Support ROS Noetic (#119)

* Fix xacro file to load on Noetic environments. * Add collision model to armarker link * 首pitch軸サーボの可動範囲に収まるように、サンプルを修正 * Remove deprecated param 'use_gui' * KDLはbase_linkのInertiaをサポートしていないため、実機動作時にもダミーリンク(world)を追加 * xacroファイルの首ピッチ軸可動範囲を実機に合わせて修正 * kinematicsプラグインのオプションからattemptsを削除。Melodicから廃止されているため。 * KinematicsプラグインをKDLに統一 * gripper_action_exampleをPython3に対応させる * sciurus17.srdfのtable virtual jointはスキップされているためコメントアウトする * effort_controlellersのdependを追加 * cameraサンプルをPython3に対応 * trac_ikを依存関係から削除 * examplesのREADMEからopencvのインストール手順を削除。 python-opencvはcv_bridgeの依存関係としてインストールされる * CIのテスト環境にnoeticを追加
rt-net · Oct 28, 2021 · bca7d05 · bca7d05
1 parent 16828f7
commit bca7d05
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diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml
@@ -18,12 +18,15 @@ jobs:
         env:
           - { ROS_DISTRO: kinetic, ROS_REPO: main }
           - { ROS_DISTRO: melodic, ROS_REPO: main }
+          - { ROS_DISTRO: noetic, ROS_REPO: main }
         experimental: [false]
         include:
           - env: { ROS_DISTRO: kinetic, ROS_REPO: testing }
             experimental: true
           - env: { ROS_DISTRO: melodic, ROS_REPO: testing }
             experimental: true
+          - env: { ROS_DISTRO: noetic, ROS_REPO: testing }
+            experimental: true
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2

diff --git a/sciurus17_control/package.xml b/sciurus17_control/package.xml
@@ -19,6 +19,7 @@
   <build_depend>sciurus17_msgs</build_depend>
   <build_depend>joint_limits_interface</build_depend>
   <run_depend>controller_manager</run_depend>
+  <run_depend>effort_controllers</run_depend>
   <run_depend>hardware_interface</run_depend>
   <run_depend>transmission_interface</run_depend>
   <run_depend>dynamixel_sdk</run_depend>

diff --git a/sciurus17_examples/README.en.md b/sciurus17_examples/README.en.md
@@ -206,13 +206,7 @@ rosrun sciurus17_examples hand_position_publisher_example.py
 
 This is an example to use the head camera images and OpenCV library for ball tracking and face tracking.
 
-Firstly, install the OpenCV library of Python with the following command:
-
-```sh
-pip2 install opencv-python
-```
-
-Then, run a node with the following command:
+Run a node with the following command:
 
 ```sh
 rosrun sciurus17_examples head_camera_tracking.py
@@ -284,13 +278,7 @@ in RT ROBOT SHOP.
 
 This is an example to use the chest camera images and OpenCV library for ball tracking.
 
-Firstly, install the OpenCV library of Python with the following command:
-
-```sh
-pip2 install opencv-python
-```
-
-Then, run a node with the following command:
+Run a node with the following command:
 
 ```sh
 rosrun sciurus17_examples chest_camera_tracking.py
@@ -324,13 +312,7 @@ rosrun sciurus17_examples chest_camera_tracking.py
 
 This is an example to use the depth camera on the head for object tracking.
 
-Firstly, install the OpenCV library of Python with the following command:
-
-```sh
-pip2 install opencv-python
-```
-
-Then, run a node with the following command:
+Run a node with the following command:
 
 ```sh
 rosrun sciurus17_examples depth_camera_tracking.py

diff --git a/sciurus17_examples/README.md b/sciurus17_examples/README.md
@@ -195,11 +195,6 @@ rosrun sciurus17_examples hand_position_publisher_example.py
 頭のカメラを使うコード例です。
 OpenCVを使ってボール追跡と顔追跡をします。
 
-次のコマンドでOpenCVのPythonライブラリをインストールしてください。
-```sh
-pip2 install opencv-python
-```
-
 次のコマンドでノードを起動します。
 ```sh
 rosrun sciurus17_examples head_camera_tracking.py
@@ -273,11 +268,6 @@ def _image_callback(self, ros_image):
 胸のカメラを使うコード例です。
 OpenCVを使ってボール追跡をします。
 
