use pr2_gazebo with PR2/pr2_simulator#147

k-okada · May 23, 2020 · 823d9d4 · 823d9d4
1 parent 7fbef14
commit 823d9d4
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Showing 6 changed files with 9 additions and 64 deletions.
diff --git a/obinata_research/obinata_pr2_73b2_cleanup/launch/obinata-pr2-73b2world.launch b/obinata_research/obinata_pr2_73b2_cleanup/launch/obinata-pr2-73b2world.launch
@@ -11,8 +11,9 @@
     <!-- <node name="spawn_pr2_leave_from_door" pkg="gazebo_ros" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -parm robot_description -x $(arg pr2_init_x -model pr2" respawn="false" output="screen" /> -->
 
     <!-- bringup script -->
-    <include file="$(find obinata_pr2_73b2_cleanup)/launch/pr2_empty_world.launch">
+    <include file="$(find pr2_gazebo)/launch/pr2_empty_world.launch">
         <arg name="world_name" value="$(arg world_name)" />
+        <arg name="ROBOT_INITIAL_POSE" value="-x 0.75 -y 0 -z 0" />
     </include>
 
     <!-- put chairs -->

diff --git a/obinata_research/obinata_pr2_73b2_cleanup/launch/pr2.launch b/obinata_research/obinata_pr2_73b2_cleanup/launch/pr2.launch
diff --git a/obinata_research/obinata_pr2_73b2_cleanup/launch/pr2_empty_world.launch b/obinata_research/obinata_pr2_73b2_cleanup/launch/pr2_empty_world.launch
diff --git a/obinata_research/obinata_pr2_73b2_cleanup/launch/pr2_no_controllers.launch b/obinata_research/obinata_pr2_73b2_cleanup/launch/pr2_no_controllers.launch
diff --git a/obinata_research/obinata_pr2_73b2_cleanup/package.xml b/obinata_research/obinata_pr2_73b2_cleanup/package.xml
@@ -12,6 +12,7 @@
   <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>pr2_gazebo</run_depend> <!-- ROBOT_INITIAL_POSE argument https://github.com/PR2/pr2_simulator/pull/147, you can remove this line once it is released -->
   <run_depend>jsk_maps</run_depend>
   <run_depend>pr2eus</run_depend>
 

diff --git a/obinata_research/obinata_pr2_73b2_cleanup/pr2_73b2_cleanup.rosinstall b/obinata_research/obinata_pr2_73b2_cleanup/pr2_73b2_cleanup.rosinstall
@@ -2,4 +2,9 @@
 - git:
     local-name: gazebo_ros_pkgs
     uri: https://github.com/k-okada/gazebo_ros_pkgs.git
-    version: add_gazebo_pose_publisher
+    version: add_gazebo_pose_publisher
+# ROBOT_INITIAL_POSE argument https://github.com/PR2/pr2_simulator/pull/147
+- git:
+    local-name: pr2_simulator
+    uri: https://github.com/k-okada/pr2_simulator.git
+    version: arg_robot_initial_pose