Left todo for Gazebo-MoveIt!

[130s]

From #255

• implement set_pose_relative

[ERROR] [WallTime: 1472999902.699467] [889.309000] AcceptanceTestROS; set_pose_relative is not implemented yet

• go_init sometimes overshoot error/position tolerance, fix pid param of ros_control or include max effort

[INFO] [WallTime: 1472999963.273538] [949.428000] *** go_init begins ***
[ INFO] [1472999965.932903527, 952.065000000]: ABORTED: Solution found but controller failed during execution
[INFO] [WallTime: 1472999965.933587] [949.429000] '''(1)'''

• errors, may be ros acceptance test is not tested ?
• _movegr_larm is not defined , fixed inhttps://github.com/ros_client and fix acceptancetest for gazebo only enviromnt start-jsk/rtmros_hironx#467/commits/288a167ff2e6cef4a4d7b1a2fd949d6b7ed81004#diff-857478fb2f83dd45b4a5fee7ca797b9cR330 ?

[INFO] [WallTime: 1472999768.663653] [756.760000] ROS ; larm
---------------------------------------------------------------------------
AttributeError                            Traceback (most recent call last)
<ipython-input-1-3597105e4678> in <module>()
----> 1 acceptance.run_tests_ros()

/home/k-okada/catkin_ws/ws_nextage/src/rtmros_hironx/hironx_ros_bridge/scripts/acceptancetest_hironx.py in run_tests_ros(self, do_wait_input)
   145                               before each task to proceed.
   146         '''
--> 147         self._run_tests(self._acceptance_ros_client, do_wait_input)
   148 
   149     def _run_tests(self, test_client, do_wait_input=False):

/home/k-okada/catkin_ws/ws_nextage/src/rtmros_hironx/hironx_ros_bridge/scripts/acceptancetest_hironx.py in _run_tests(self, test_client, do_wait_input)
   211         msg = _msg_type_client + msg_task
   212         self._wait_input(msg, do_wait_input)
--> 213         self._show_workspace(test_client)
   214 
   215     def _move_armbyarm_jointangles(self, test_client):

/home/k-okada/catkin_ws/ws_nextage/src/rtmros_hironx/hironx_ros_bridge/scripts/acceptancetest_hironx.py in _show_workspace(self, test_client)
   321         test_client.set_pose(
   322                    larm, self._POS_L_X_NEAR_Y_FAR, self._RPY_L_X_NEAR_Y_FAR,
--> 323                    msg + '{}'.format(larm), self._TASK_DURATION_DEFAULT, False)
   324         test_client.set_pose(
   325                    rarm, self._POS_R_X_NEAR_Y_FAR, self._RPY_R_X_NEAR_Y_FAR,

/home/k-okada/catkin_ws/ws_nextage/src/rtmros_hironx/hironx_ros_bridge/src/hironx_ros_bridge/testutil/acceptancetest_ros.py in set_pose(self, joint_group, posision, rpy, msg_tasktitle, task_duration, do_wait, ref_frame_name)
    65         rospy.loginfo('ROS {}'.format(msg_tasktitle))
    66         self._robotclient.set_pose(joint_group, posision, rpy, task_duration,
---> 67                                    do_wait, ref_frame_name)
    68 
    69     def set_pose_relative(

/home/k-okada/catkin_ws/ws_nextage/src/rtmros_hironx/hironx_ros_bridge/src/hironx_ros_bridge/ros_client.pyc in set_pose(self, joint_group, position, rpy, task_duration, do_wait, ref_frame_name)
   330         #
   331         # Check if MoveGroup is instantiated.
--> 332         if not self._movegr_larm or not self._movegr_rarm:
   333             try:
   334                 self._init_moveit_commanders()

/opt/ros/indigo/lib/python2.7/dist-packages/moveit_commander/robot.pyc in __getattr__(self, name)
   275             return self.Link(self, name)
   276         else:
--> 277             return object.__getattribute__(self, name)

AttributeError: 'ROS_Client' object has no attribute '_movegr_larm'

• need to look into

  [INFO] [WallTime: 1472999968.185162] [954.296000] ROS ; rarm
  [INFO] [WallTime: 1472999968.185915] [954.297000] setpose jntgr=rarm mvgr=<moveit_commander.move_group.MoveGroupCommander object at 0x7f40ce9db2d0> pose=[0.326, -0.472, 1.048, 3.073, -1.569, -3.072] posi=[0.326, -0.472, 1.048] rpy=[3.073, -1.569, -3.072]
  [ INFO] [1472999978.239465739, 964.156000000]: ABORTED: No motion plan found. No execution attempted.