diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 62cbee73..6e9dacc4 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -1,11 +1,11 @@ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package eus_vive +Changelog for package eus_teleop ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.0.9 (2023-01-19) ------------------ * add pr2 and baxter video -* Merge pull request `#47 `_ from knorth55/spacenav-base +* Merge pull request `#47 `_ from knorth55/spacenav-base * euslint * updat ereadme * toggle spacenav base @@ -30,7 +30,7 @@ Changelog for package eus_vive * refactor main-loop args * add base button options * abstract base-cb -* Merge pull request `#46 `_ from knorth55/jaxon +* Merge pull request `#46 `_ from knorth55/jaxon Add JAXON + SpaceNav, Tablis Demo * disable md034 * euslint @@ -92,7 +92,7 @@ Changelog for package eus_vive * add robot-move-base-spacenav-interface.l * add robot-move-base-oculus-interface.l * add jaxon-vr-interface -* Merge pull request `#30 `_ from knorth55/dragon-spacenav-demo +* Merge pull request `#30 `_ from knorth55/dragon-spacenav-demo * add dragon example in readme * add dragon.rosinstall * fix get-target-coords @@ -109,7 +109,7 @@ Changelog for package eus_vive * update tablis sample launches * update readme * update readme -* Merge pull request `#44 `_ from knorth55/tablis-demo +* Merge pull request `#44 `_ from knorth55/tablis-demo * fix mirror control * add mirror arguments * add tablis.rosinstall @@ -156,17 +156,17 @@ Changelog for package eus_vive 0.0.8 (2022-08-15) ------------------ -* Merge pull request `#43 `_ from Kanazawanaoaki/add-moveit-to-depend -* Merge pull request `#42 `_ from Kanazawanaoaki/add-eus_vive-to-rosinstall +* Merge pull request `#43 `_ from Kanazawanaoaki/add-moveit-to-depend +* Merge pull request `#42 `_ from Kanazawanaoaki/add-eus_teleop-to-rosinstall * Add pr2_moveit_config to depend in package.xml -* Add eus_vive to rosinstall -* Merge pull request `#41 `_ from knorth55/baxter-moveit-args +* Add eus_teleop to rosinstall +* Merge pull request `#41 `_ from knorth55/baxter-moveit-args add gripper args in baxter_moveit.launch * add gripper args in baxter_moveit.launch -* Merge pull request `#40 `_ from knorth55/use-baxter-softhand-interface +* Merge pull request `#40 `_ from knorth55/use-baxter-softhand-interface use baxter-softhand-interface in jsk_robot * use baxter-softhand-interface in jsk_robot -* Merge pull request `#37 `_ from YUKINA-3252/global-time +* Merge pull request `#37 `_ from YUKINA-3252/global-time * Make global_time_enabled true * Update README.md * update rviz config @@ -176,15 +176,15 @@ Changelog for package eus_vive * add allow-other-keys * update *baxter* with potentio vector * add finger1,2,3 rotate method in baxter-interface -* Merge pull request `#36 `_ from softyanija/update-rotate-angle +* Merge pull request `#36 `_ from softyanija/update-rotate-angle * add rotate-angle in baxter-interface.l * update baxter.rosinstall -* Merge pull request `#35 `_ from YUKINA-3252/baxter_torso_l515 +* Merge pull request `#35 `_ from YUKINA-3252/baxter_torso_l515 * update baxter torso l515 pose * add readme * add baxter_spacenav_gazebo.launch * update baxter_vr_gazebo.launch -* Merge pull request `#34 `_ from knorth55/spacenav +* Merge pull request `#34 `_ from knorth55/spacenav add baxter spacenav launch * euslint * update thumb button @@ -210,12 +210,12 @@ Changelog for package eus_vive * update workspace config * update rviz config * update tabletop detector launch -* Merge pull request `#33 `_ from tohirose/cylinder-experiment +* Merge pull request `#33 `_ from tohirose/cylinder-experiment change l515_torso_pose.yaml * change l515_torso_pose.yaml * add grasp mask rcnn launch * update baxter.rosinstall -* Merge pull request `#19 `_ from knorth55/no-window +* Merge pull request `#19 `_ from knorth55/no-window * add no-window version * use outlier removal with cluster indices * update rosbag rviz @@ -240,7 +240,7 @@ Changelog for package eus_vive * disable camera logging to mongodb * support :arms in baxter-interface * udpate rosinstall -* Merge pull request `#32 `_ from knorth55/knorth55-patch-1 +* Merge pull request `#32 `_ from knorth55/knorth55-patch-1 * disable textlint * Update linter.yaml * Update README.md @@ -251,7 +251,7 @@ Changelog for package eus_vive 0.0.6 (2021-08-07) ------------------ * use :set-torque-limit-step for softhand v1 and v2 -* Merge pull request `#31 `_ from knorth55/set-torque-limit +* Merge pull request `#31 `_ from knorth55/set-torque-limit add set-torque-limit methods in baxter-interface.l * fix typo * add set-torque-limit methods in baxter-interface.l @@ -315,7 +315,7 @@ Changelog for package eus_vive * fix missing arg * update readme * update fc.rosinstall -* Merge pull request `#22 `_ from knorth55/add-spacenav +* Merge pull request `#22 `_ from knorth55/add-spacenav * implement spacenav interface * show error