add more chairs in environment, publish all gazebo model pose in TF

obinata_research/obinata_pr2_73b2_cleanup/launch/obinata-pr2-73b2world.launch

@@ -15,6 +15,30 @@
         <arg name="world_name" value="$(arg world_name)" />
     </include>
 
+    <!-- put chairs -->
+    <node name="spawn_char_1" pkg="gazebo_ros" type="spawn_model"
+          args="-x 4 -y -1 -z 0.1 -Y 0.2 -unpause -file $(find eusurdf)/models/room73b2-chair0/model.urdf -urdf -model chair_1" respawn="false" output="screen" />
+    <node name="spawn_char_2" pkg="gazebo_ros" type="spawn_model"
+          args="-x 4.5 -y -0.3 -z 0.1 -Y 0.8 -unpause -file $(find eusurdf)/models/room73b2-chair0/model.urdf -urdf -model chair_2" respawn="false" output="screen" />
+    <node name="spawn_char_3" pkg="gazebo_ros" type="spawn_model"
+          args="-x 6 -y 0.3 -z 0.1 -Y 1.4 -unpause -file $(find eusurdf)/models/room73b2-chair0/model.urdf -urdf -model chair_3" respawn="false" output="screen" />
+
+    <!-- publish all model postion in TF /gazebo name space
+         c.f https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1098
+             https://github.com/start-jsk/rtmros_tutorials/pull/575
+    -->
+    <group ns="gazebo">
+      <node pkg="gazebo_ros" type="gazebo_ros_pose_publisher"
+            name="gazebo_ros_pose" >
+        <param name="base_frame" value="/world" />
+        <param name="update_rate" value="100" />
+        <param name="tf_prefix" value="/gazebo/" />
+      </node>
+    </group>
+     <node pkg="tf" type="static_transform_publisher"
+           name="static_transform_publisher_robot_odom"
+           args="0 0 0 0 0 0 /gazebo/pr2 /odom 100" /> <!-- AYASHII??? -->
+
     <arg name="launch_pr2_base_trajectory_action" default="false"
         doc="launch pr2_base_trajectory_action for debugging" />
 
@@ -149,4 +173,4 @@
     <test test-name="pr2_ri_test_simple" pkg="roseus" type="roseus" retry="1"
             args="$(find pr2eus)/test/pr2-ri-test-simple.l" time-limit="800" />
 
-</launch>
+</launch>

obinata_research/obinata_pr2_73b2_cleanup/package.xml

@@ -11,9 +11,10 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <run_depend>gazebo_ros</run_depend> <!-- for gazebo_ros_pose_publisher https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1098 -->
   <run_depend>jsk_maps</run_depend>
   <run_depend>pr2eus</run_depend>
 
   <export>
   </export>
-</package>
+</package>

obinata_research/obinata_pr2_73b2_cleanup/pr2_73b2_cleanup.rosinstall

@@ -0,0 +1,5 @@
+# for gazebo_ros_pose_publisher https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1098
+- git:
+    local-name: gazebo_ros_pkgs
+    uri: https://github.com/k-okada/gazebo_ros_pkgs.git
+    version: add_gazebo_pose_publisher