", line 20, in <module>
    rospy.get_param("~frame_id", "mouse"))
  File "/home/leus/ros/hydro/src/jsk-ros-pkg/jsk_control/joy_mouse/src/joy_mouse/joy.py", line 33, in main
    with open(device_name, "rb" ) as tp_file:
IOError: [Errno 13] Permission denied: '/dev/input/mouse0'

A. Track Ball is not connected.

Q. The following error occurred.

Traceback (most recent call last):
  File "/home/leus/ros/hydro/src/jsk-ros-pkg/jsk_control/jsk_teleop_joy/scripts/head_control_by_trackball.py", line 153, in <module>
    main()
  File "/home/leus/ros/hydro/src/jsk-ros-pkg/jsk_control/jsk_teleop_joy/scripts/head_control_by_trackball.py", line 148, in main
    controller.main()
  File "/home/leus/ros/hydro/src/jsk-ros-pkg/jsk_control/jsk_teleop_joy/scripts/head_control_by_trackball.py", line 132, in main
    self.enableHeadGroupControl()
  File "/home/leus/ros/hydro/src/jsk-ros-pkg/jsk_control/jsk_teleop_joy/scripts/head_control_by_trackball.py", line 83, in enableHeadGr
oupControl
    self.enable_head_joint_group_srv(gname='head', jnames=[self.pitch_joint_name, self.yaw_joint_name])
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 495, in call
    service_uri = self._get_service_uri(request)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 463, in _get_service_uri
    raise ServiceException("service [%s] unavailable"%self.resolved_name)
rospy.service.ServiceException: service [/SequencePlayerServiceROSBridge/addJointGroup] unavailable

A. hrpsys_ros_bridge is not launched.

test-drc-terrain-walk.l

This is kinematics (not dynamics) simulator of test terrain walk for DRC

How to launch

You should generate xml file from wrl files, and launch the following for each robot

hrp2jsknt

rtmtest -t hrpsys_tools _gen_project.launch INPUT:=`rospack find hrp2_models`/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain.wrl OUTPUT:=/tmp/HRP2JSKNT_for_DRCTestbedTerrainJPBlock.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestbedTerrainJPBlock.wrl,0.4,-2.0,0,1,0,0,0" CORBA_PORT:=15005 INTEGRATE:=false
rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknt.launch PROJECT_FILE:=/tmp/HRP2JSKNT_for_DRCTestbedTerrainJPBlock.xml

rtmtest -t hrpsys_tools _gen_project.launch INPUT:=`rospack find hrp2_models`/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain.wrl OUTPUT:=/tmp/HRP2JSKNT_for_DRCTestfieldTerrain.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestfieldTerrain.wrl,0.4,-2.1,0,1,0,0,0" CORBA_PORT:=15005 INTEGRATE:=false
rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknt.launch PROJECT_FILE:=/tmp/HRP2JSKNT_for_DRCTestfieldTerrain.xml

rtmtest -t hrpsys_tools _gen_project.launch INPUT:=`rospack find hrp2_models`/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain.wrl OUTPUT:=/tmp/HRP2JSKNT_for_DRCTestfieldStair.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestfieldStair.wrl,0.25,0,0,1,0,0,0" CORBA_PORT:=15005 INTEGRATE:=false
rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknt.launch PROJECT_FILE:=/tmp/HRP2JSKNT_for_DRCTestfieldStair.xml

hrp2jsk

rtmtest -t hrpsys_tools _gen_project.launch INPUT:=`rospack find hrp2_models`/HRP2JSK_for_OpenHRP3/HRP2JSKmain.wrl OUTPUT:=/tmp/HRP2JSK_for_DRCTestbedTerrainJPBlock.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestbedTerrainJPBlock.wrl,0.4,-2.0,0,1,0,0,0," CORBA_PORT:=15005 INTEGRATE:=false CONF_DT_OPTION:="--dt 0.004" SIMULATION_TIMESTEP_OPTION:="--timeStep 0.004"
rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsk.launch PROJECT_FILE:=/tmp/HRP2JSK_for_DRCTestbedTerrainJPBlock.xml

