Raw with fts

.travis.rosinstall

@@ -1,6 +1,6 @@
 - git:
-    uri: https://github.com/ipa320/cob_calibration_data.git
     local-name: cob_calibration_data
+    uri: https://github.com/ipa320/cob_calibration_data.git
     version: indigo_dev
 - git:
     local-name: cob_command_tools
@@ -9,16 +9,25 @@
 - git:
     local-name: cob_common
     uri: https://github.com/ipa320/cob_common.git
-    version: indigo_dev
+    version: kinetic_dev
 - git:
     local-name: cob_control
     uri: https://github.com/ipa320/cob_control.git
-    version: indigo_dev
+    version: kinetic_dev
 - git:
     local-name: cob_driver
     uri: https://github.com/ipa320/cob_driver.git
-    version: indigo_dev
+    version: kinetic_dev
 - git:
-    uri: https://github.com/ipa320/cob_supported_robots.git
     local-name: cob_supported_robots
+    uri: https://github.com/ipa320/cob_supported_robots.git
     version: indigo_dev
+
+- git:
+    local-name: realsense_substitute
+    uri: https://github.com/ipa320/realsense.git
+    version: realsense_substitute
+- git:
+    local-name: realsense2_substitute
+    uri: https://github.com/ipa320/realsense.git
+    version: realsense2_substitute

.travis.rosinstall.kinetic → .travis.rosinstall.melodic

@@ -1,6 +1,6 @@
 - git:
-    uri: https://github.com/ipa320/cob_calibration_data.git
     local-name: cob_calibration_data
+    uri: https://github.com/ipa320/cob_calibration_data.git
     version: indigo_dev
 - git:
     local-name: cob_command_tools
@@ -9,16 +9,25 @@
 - git:
     local-name: cob_common
     uri: https://github.com/ipa320/cob_common.git
-    version: indigo_dev
+    version: kinetic_dev
 - git:
     local-name: cob_control
     uri: https://github.com/ipa320/cob_control.git
-    version: kinetic_dev
+    version: melodic_dev
 - git:
     local-name: cob_driver
     uri: https://github.com/ipa320/cob_driver.git
-    version: indigo_dev
+    version: kinetic_dev
 - git:
-    uri: https://github.com/ipa320/cob_supported_robots.git
     local-name: cob_supported_robots
-    version: indigo_dev
+    uri: https://github.com/ipa320/cob_supported_robots.git
+    version: indigo_dev
+
+- git:
+    local-name: realsense_substitute
+    uri: https://github.com/ipa320/realsense.git
+    version: realsense_substitute
+- git:
+    local-name: realsense2_substitute
+    uri: https://github.com/ipa320/realsense.git
+    version: realsense2_substitute

.travis.yml

@@ -1,26 +1,26 @@
-sudo: required
-dist: trusty
 language: generic
+services:
+  - docker
+
 notifications:
   email:
     on_success: change
     on_failure: always
 env:
   global:
+    - ADDITIONAL_DEBS='apt-utils dialog curl wget'
+    - CATKIN_LINT=pedantic
+    - CATKIN_LINT_ARGS='--ignore description_boilerplate'
+    - CMAKE_ARGS=-DCMAKE_BUILD_TYPE=Release
+    - NOT_TEST_DOWNSTREAM=true
     - ROS_REPO=ros
-    - NOT_TEST_INSTALL=true
+    - UPSTREAM_WORKSPACE=file
+    - VERBOSE_OUTPUT=false
+    - VERBOSE_TESTS=false
   matrix:
-    - ROS_DISTRO=indigo UPSTREAM_WORKSPACE=file
-    - ROS_DISTRO=indigo UPSTREAM_WORKSPACE=debian
-    - ROS_DISTRO=kinetic UPSTREAM_WORKSPACE=file
-    - ROS_DISTRO=kinetic UPSTREAM_WORKSPACE=debian
-matrix:
-  allow_failures:
-    - env: ROS_DISTRO=indigo UPSTREAM_WORKSPACE=file
-    - env: ROS_DISTRO=indigo UPSTREAM_WORKSPACE=debian
-    - env: ROS_DISTRO=kinetic UPSTREAM_WORKSPACE=debian
+    - ROS_DISTRO=kinetic AFTER_SETUP_TARGET_WORKSPACE='wget -O - https://raw.githubusercontent.com/mojin-robotics/realsense/realsense_substitute/realsense_camera/patch/patch_docker.sh | bash'
+    - ROS_DISTRO=melodic
 install:
-  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
+  - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master
 script:
-  - .ci_config/travis.sh
-#  - ./travis.sh  # Enable this when you have a package-local script
+  - .industrial_ci/travis.sh