-次のコマンドでOpenCVのPythonライブラリをインストールしてください。
-```sh
-pip2 install opencv-python
-```
-
 次のコマンドでノードを起動します。
 ```sh
 rosrun sciurus17_examples chest_camera_tracking.py
@@ -311,11 +301,6 @@ rosrun sciurus17_examples chest_camera_tracking.py
 頭の深度カメラを使うコード例です。
 指定深度内の物体を追跡します。
 
-次のコマンドでOpenCVのPythonライブラリをインストールしてください。
-```sh
-pip2 install opencv-python
-```
-
 次のコマンドでノードを起動します。
 ```sh
 rosrun sciurus17_examples depth_camera_tracking.py

diff --git a/sciurus17_examples/scripts/chest_camera_tracking.py b/sciurus17_examples/scripts/chest_camera_tracking.py
@@ -36,7 +36,7 @@ def __init__(self):
     def _image_callback(self, ros_image):
         try:
             input_image = self._bridge.imgmsg_to_cv2(ros_image, "bgr8")
-        except CvBridgeError, e:
+        except CvBridgeError as e:
             rospy.logerr(e)
 
         # 画像のwidth, heightを取得

diff --git a/sciurus17_examples/scripts/depth_camera_tracking.py b/sciurus17_examples/scripts/depth_camera_tracking.py
@@ -48,7 +48,7 @@ def __init__(self):
     def _image_callback(self, ros_image):
         try:
             input_image = self._bridge.imgmsg_to_cv2(ros_image, "bgr8")
-        except CvBridgeError, e:
+        except CvBridgeError as e:
             rospy.logerr(e)
             return
 
@@ -58,7 +58,7 @@ def _image_callback(self, ros_image):
     def _depth_callback(self, ros_image):
         try:
             input_image = self._bridge.imgmsg_to_cv2(ros_image, "passthrough")
-        except CvBridgeError, e:
+        except CvBridgeError as e:
             rospy.logerr(e)
             return
 

diff --git a/sciurus17_examples/scripts/gripper_action_example.py b/sciurus17_examples/scripts/gripper_action_example.py
@@ -5,7 +5,6 @@
 import rospy
 import time
 import actionlib
-from std_msgs.msg import Float64
 from control_msgs.msg import (
     GripperCommandAction,
     GripperCommandGoal
@@ -85,30 +84,30 @@ def main():
     gc = GripperClient()
 
     # Open grippers
-    print "Test - Open Grippers"
+    print("Test - Open Grippers")
     gripper = 26.0
     gc.command(math.radians(gripper),0.1,CONTROL_R)
     gripper = -26.0
     gc.command(math.radians(gripper),0.1,CONTROL_L)
     result = gc.wait(1.0,CONTROL_R)
-    print result
+    print(result)
     result = gc.wait(1.0,CONTROL_L)
-    print result
+    print(result)
     time.sleep(1)
 
     # Close grippers
-    print "Test - Close Grippers"
+    print("Test - Close Grippers")
     gripper = 0.0
     gc.command(math.radians(gripper),0.5,CONTROL_R)
     gripper = 0.0
     gc.command(math.radians(gripper),0.5,CONTROL_L)
     result = gc.wait(CONTROL_R,1.0)
-    print result
+    print(result)
     result = gc.wait(CONTROL_L,1.0)
-    print result
+    print(result)
     time.sleep(1)
 
-    print "Exiting - Gripper Action Test Example Complete"
+    print("Exiting - Gripper Action Test Example Complete")
 
 if __name__ == "__main__":
     main()
diff --git a/sciurus17_examples/scripts/head_camera_tracking.py b/sciurus17_examples/scripts/head_camera_tracking.py
@@ -43,7 +43,7 @@ def __init__(self):
     def _image_callback(self, ros_image):
         try:
             input_image = self._bridge.imgmsg_to_cv2(ros_image, "bgr8")
-        except CvBridgeError, e:
+        except CvBridgeError as e:
             rospy.logerr(e)
 
         # 画像のwidth, heightを取得