hrp2jsknts

rtmtest -t hrpsys_tools _gen_project.launch INPUT:=`rospack find hrp2_models`/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl OUTPUT:=/tmp/HRP2JSKNTS_for_DRCTestbedTerrainJPBlock.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestbedTerrainJPBlock.wrl,0.4,-2.0,0,1,0,0,0" CORBA_PORT:=15005 INTEGRATE:=false
rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknts.launch PROJECT_FILE:=/tmp/HRP2JSKNTS_for_DRCTestbedTerrainJPBlock.xml

rtmtest -t hrpsys_tools _gen_project.launch INPUT:=`rospack find hrp2_models`/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl OUTPUT:=/tmp/HRP2JSKNTS_for_DRCTestfieldTerrain.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestfieldTerrain.wrl,0.4,-2.1,0,1,0,0,0" CORBA_PORT:=15005 INTEGRATE:=false
rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknts.launch PROJECT_FILE:=/tmp/HRP2JSKNTS_for_DRCTestfieldTerrain.xml

rtmtest -t hrpsys_tools _gen_project.launch INPUT:=`rospack find hrp2_models`/HRP2JSKNTS_for_OpenHRP3/HRP2JSKNTSmain.wrl OUTPUT:=/tmp/HRP2JSKNTS_for_DRCTestfieldStair.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestfieldStair.wrl,0.18,0,0,1,0,0,0" CORBA_PORT:=15005 INTEGRATE:=false
rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknts.launch PROJECT_FILE:=/tmp/HRP2JSKNTS_for_DRCTestfieldStair.xml

jaxon

rtmtest -t hrpsys_tools _gen_project.launch INPUT:=`rospack find jsk_models`/JAXON/JAXONmain.wrl OUTPUT:=/tmp/JAXON_for_DRCTestbedTerrainJPBlock.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestbedTerrainJPBlock.wrl,0.4,-2.0,0,1,0,0,0" CORBA_PORT:=15005 CONF_DT_OPTION:="--dt 0.002" SIMULATION_TIMESTEP_OPTION:="--timeStep 0.002" INTEGRATE:=false
rtmlaunch hrpsys_ros_bridge_tutorials jaxon.launch PROJECT_FILE:=/tmp/JAXON_for_DRCTestbedTerrainJPBlock.xml

rtmtest -t hrpsys_tools _gen_project.launch INPUT:=`rospack find jsk_models`/JAXON/JAXONmain.wrl OUTPUT:=/tmp/JAXON_for_DRCTestfieldTerrain.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestfieldTerrain.wrl,0.4,-2.1,0,1,0,0,0" CORBA_PORT:=15005 CONF_DT_OPTION:="--dt 0.002" SIMULATION_TIMESTEP_OPTION:="--timeStep 0.002" INTEGRATE:=false
rtmlaunch hrpsys_ros_bridge_tutorials jaxon.launch PROJECT_FILE:=/tmp/JAXON_for_DRCTestfieldTerrain.xml

staro

rtmtest -t hrpsys_tools _gen_project.launch INPUT:=`rospack find jsk_models`/STARO/STAROmain.wrl OUTPUT:=/tmp/STARO_for_DRCTestbedTerrainJPBlock.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestbedTerrainJPBlock.wrl,0.4,-2.0,0,1,0,0,0" CORBA_PORT:=15005 CONF_DT_OPTION:="--dt 0.002" SIMULATION_TIMESTEP_OPTION:="--timeStep 0.002" INTEGRATE:=false
rtmlaunch hrpsys_ros_bridge_tutorials staro.launch PROJECT_FILE:=/tmp/STARO_for_DRCTestbedTerrainJPBlock.xml

jaxon(stair)