README.md

@@ -3,18 +3,18 @@ cob_robots
 
 ## ROS Distro Support
 
-|         | Indigo | Jade | Kinetic |
-|:-------:|:------:|:----:|:-------:|
-| Branch  | [`indigo_dev`](https://github.com/ipa320/cob_robots/tree/indigo_dev) | [`indigo_dev`](https://github.com/ipa320/cob_robots/tree/indigo_dev) | [`indigo_dev`](https://github.com/ipa320/cob_robots/tree/indigo_dev) |
-| Status  |  supported | not supported |  supported |
-| Version | [version](http://repositories.ros.org/status_page/ros_indigo_default.html?q=cob_robots) | [version](http://repositories.ros.org/status_page/ros_jade_default.html?q=cob_robots) | [version](http://repositories.ros.org/status_page/ros_kinetic_default.html?q=cob_robots) |
+|         | Indigo | Jade | Kinetic | Melodic |
+|:-------:|:------:|:----:|:-------:|:-------:|
+| Branch  | [`indigo_dev`](https://github.com/ipa320/cob_robots/tree/indigo_dev) | [`indigo_dev`](https://github.com/ipa320/cob_robots/tree/indigo_dev) | [`kinetic_dev`](https://github.com/ipa320/cob_robots/tree/kinetic_dev) | [`kinetic_dev`](https://github.com/ipa320/cob_robots/tree/kinetic_dev) |
+| Status  |  supported | not supported | supported | supported |
+| Version | [version](http://repositories.ros.org/status_page/ros_indigo_default.html?q=cob_robots) | [version](http://repositories.ros.org/status_page/ros_jade_default.html?q=cob_robots) | [version](http://repositories.ros.org/status_page/ros_kinetic_default.html?q=cob_robots) | [version](http://repositories.ros.org/status_page/ros_melodic_default.html?q=cob_robots) |
 
 ## Travis - Continuous Integration
 
-Status: [![Build Status](https://travis-ci.org/ipa320/cob_robots.svg?branch=indigo_dev)](https://travis-ci.org/ipa320/cob_robots)
+Status: [![Build Status](https://travis-ci.com/ipa320/cob_robots.svg?branch=kinetic_dev)](https://travis-ci.com/ipa320/cob_robots)
 
 ## ROS Buildfarm
 
-|         | Indigo Source | Indigo Debian | Jade Source | Jade Debian |  Kinetic Source  |  Kinetic Debian |
-|:-------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:|
-| cob_robots | [![not released](http://build.ros.org/buildStatus/icon?job=Isrc_uT__cob_robots__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__cob_robots__ubuntu_trusty__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__cob_robots__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__cob_robots__ubuntu_trusty_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Jsrc_uT__cob_robots__ubuntu_trusty__source)](http://build.ros.org/view/Jsrc_uT/job/Jsrc_uT__cob_robots__ubuntu_trusty__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Jbin_uT64__cob_robots__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Jbin_uT64/job/Jbin_uT64__cob_robots__ubuntu_trusty_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__cob_robots__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__cob_robots__ubuntu_xenial__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__cob_robots__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__cob_robots__ubuntu_xenial_amd64__binary/) |
+|         | Indigo Source | Indigo Debian | Jade Source | Jade Debian | Kinetic Source | Kinetic Debian | Melodic Source | Melodic Debian |
+|:-------:|:-------------:|:-------------:|:-----------:|:-----------:|:--------------:|:--------------:|:--------------:|:--------------:|
+| cob_robots | [![not released](http://build.ros.org/buildStatus/icon?job=Isrc_uT__cob_robots__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__cob_robots__ubuntu_trusty__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__cob_robots__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__cob_robots__ubuntu_trusty_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Jsrc_uT__cob_robots__ubuntu_trusty__source)](http://build.ros.org/view/Jsrc_uT/job/Jsrc_uT__cob_robots__ubuntu_trusty__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Jbin_uT64__cob_robots__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Jbin_uT64/job/Jbin_uT64__cob_robots__ubuntu_trusty_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__cob_robots__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__cob_robots__ubuntu_xenial__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__cob_robots__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__cob_robots__ubuntu_xenial_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Msrc_uB__cob_robots__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__cob_robots__ubuntu_bionic__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__cob_robots__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__cob_robots__ubuntu_bionic_amd64__binary/) |

