jsk_demo_common

This package includes common action functions for daily assistant robot and task execution manager which is used for planning and execution with attention observation.

directories

euslisp/: source codes sample/: sample codes

samples

attention-observation-sample.l

# terminal 0
$ roscore

# terminal 1
$ rosrun roseus roseus
irteusgl$ (load "package://jsk_demo_common/sample/attention-observation-sample.l)
irteusgl$ (test)

while executing actions:

# terminal 2
$ rosrun roseus roseus
irteusgl$ (load "package://jsk_demo_common/euslisp/attention-observation.l")
irteusgl$ (pr2-init)
irteusgl$ (send *ri* :cancel-all-motion)

then robot action is interrupted.

preemptive-task-execution-sample.l

$ rosrun roseus roseus
irteusgl$ (load "package://jsk_demo_common/sample/preemptive-task-execution-sample.l")

you can see generated state machine by executing follow command before executing sample above:

$ rosrun smach_viewer smach_viewer.py

Changelog for package jsk_demo_common

0.0.4 (2017-03-15)

• [jsk_demo_common][pr2-action.l] remove implicit dependency to jsk_smart_gui
• [jsk_demo_common][pr2-action.l] temp fix until jsk-ros-pkg/jsk_smart_apps#70 is merged
• [jsk_demo_common/euslisp/pr2-action.l] refactor grasp-can move state
• Contributors: Yuki Furuta

0.0.3 (2016-02-11)

• [jsk_demo_common] fix wrong code
• Merge pull request #1124 from h-kamada/add_reset_pose pr2-action.l: apply reset-pose before open-fridge-func
• pr2-action.l: apply reset-pose before open-fridge-func
• [detect_cans] async join based parallel state-machine
• Contributors: Kamada Hitoshi, Kei Okada, Yuki Furuta

0.0.2 (2015-11-26)

• jsk_demo_common: add pr2_gripper_sensor_msgs
• [jsk_demo_common] state_publisher -> robot_state_publisher
• [jsk_demo_common] run depends for model_filter.launch
• [jsk_demo_common] Filtering model launch file
• [jsk_demos] exec fridge demo in smach
• [jsk_demos] exec fridge demo in simulation mode
• [jsk_demo_common] add action logging feature to attention-action; add pr2-attention-action.l, pr2-attention-move.l
• [jsk_demo_common/euslisp/pr2-action.l] fix: use :link to link name
• [detect_cans_in_fridge_201202 & jsk_demo_common] change name space openni -> kinect_head
• [jsk_demo_common] remove rosbuild related files
• [jsk_demo_common] fix error in simulation-modep part
• [jsk_demo_common] change from :joint-action-enable to :simulation-modep
• exec in simulation mode
• [jsk_demo_common] divide-fridge-func
• [jsk_demo_common/euslisp/pr2-action.l] fix hand-over for issue #381
• remove dependency to jsk_2013_10_pr2_73b2 package
• Contributors: Kamada Hitoshi, Kei Okada, Kentaro Wada, Yuki Furuta

0.0.1 (2015-06-11)

• [jsk_demo_common] add pr2 actions' action servers
• use pr2_gripper_sensor_msgs instead of dummy for hydro in pr2-action.l
• [jsk_demos] remove rosmake files
• fix typo symbol
• fix: conflict key arg with class in irtgraph
• add loop-check-error-p option
• add README.md add brief description and usage of sample codes.
• add preemptive-task-execution and its sample
• add provide attention-observation
• add sample directory
• eql -> eq
• support submachine in loop check
• add option to grasp; pre-grasp, post-grasp move
• repair return-from target funcition in pr2-action.l
• add :outside option when close fridge
• catkinize jsk_demo_common
• changed pr2-move.l
• divided startup.launch
• modified pr2-action.l
• modified open-fridge-traj in pr2-action.l
• modified open-fridge-door function in pr2-action.l
• modified open-fridge-traj in pr2-action.l
• changed closign door motion in pr2-action.l
• changed closing door motion in pr2-action.l
• changed openning door motion in pr2-action.l
• changed open-fridge-door function in pr2-action.l
• added func-time in pr2-action.l
• added func-time in pr2-action.l
• modified open-fridge-door function in pr2-action.l
• (#17) workaround for hydro/euslisp-only environment
• update topics for detecting
• add preemptive-action-server
• update
• add hand over function
• remove loading pr2_semantic/actions.l
• add describing demo
• use-arm keyword to actions for choosing arm to grasp can
• update robot actions
• avoid collision when pr2-reset-pose
• update pick-tray and place-tray safe for pr2 move
• improve pick-tray and place-tray
• bugfix: dont go-pos-unsafe if tray is 180deg rotated
• bugfix: tray position
• update parameters
• udpate pre grasp pose
• update close firdge motion
• update open firdge motion
• add torso-height keyword to pr2-pick-tray-pose
• add pick-tray to decide position using detection result
• add comments
• rename type -> atype
• [place-tray] option use-base-scan set default value nil
• add provide
• fridge demo after moving pr2; bugfix grasp-can; pick/place z-axis ver.
• use shortname for tilt-laser-obstacle-cloud
• add hold-chair
• unsubscribe base-scan-id
• add move-with-base-scan
• add pick-tray to pr2-action
• add place-tray to pr2-action
• add pr2-pose.l for pose database for pr2
• add move-to-spot
• update parameter
• update attention observation programs
• add tablet attention node
• add sound attention node
• fix typo
• add loop check
• minor update
• add command with recover
• update parameter
• do not use :use-torso for limb :inverse-kinematics method ;; behavior will not change because :use-torso was neglected at the previous revision
• add functions using smach
• update ros-wait
• replace sleep to :ros-wait for making interruptible
• update attention-observation
• add methods for gripper
• add wait-android-query for interrupt
• add func-before-throw
• override :ros-wait at attention-interface
• check catch barrier before throw
• add methods for interrupting by attention-observation
• add scripts for speaking english
• update japanese speaking
• add keyword for fixing torso-lift and head-pitch
• add put-can-on-turtlebot2
• add put-can-on-turtlebot
• add move-to-initial keyword to pr2-look-around
• fix: parameter for actions
• add pr2-look-around for looking around
• fix for preparing pose
• update demo actions
• add :open-fridge-func keyword to change basic function
• moved go-pos-unsafe from close-fridge to grasp-can
• fixed dependency
• add test/
• add jsk_demo_common/
• Contributors: Yuki Furuta, JSK applications, Kamada Hitoshi, Kei Okada, Ryohei Ueda, Yuto Inagaki, Kazuto Murase, Hiroyuki Mikita, Shunichi Nozawa, Youhei Kakiuchi