rtmtest -t hrpsys_tools _gen_project.launch INPUT:=`rospack find jsk_models`/JAXON/JAXONmain.wrl OUTPUT:=/tmp/JAXON_for_DRCTestbedStair.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestbedStair.wrl,0.25,0.0,0,1,0,0,0," CORBA_PORT:=15005 CONF_DT_OPTION:="--dt 0.002" SIMULATION_TIMESTEP_OPTION:="--timeStep 0.002" INTEGRATE:=false
rtmlaunch hrpsys_ros_bridge_tutorials jaxon.launch PROJECT_FILE:=/tmp/JAXON_for_DRCTestbedStair.xml

rtmtest -t hrpsys_tools _gen_project.launch INPUT:=`rospack find jsk_models`/JAXON/JAXONmain.wrl OUTPUT:=/tmp/JAXON_for_DRCTestfieldStair.xml OBJECT_MODELS:="`rospack find hrpsys`/share/hrpsys/samples/environments/DRCTestfieldStair.wrl,0.15,0,0,1,0,0,0" CORBA_PORT:=15005 CONF_DT_OPTION:="--dt 0.002" SIMULATION_TIMESTEP_OPTION:="--timeStep 0.002" INTEGRATE:=false
rtmlaunch hrpsys_ros_bridge_tutorials jaxon.launch PROJECT_FILE:=/tmp/JAXON_for_DRCTestfieldStair.xml

Load euslisp

Load main euslisp program "test-drc-terrain-walk.l"

First,you should start roseus

roscd drc_task_common/euslisp
git pull origin master
roseus

And load "test-drc-terrain-walk.l"

(load "test-drc-terrain-walk.l")

Try terrain walk simulation

Try terrain walking simulation for each robot (hrp2jsknt, hrp2jsk, jaxon, staro)

Setup pose

Load each robot interface.l and send walking-pose and command (objects (list robot rleg-sole lleg-sole terrain))

(setup-drc-testbed-terrain-simulation-hrp2jsknt)
(setup-drc-testbed-terrain-simulation-hrp2jsk)
(setup-drc-testbed-terrain-simulation-jaxon)
(setup-drc-testbed-terrain-simulation-staro)

Walk 1 step

One step terrain walk simulation for each robot by footstep

Footstep arguments are (rleg-fwd-offset[mm] lleg-fwd-offset[mm])

(test-drc-testbed-simulation-common-one 280 280)

For example, jaxon

Walk straight by some steps

One through terrain walk simulation by some steps for each robot by footstep

(test-drc-testbed-terrain-simulation-hrp2jsknt)
(test-drc-testbed-terrain-simulation-hrp2jsk)
(test-drc-testbed-terrain-simulation-jaxon)
(test-drc-testbed-terrain-simulation-staro)

For example, jaxon

Try stair climb simulation

Try stair climbing simulation for jaxon

Setup pose

Load robot interface.l and send walking-pose and command (objects (list robot rleg-sole lleg-sole stair))

(setup-drc-testbed-stair-simulation-jaxon)

Climb stair

Climb stair simulation for jaxon by footstep

Initial position offset parameters are given by :x-offset(0.05[m] by default) and :yaw-offset(-30[deg] by default)

(test-drc-testbed-stair-simulation-jaxon :x-offset 0.05 :yaw-offset -30)

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	3	move_base_msgs
	3	rosgraph_msgs
	1	roseus
	1	roseus_smach
	1	message_generation
	1	roslib
	2	roscpp
	2	rospy
	1	rqt_gui
	1	rqt_gui_py
	2	geometry_msgs
	2	sensor_msgs
	2	visualization_msgs
	3	message_filters
	1	jsk_pcl_ros
	1	jsk_interactive_marker
	1	tf
	1	interactive_markers
	3	pcl_conversions
	2	topic_tools
	1	jsk_topic_tools
	2	rviz
	1	eigen_conversions
	1	dynamic_tf_publisher
	1	dynamic_reconfigure
	1	jsk_teleop_joy
	1	jsk_recognition_msgs
	1	jsk_ik_server
	1	pr2eus
	1	pcl_msgs
	1	jsk_footstep_msgs
	1	jsk_footstep_planner
	1	jsk_footstep_controller
	1	drc_com_common
	1	jsk_perception
	1	jsk_calibration
	1	resized_image_transport
	1	jsk_rqt_plugins
	1	jsk_rviz_plugins
	1	smach_msgs
	1	checkerboard_detector
	1	catkin
	1	message_runtime
	2	spacenav_node