cob_bringup/CHANGELOG.rst

@@ -2,6 +2,42 @@
 Changelog for package cob_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.2 (2019-11-07)
+------------------
+* Merge pull request `#788 <https://github.com/ipa320/cob_robots/issues/788>`_ from HannesBachter/add_cob4-24
+  Add cob4 24
+* use internal sync for arms and grippers
+* move grippers to t3
+* Merge pull request `#786 <https://github.com/ipa320/cob_robots/issues/786>`_ from fmessmer/add_cob4-24
+  [WIP] add cob4 24
+* Merge pull request `#24 <https://github.com/ipa320/cob_robots/issues/24>`_ from HannesBachter/add_cob4-24
+  fix gripper
+* fix gripper can, driver, ...
+* configure external sync for arm and pg70 on same can bus
+* add cob4-24
+* Merge pull request `#783 <https://github.com/ipa320/cob_robots/issues/783>`_ from HannesBachter/update_cob4-3
+  update cob4-3 to regular cob base
+* update cob4-3 to regular cob base
+* Contributors: Benjamin Maidel, Felix Messmer, fmessmer, hyb
+
+0.7.1 (2019-08-10)
+------------------
+* Merge pull request `#782 <https://github.com/ipa320/cob_robots/issues/782>`_ from fmessmer/comment_ur_dependencies
+  [Melodic] workaround missing dependencies
+* comment unused dependency cob_collision_monitor
+* comment realsense2_camera dependency
+* add missing dependency to realsense2_camera
+* comment sick_visionary_t
+* comment ur dependencies
+* Contributors: Felix Messmer, fmessmer
+
+0.7.0 (2019-08-07)
+------------------
+* Merge pull request `#779 <https://github.com/ipa320/cob_robots/issues/779>`_ from HannesBachter/add_cob4-22
+  add cob4-22
+* add cob4-22
+* Contributors: Florian Weisshardt, hyb
+
 0.6.11 (2019-04-05)
 -------------------
 * Merge pull request `#775 <https://github.com/ipa320/cob_robots/issues/775>`_ from fmessmer/add_cob4-25

cob_bringup/components/raw3_base.launch

@@ -2,23 +2,27 @@
 <launch>
 	<arg name="robot"/>
 	<arg name="can_device"/>
-
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="sim" default="false"/>
 
-	<arg name="driver_yaml" value="$(arg pkg_hardware_config)/robots/raw3/config/raw3_base_driver.yaml"/>
-	<arg name="controller_yaml" value="$(arg pkg_hardware_config)/robots/raw3/config/raw3_base_controller.yaml"/>
+	<arg name="driver_yaml" default="$(arg pkg_hardware_config)/robots/raw3/config/raw3_base_driver.yaml"/>
+    <arg name="canopen_driver_yaml" default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/base_driver.yaml"/>
+	<arg name="controller_yaml" default="$(arg pkg_hardware_config)/robots/raw3/config/raw3_base_controller.yaml" />
+
+    <arg name="base_controllers_to_spawn" default="joint_state_controller odometry_controller"/>
 
