[WIP] Support Noetic

[kindsenior]

• 学科PCへのUbutu20のインストール
• gazeboでの動作確認
  • dxl_armed_turtlebot
    • tfでtimestampが重複すると大量にでるwarningへの対応
  • cart_humanoid
    • webcamで人肌認識をしてリアルタイムIKをしながら腕を動かす
    • angle-vectorの2回目以降の実行で以下のエラーが表示される（ロボット姿勢は更新される）

[ERROR] [1675130381.370450216, 118.712000000]: joint trajectory status: (4 . actionlib_msgs::goalstatus::*aborted*)
[ERROR] [1675130381.370600955, 118.712000000]: error_code: (-5 . GOAL_TOLERANCE_VIOLATED)
[ERROR] [1675130381.370739203, 118.712000000]: LLEG_JOINT1 goal error 0.000426

• 実機動作確認
  • turtlebot
    • バンパーとスイッチのトピック確認
    • keyboard_teleopでのキーボード操作
    • perspectiveでのGUI操作
  • dxl_armed_turtlebot
    • dynamixel_motorがpython2のみ対応
  • mechatrobot
  • kinect
    • kinect単体でNiViewerの動作確認（3dsensor.launch causes "No devices connected" error. #427 に従う）
    • ros経由での動作確認
  • yocsは必要なパッケージのみビルドする

for pkg in $(ls -d */); do cd $pkg; echo $pkg; touch CATKIN_IGNORE; cd -; done; for pkg in yocs_cmd_vel_mux yocs_controllers yocs_math_toolkit yocs_velocity_smoother yocs_virtual_sensor; do cd $pkg; echo $pkg; rm CATKIN_IGNORE; cd -; done

[kindsenior]

ただし，ros経由でのkinect動作確認（3dsensor.launch）はPC依存で失敗する．
分かったこと

• Ubuntu18.04からUbuntu20.04にアップグレードしたPC（@k-okada 作）だと3dsensor.launchも可．新規にUbuntu20.04をインストールすると3dsensor.launchでデバイスが2つに見える（NiViewerは可）．

• カーネルの問題ではなさそう（管理番号00061は5.4.0-137-genericでも失敗，管理番号00063は5.15.0-58-genericでも成功）

学科PC（管理番号00063）では成功
Linux KI00003 5.4.0-137-generic #154-Ubuntu SMP Thu Jan 5 17:03:22 UTC 2023 x86_64 x86_64 x86_64 GNU/Linux

[ INFO] [1678362221.040755024]: Number devices connected: 1
[ INFO] [1678362221.041140616]: 1. device on bus 001:11 is a SensorKinect (2ae) from PrimeSense (45e) with serial id 'A00363917577053A'
[ INFO] [1678362221.042750823]: Searching for device with index = 1
[ INFO] [1678362221.312131266]: Opened 'SensorKinect' on bus 1:11 with serial number 'A00363917577053A'
[ INFO] [1678362221.372738441]: rgb_frame_id = 'camera_rgb_optical_frame' 
[ INFO] [1678362221.372791082]: depth_frame_id = 'camera_depth_optical_frame'

学科PC（管理番号00061）では失敗
Linux mechuser-ubuntu20 5.15.0-58-generic #64~20.04.1-Ubuntu SMP Fri Jan 6 16:42:31 UTC 2023 x86_64 x86_64 x86_64 GNU/Linux

[ INFO] [1678362407.742144823]: Number devices connected: 2
[ INFO] [1678362407.843974669]: 1. device on bus 001:18 is a SensorKinect (2ae) from PrimeSense (45e) with serial id '0'                                                                                     
[ INFO] [1678362407.844126303]: 2. device on bus 001:18 is a SensorV2 (2ae) from PrimeSense (45e) with serial id 'A00363917577053A'
[ INFO] [1678362407.845800357]: Searching for device with index = 1
[camera/camera_nodelet_manager-1] process has died [pid 779284, exit code -11, cmd /opt/ros/noetic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/mech-user/.ros/log/f8262370-be59-11ed-b89d-6ffad11a0535/camera-camera_nodelet_manager-1.log].
log file: /home/mech-user/.ros/log/f8262370-be59-11ed-b89d-6ffad11a0535/camera-camera_nodelet_manager-1*.log 

Ubuntu18.04からアップグレードした場合のlsusb

$ lsusb 
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 04f2:b604 Chicony Electronics Co., Ltd Integrated Camera (1280x720@30)
Bus 001 Device 004: ID 8087:0a2b Intel Corp. 
Bus 001 Device 011: ID 045e:02ae Microsoft Corp. Xbox NUI Camera
Bus 001 Device 009: ID 045e:02b0 Microsoft Corp. Xbox NUI Motor
Bus 001 Device 010: ID 045e:02ad Microsoft Corp. Xbox NUI Audio
Bus 001 Device 008: ID 0409:005a NEC Corp. HighSpeed Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
$ lsusb -t
/:  Bus 02.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/6p, 5000M
/:  Bus 01.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/12p, 480M
    |__ Port 2: Dev 8, If 0, Class=Hub, Driver=hub/3p, 480M
        |__ Port 1: Dev 10, If 0, Class=Vendor Specific Class, Driver=, 480M
        |__ Port 2: Dev 9, If 0, Class=Vendor Specific Class, Driver=, 12M
        |__ Port 3: Dev 11, If 0, Class=Vendor Specific Class, Driver=, 480M
    |__ Port 6: Dev 4, If 0, Class=Wireless, Driver=btusb, 12M
    |__ Port 6: Dev 4, If 1, Class=Wireless, Driver=btusb, 12M
    |__ Port 7: Dev 3, If 0, Class=Video, Driver=uvcvideo, 480M
    |__ Port 7: Dev 3, If 1, Class=Video, Driver=uvcvideo, 480M

[kindsenior]

moved to #437