System Dependencies

Name
yaml-cpp
python-fysom

Dependant Packages

Name	Repo	Deps
drc_valve_task	github-jsk-ros-pkg-jsk_demos

Launch files

config/door/record.launch
- - bag
config/valve/record.launch
- - bag
launch/color_histogram_2d_matcher.launch
- - only_recognition_with_openni [default: false]
  - image [default: /camera/rgb/image_rect_color]
  - info [default: /camera/rgb/camera_info]
  - image [default: /camera_remote/rgb/image_rect_color]
  - info [default: /camera_remote/rgb/camera_info]
launch/field_computer_main_fc.launch
launch/deprecated/drc_task_common.launch
- - default_frame_id [default: odom_on_ground]
  - only_recognition_with_openni [default: false]
  - robot_name [default: hrp2jsknts]
  - ROBOT_URDF_MODEL [default: $(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS.urdf.xacro]
  - robot_model_config [default: $(find drc_task_common)/config/hrp2_interactive_marker.yaml]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - multi_plane_segmentation_input [default: /move_group/filtered_cloud]
  - multi_plane_segmentation_base_frame_id [default: odom]
  - only_recognition_with_openni [default: $(arg only_recognition_with_openni)]
  - BASE_FRAME_ID [default: $(arg multi_plane_segmentation_base_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - ROBOT_URDF_MODEL [default: $(arg ROBOT_URDF_MODEL)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - trackball_head_launch [default: $(arg trackball_head_launch)]
  - default_frame_id [default: $(arg default_frame_id)]
launch/deprecated/drc_task_common_hrp2jsknts.launch
launch/deprecated/drc_task_common_staro.launch
launch/deprecated/drc_task_common_hrp2jsknt.launch
launch/deprecated/drill_recognition_demo.launch
launch/conservative_valve_detection.launch
- - INTERACTIVE [default: false]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - PROCESSING_FRAME [default: odom]
  - VALVE_CORRESPONDENCE_DISTANCE [default: 0.1]
  - TORUS_FINDER_OUTLIER_THRESHOLD [default: 0.05]
  - INPUT_CLOUD [default: /full_cloud2]
  - VIEWER [default: true]
launch/joy_teleop.launch
- - dev [default: /dev/input/js0]
  - launch_joy [default: true]
launch/conservative_detection.launch
- - GLC_RECORD [default: false]
  - SIMULATION [default: false]
launch/irex_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/ocs/ocs_misc.launch
launch/ocs/ocs_rviz.launch
- - ocs [default: true]
  - INPUT_CLOUD [default: /ocs/communication/point_cloud]
  - INPUT_CLOUD [default: /multisense/organized_image_points2_color]
  - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - default_frame_id [default: $(arg default_frame_id)]
  - ik_server_launch [default: $(arg ik_server_launch)]
  - ocs [default: $(arg ocs)]
  - default_frame_id [default: $(arg default_frame_id)]
  - default_frame_id [default: $(arg default_frame_id)]
  - robot_model_config [default: $(arg robot_model_config)]
  - default_frame_id [default: $(arg default_frame_id)]
  - enable_trackball_head [default: false]
launch/ocs/models/HRP2JSKNT.launch
launch/ocs/models/JAXON.launch
launch/ocs/models/HRP2JSKNTS.launch
launch/ocs/models/JAXON_RED.launch
launch/ocs/models/HRP2JSK.launch
launch/ocs/ui.launch
- - INPUT_IMAGE [default: /ocs/communication/image_rect_color]
  - INPUT_PANORAMA_IMAGE [default: /ocs/communication/panorama_image]
  - INPUT_IMAGE_WIDTH_SCALE [default: /ocs/communication/image_width_scale]
  - INPUT_IMAGE_HEIGHT_SCALE [default: /ocs/communication/image_height_scale]
  - INPUT_PANORAMA_IMAGE_WIDTH_SCALE [default: /ocs/communication/panorama_width_scale]
  - INPUT_PANORAMA_IMAGE_HEIGHT_SCALE [default: /ocs/communication/panorama_height_scale]
  - UI_FILE [default: rqt_ui.perspective]
launch/ocs/ocs_locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
  - USE_SIMULATION [default: false]
  - ocs [default: true]
launch/ocs/ui_interaction_scale.launch
- - INPUT_IMAGE
  - INPUT_IMAGE_HEIGHT_SCALE
  - INPUT_IMAGE_WIDTH_SCALE
launch/ocs/ocs_locomotion.launch
- - ocs [default: true]
  - USE_SIMULATION [default: false]
  - locomotion_cloud [default: /ocs/communication/locomotion_cloud]
  - locomotion_cloud [default: /locomotion/normal_filtered_points/output]
  - flip_cloud [default: /ocs/communication/normal_flip_cloud]
  - flip_cloud [default: /locomotion/normal_flip/output]
launch/ocs/ocs_executive.launch
- - ocs [default: true]
launch/ocs/vehicle_ocs.launch
- - LAUNCH_UI [default: true]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: true]