 	<include file="$(find cob_bringup)/components/ros_control_base.launch">
 		<arg name="robot" value="$(arg robot)"/>
 		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
 		<arg name="driver_yaml" value="$(arg driver_yaml)"/>
+		<arg name="canopen_driver_yaml" value="$(arg canopen_driver_yaml)"/>
 		<arg name="controller_yaml" value="$(arg controller_yaml)"/>
 		<arg name="reset_errors_before_recover" value="true"/>
 		<arg name="can_device" value="$(arg can_device)"/>
-	        <arg name="stuck_detector_timeout" value="4.0" />
+        <arg name="stuck_detector_timeout" value="4.0" />
 		<arg name="stuck_detector_threshold" value="0.5" />
 		<arg name="stuck_detector_shutdown" value="false" />
 		<arg name="sim" value="$(arg sim)"/>
+        <arg name="base_controllers_to_spawn" value="$(arg base_controllers_to_spawn)"/>
 	</include>
 </launch>

cob_bringup/components/ros_control_base.launch

@@ -2,6 +2,7 @@
 <launch>
 	<arg name="robot"/>
 	<arg name="driver_yaml"/>
+        <arg name="canopen_driver_yaml"/>
 	<arg name="controller_yaml"/>
 
 	<arg name="can_device" default="can0"/>
@@ -18,6 +19,11 @@
 	<arg name="stuck_detector_timeout" default="2.0"/>
 	<arg name="stuck_detector_threshold" default="0.174533"/>
 	<arg name="stuck_detector_shutdown" default="false"/>
+    <arg name="base_controllers_to_spawn" default="joint_state_controller odometry_controller"/>
+
+    <arg name="velocity_smoother_config_file"   default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/velocity_smoother.yaml"/>
+    <arg name="twist_mux_config_locks"          default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/twist_mux_locks.yaml"/>
+    <arg name="twist_mux_config_topics"         default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/twist_mux_topics.yaml"/>
 
 	<rosparam unless="$(arg sim)" ns="$(arg component_name)/driver" command="load" file="$(arg driver_yaml)"/>
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/canopen_402.launch">
@@ -28,6 +34,7 @@
 		<arg name="use_external_sync" value="$(arg use_external_sync)"/>
 		<arg name="start_external_sync" value="$(arg start_external_sync)"/>
 		<arg name="reset_errors_before_recover" value="$(arg reset_errors_before_recover)"/>
+		<arg name="canopen_driver_yaml" value="$(arg canopen_driver_yaml)"/>
 	</include>
 
 	<group if="$(arg enable_stuck_detector)">
@@ -41,21 +48,23 @@
 
 	<group ns="base">
 		<rosparam command="load" file="$(arg controller_yaml)"/>
-		<node pkg="controller_manager" type="controller_manager" name="base_controller_spawner" args="spawn joint_state_controller twist_controller odometry_controller" respawn="false" output="screen"/>
+		<node pkg="controller_manager" type="controller_manager" name="base_controller_spawner" args="spawn $(arg base_controllers_to_spawn)" respawn="false" output="screen"/>
 	</group>
 
 	<group ns="$(arg component_name)">
 		<!-- twist mux -->
 		<include file="$(find cob_bringup)/tools/twist_mux.launch">
 			<arg name="robot" value="$(arg robot)"/>
+			<arg name="config_locks"  default="$(arg twist_mux_config_locks)"/>
+                        <arg name="config_topics" default="$(arg twist_mux_config_topics)"/>
 			<arg name="cmd_vel_out" default="velocity_smoother/command"/>
 			<arg name="marker_out" default="twist_mux/marker"/>
 		</include>
 