  - LAUNCH_RVIZ [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/ocs/b_control_ui.launch
launch/conservative_door_viewer.launch
- - GLC_RECORD [default: false]
launch/manipulation_data_processor.launch
- - default_frame_id [default: odom_on_ground]
  - all_manual [default: false]
  - use_with_service [default: true]
launch/fc/hose_grasp.launch
launch/fc/fc_misc.launch
launch/fc/stereo_preprocess.launch
- - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
launch/fc/fc_executive.launch
- - fc [default: true]
launch/fc/drill_recognition_for_put.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - INPUT_HINT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG_VIEW [default: false]
launch/fc/laser_preprocess.launch
- - ODOM_FRAME [default: odom]
launch/fc/drill_recognition.launch
launch/fc/fisheye_lookat.launch
- - DEBUG [default: false]
  - INPUT_POINT [default: /fisheye/input]
launch/fc/drill_recognition_for_wall.launch
- - DEBUG [default: false]
launch/fc/drive.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - CAMERA_FRAME [default: multisense/left_camera_optical_frame]
  - DEBUG [default: true]
  - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
launch/fc/vehicle/extract_obstacle_cloud.launch
- - BASE_FRAME_ID [default: car_center]
  - CREATE_MANAGER [default: true]
  - MANAGER [default: drive_manager]
launch/fc/vehicle/obstacle_detection.launch
launch/fc/vehicle/ocs_car_center_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/steering_estimation.launch
launch/fc/vehicle/vehicle_run_toe_kick.launch
- - ROBOT [default: jaxon_red]
launch/fc/vehicle/multisense_rosbag_static_tf_publisher.launch
- - MACHINE [default: localhost]
launch/fc/vehicle/car_center_tf_publisher.launch
- - SIMULATION_MODE [default: false]
  - REAL_MODE [default: false]
  - ROSBAG_MODE [default: false]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle/local_planner.launch
- - VIEW [default: false]
launch/fc/vehicle/driving_force_gt.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
launch/fc/vehicle/handle_operation_interface.launch
- - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
launch/fc/vehicle/drive_rosbag_player.launch
- - MACHINE [default: localhost]
  - PUBLISH_STATIC_TF [default: false]
  - BAGFILE_NAME [default: tmp.bag]
  - ROSBAG_OPTION [default: -l --clock]
  - use_resize [default: true]
launch/fc/vehicle/driver_assist.launch
launch/fc/vehicle/handle_pose_detector.launch
launch/fc/vehicle/passthrough_car_body.launch
- - INPUT_POINTS [default: /transform_cloud/input]
  - OUTPUT_POINTS [default: /passthrough/car_body_filtered_points2]
  - EXECUTE_FLAG [default: /drive/execute_flag]
launch/fc/drill_standing.launch
launch/fc/hose_connect.launch
launch/fc/keyshot.launch
- - RESIZE_RATE [default: 0.15]
launch/fc/locomotion.launch
- - INPUT_POINT_CLOUD [default: /laser_downsampler/output]
  - MULTISENSE_STANDALONE [default: false]
  - RUN_SELF_FILTER [default: false]
  - SELF_FILTER_PARAM [default: $(find jsk_hrp2_ros_bridge)/config/$(env ROBOT)_self_filter.yaml]
launch/fc/debri_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_sift.launch
- - feature_node [default: imagesift]
  - image [default: /multisense/left/image_rect_color]
  - camera_info [default: /multisense/left/camera_info]
launch/fc/door_unvisible_handle_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/drill_recognition_in_hand.launch
launch/fc/drill_sift.launch
launch/fc/drill_recognition_for_grasp.launch
- - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - PASS_THROUGH [default: true]
launch/fc/door_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_HINT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - INPUT_POINT_CLOUD [default: /laser_preprocess/camera_laser_cloud/output]
  - DEBUG_VIEW [default: false]
launch/fc/locomotion_planner.launch
- - REFINE_FOOTSTEP [default: true]
launch/fc/drill_button_checker.launch
launch/fc/centroid_of_pointcloud_in_rect.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/vehicle.launch
- - FC_MODE [default: true]
  - OCS_MODE [default: false]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - LAUNCH_HANDLE_DETECTOR [default: $(arg FC_MODE)]
  - LAUNCH_UI [default: $(arg OCS_MODE)]
  - LAUNCH_STEERING [default: false]
  - LAUNCH_PS3JOY [default: $(arg OCS_MODE)]
  - LAUNCH_EUS [default: $(arg FC_MODE)]
  - LAUNCH_RVIZ [default: $(arg OCS_MODE)]
  - LAUNCH_CAR_CENTER [default: $(arg FC_MODE)]
  - LAUNCH_RECOGNITION [default: $(arg FC_MODE)]
  - ROBOT [default: robot]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
  - REAL_MODE [default: true]
  - JAXON [default: true]
  - HRP2 [default: false]
launch/fc/vehicle_fc.launch
- - LAUNCH_HANDLE_DETECTOR [default: true]
  - LAUNCH_EUS [default: true]
  - LAUNCH_CAR_CENTER [default: true]
  - LAUNCH_RECOGNITION [default: true]
  - ROBOT [default: robot]
  - REAL_MODE [default: true]
launch/fc/go_pos.launch
launch/fc/panorama.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/organized_image_points2_color]
  - DEBUG_VIEW [default: false]
launch/fc/lookat.launch
- - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT [default: /lookat/input]
launch/fc/valve_recognition.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_4/points]
  - DEBUG [default: false]
launch/fc/zbar_ros_for_cameras.launch
launch/fc/drill_recognition_for_button.launch
- - INPUT_IMAGE [default: /multisense/left/image_rect_color]
  - INPUT_CAMERA_INFO [default: /multisense/left/camera_info]
  - INPUT_POINT_CLOUD [default: /multisense/resize_1_8/points]
  - PASS_THROUGH [default: true]
launch/robot_motion.launch
- - default_frame_id [default: odom_on_ground]
  - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - ocs [default: true]
launch/teleop_interface.launch
launch/remote_server.launch
launch/teleop_device.launch
- - b_control_joy_topic [default: /b_control/joy]
  - spacenav_joy_topic [default: /spacenav/joy]
  - default_frame_id [default: odom_on_ground]
  - use_icp [default: true]
  - trackball_head_launch [default: hrp2_trackball_head.launch]
  - enable_trackball_head [default: true]
  - launch_joy [default: false]
launch/field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_LOCALHOST [default: false]
  - USE_COM [default: true]
launch/conservative_valve_viewer.launch
- - GLC_RECORD [default: false]
launch/robot_model.launch
- - LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
  - default_frame_id [default: odom_on_ground]
  - marker_tf_prefix [default: /jsk_model_marker_interface/robot]
  - PUBLISH_CAMERA_INFO [default: false]
  - PUBLISH_REACHABLE_MAP [default: false]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
launch/image_transport.launch
- - USE_SNAPSHOT [default: true]
  - USE_THROTTLE [default: true]
  - USE_MJPEGSERVER [default: false]
  - USE_ROTATED [default: false]
  - USE_EDGE [default: true]
  - THROTTLE_RATE [default: 1.4]
  - THROTTLE_RESIZE_RATE [default: 0.1]
  - THROTTLE_IMAGE_TYPE [default: image_rect]
  - THROTTLE_USE_MESSAGES [default: flase]
  - THROTTLE_PERIOD [default: 3]
  - SNAPSHOT_RESIZE_RATE [default: 0.25]
  - SNAPSHOT_IMAGE_TYPE [default: image_rect]
  - MJPEGSERVER_PORT [default: 8181]
  - GAZEBO_MODE [default: false]
  - LAUNCH_MANAGER [default: true]
  - IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
  - GDB [default: false]
launch/transformable_model.launch
- - default_frame_id [default: odom_on_ground]
launch/operator_station_main_jaxon.launch
- - ik_server_launch [default: jaxon-ik-server.launch]
launch/operator_station_main.launch
- - ik_server_launch [default: hrp2jsknts-ik-server.launch]
  - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - default_frame_id [default: odom_on_ground]
  - robot_model_config [default: $(find drc_task_common)/config/robot_interactive_marker.yaml]
  - USE_RVIZ_UI [default: true]
launch/operator_station_main_ocs.launch
launch/conservative_door_detection.launch
- - INTERACTIVE [default: false]
  - INPUT_CLOUD [default: /full_cloud2]
  - RESOLUTION [default: 0.01]
  - SIMULATION [default: false]
  - GLC_RECORD [default: false]
  - VIEWER [default: true]
launch/joy_single.launch
- - dev [default: /dev/input/js0]
launch/vehicle_operator_station_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]
  - CONTROLLER_DEV [default: /dev/input/js0]
  - OCS_NS [default: ocs]
  - CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
  - OCS_NS [default: $(arg OCS_NS)]
launch/object_detect.launch
- - only_recognition_with_openni [default: false]
  - FIND_DRILL_WITH_HISTOGRAM [default: false]
  - COLOR_HISTOGRAM [default: false]
  - TRACKING [default: false]
  - INPUT [default: /move_group/filtered_cloud]
  - INPUT [default: /camera/depth_registered/points]
  - BASE_FRAME_ID [default: odom]
launch/vehicle_field_computer_main.launch
- - FC_IP [default: localhost]
  - OCS_IP [default: localhost]
  - USE_COM [default: true]
  - ROBOT [default: robot]
  - USE_VEHICLE_LAUNCH [default: true]