 		<!-- velocity smoother -->
 		<include file="$(find cob_bringup)/tools/velocity_smoother.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="config_file"           default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/velocity_smoother.yaml"/>
+			<arg name="config_file"           default="$(arg velocity_smoother_config_file)"/>
 			<arg name="raw_cmd_vel_topic"     default="velocity_smoother/command"/>
 			<arg name="smooth_cmd_vel_topic"  default="twist_controller/command"/>
 			<arg name="robot_cmd_vel_topic"   default="twist_controller/command"/>

cob_bringup/drivers/canopen_402.launch

@@ -10,6 +10,7 @@
 	<arg name="use_external_sync"/>
 	<arg name="start_external_sync"/>
 	<arg name="reset_errors_before_recover" default="false"/>
+	<arg name="canopen_driver_yaml" default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_driver.yaml"/>
 
 	<!-- start external sync node if requested -->
 	<node ns="$(arg component_name)" pkg="canopen_chain_node" type="canopen_sync_node" name="sync_$(arg can_device)" output="screen" if="$(arg start_external_sync)">
@@ -18,7 +19,7 @@
 
 	<!-- start canopen node -->
 	<node ns="$(arg component_name)" pkg="canopen_motor_node" type="canopen_motor_node" name="driver" output="screen">
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_driver.yaml"/>
+		<rosparam command="load" file="$(arg canopen_driver_yaml)"/>
 		<rosparam subst_value="True">{bus: { device: $(arg can_device) } }</rosparam>
 		<rosparam subst_value="True" if="$(arg use_external_sync)">{sync: { interval_ms: $(arg interval_ms), overflow: $(arg overflow) } }</rosparam>
 		<param name="bus/master_allocator" value="canopen::ExternalMaster::Allocator" if="$(arg use_external_sync)"/>

cob_bringup/drivers/sick_visionary_t.launch

@@ -4,7 +4,7 @@
 	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
 	<arg name="name" default="cam3d"/>
 
-	<node pkg="sick_visionary_t_driver" type="sick_visionary_t_driver_node" name="$(arg name)_node" output="screen">
+	<!--node pkg="sick_visionary_t_driver" type="sick_visionary_t_driver_node" name="$(arg name)_node" output="screen">
 		<param name="remote_device_ip" value="192.168.1.10"/>
 		<param name="frame_id" value="$(arg name)_optical_frame"/>
 		<remap from="$(arg name)_node/camera_info" to="$(arg name)/depth/camera_info"/>
@@ -13,6 +13,6 @@
 		<remap from="$(arg name)_node/intensity" to="$(arg name)/depth/intensity"/>
 		<remap from="$(arg name)_node/ios" to="$(arg name)/depth/ios"/>
 		<remap from="$(arg name)_node/points" to="$(arg name)/depth/points"/>
-	</node>
+	</node-->
 
 </launch>

cob_bringup/drivers/ur.launch

@@ -15,13 +15,13 @@
 
 	<group unless="$(arg sim)">
 		<!-- universal robot python driver -->
-		<node unless="$(arg use_modern_driver)" ns="arm/joint_trajectory_controller" pkg="ur_driver" type="driver.py" name="ur_driver" args="$(arg robot_ip) $(arg reverse_port)" output="screen">
+		<!--node unless="$(arg use_modern_driver)" ns="arm/joint_trajectory_controller" pkg="ur_driver" type="driver.py" name="ur_driver" args="$(arg robot_ip) $(arg reverse_port)" output="screen">
 			<remap from="/arm/joint_trajectory_controller/joint_states" to="/arm/joint_states"/>
 			<remap from="/arm/joint_trajectory_controller/robot_description" to="/robot_description"/>
 			<param name="min_payload" type="double" value="$(arg min_payload)"/>
 			<param name="max_payload" type="double" value="$(arg max_payload)"/>
 			<param name="prefix" value="$(arg prefix)"/>
-		</node>
+		</node-->
 		<!-- universal robot modern driver -->
 		<!--node if="$(arg use_modern_driver)" ns="arm/joint_trajectory_controller" pkg="ur_modern_driver" type="ur_driver" name="ur_driver" args="$(arg robot_ip) $(arg reverse_port)" output="screen">
 			<remap from="/arm/joint_trajectory_controller/joint_states" to="/arm/joint_states"/>