Messages

Services

Plugins

rqt_gui

Recent questions tagged `drc_task_common` at answers.ros.org

API Docs Browse Code Wiki

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drc_task_common package from jsk_demos repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

drc_task_common

Introduction

Setup

drc_task_common.launch

DEVICE

DEPEND

How to launch

How to Use B-Controll Interface

Upper, (1, 2, 3) From the Left,(Box, Cylinder, Torus) Button

Upper, 4 From the Left, SETPOS Button

Upper, 5 From the Left, GOPOS Button

Upper, 6 From the Left, Save Button

Upper, 7 From the Left, TOGGLE Button

Lower, 1 From the Left, APPROACH Button

Lower, 2 From the Left, Mode Button

Lower, 3 From the Left, Menu Button

Lower, 4 From the Left, IK Button

Lower, 5 From the Left, Angle Button

Lower, 6 From the Left, Menu Button

Trouble Shoot

test-drc-terrain-walk.l

How to launch

hrp2jsknt

hrp2jsk

hrp2jsknts

jaxon

staro

jaxon(stair)

Load euslisp

Try terrain walk simulation

Setup pose

Walk 1 step

Walk straight by some steps

Try stair climb simulation

Setup pose

Climb stair

Wiki Tutorials

Source Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged drc_task_common at answers.ros.org

Recent questions tagged `drc_task_common` at answers.ros.org