when button method not found * add spacenav interfaces @@ -453,14 +453,14 @@ Changelog for package eus_vive * flake8 * markdown lint * add linter -* Merge pull request `#18 `_ from knorth55/softhand-v2-devel +* Merge pull request `#18 `_ from knorth55/softhand-v2-devel * update reset-teleop-pose * fix baxter-interface * add reset-pose * add softhand-v2 methods * fix arm-motion-cb * fix typo in baxter-interface.l -* Merge pull request `#20 `_ from knorth55/use-4k +* Merge pull request `#20 `_ from knorth55/use-4k * Merge branch 'use-4k' into softhand-v2-devel * use kodak pixpro as 4k * fix robot-vr-interface.l @@ -492,11 +492,11 @@ Changelog for package eus_vive * update README * fix typo in .ci.rosinstall * update fc.rosinstall and .ci.rosinstall -* Merge pull request `#16 `_ from knorth55/softhand-v2-devel +* Merge pull request `#16 `_ from knorth55/softhand-v2-devel support softhand v2 * change launch arg: gripper_softhand -> gripper_type * add softhand-v2 in baxter-interface -* Merge pull request `#15 `_ from knorth55/update-gripper-control +* Merge pull request `#15 `_ from knorth55/update-gripper-control add button toggle control * rename button-toggle-p -> gripper-button-toggle-p * fix button-toggle @@ -509,7 +509,7 @@ Changelog for package eus_vive * add button_toggle launch args * remove unused launch args * add button-toggle-p in robot-vive-interface.l -* Merge pull request `#17 `_ from knorth55/use-github-actions +* Merge pull request `#17 `_ from knorth55/use-github-actions * update readme * update github actions config * skip vive_ros @@ -525,7 +525,7 @@ Changelog for package eus_vive 0.0.3 (2020-09-18) ------------------ -* Merge pull request `#14 `_ from knorth55/update-calib +* Merge pull request `#14 `_ from knorth55/update-calib Update calib * update perspective * skip calib service in main @@ -534,10 +534,10 @@ Changelog for package eus_vive * update rviz config * tune volume * update rviz config -* update eus_vive sounder +* update eus_teleop sounder * update rviz config * add rviz config -* update eus_vive_status_sounder +* update eus_teleop_status_sounder * modify package version in package.xml * add CHANGELOG.rst * add gripper state visualiztion @@ -550,7 +550,7 @@ Changelog for package eus_vive * tune sound volume * fix target pos z for non-head control * updte baxter head->shoulder-x-distance -* Merge pull request `#13 `_ from knorth55/add-hand-close +* Merge pull request `#13 `_ from knorth55/add-hand-close Add hand close in status msg * launch xdisplay false * fix color @@ -561,7 +561,7 @@ Changelog for package eus_vive * update comment in launch files * move status visualizer * publish hand_close status -* add hand_close in EusViveStatus.msg +* add hand_close in EusTeleopStatus.msg * use package:// in reset_button.perspective * Contributors: Shingo Kitagawa @@ -591,7 +591,7 @@ Changelog for package eus_vive * update rvizconfig * fix respeaker.launch * add republish -* Merge pull request `#12 `_ from knorth55/remote-baxter +* Merge pull request `#12 `_ from knorth55/remote-baxter * fix baxter_miraikan_remote_vive.launch * update rviz config * fix baxter_vr.launch @@ -607,7 +607,7 @@ Changelog for package eus_vive * update audio_common * update readme * update .travis to 0.5.12 -* Merge pull request `#11 `_ from knorth55/fix-torso +* Merge pull request `#11 `_ from knorth55/fix-torso * speak when ready * reset torso controller * update parameters @@ -623,7 +623,7 @@ Changelog for package eus_vive * use current coords when one arm is moving * use opposite-arm-coords for one arm ik * update readme -* Merge pull request `#10 `_ from knorth55/use-oculus +* Merge pull request `#10 `_ from knorth55/use-oculus * update current-end-coords when start * update get-target-coords for oculus * return when current-end-coords is nil @@ -668,7 +668,7 @@ Changelog for package eus_vive 0.0.1 (2020-01-23) ------------------ * fix typo in launch -* Merge pull request `#8 `_ from knorth55/pr1012 +* Merge pull request `#8 `_ from knorth55/pr1012 20120114-20200121 experiments * rename baxter rosbag node * add logging @@ -683,14 +683,14 @@ Changelog for package eus_vive * update rviz config * add queue_size for point_cloud_xyzrgb * add pr1012 and pr1040 launch -* Merge pull request `#9 `_ from knorth55/add-travis +* Merge pull request `#9 `_ from knorth55/add-travis add travis * update readme * add travis * add respeaker in launch * update .rosinstall * update package.xml -* Merge pull request `#7 `_ from knorth55/baxter-hmd +* Merge pull request `#7 `_ from knorth55/baxter-hmd add baxter head camera and hmd view * update camera pose * update baxter vive visualization rviz config @@ -710,7 +710,7 @@ Changelog for package eus_vive * override head-cb in baxter-vive-interface * add baxter head camera and hmd view * upadte device name -* Merge pull request `#6 `_ from knorth55/20191106-demo +* Merge pull request `#6 `_ from knorth55/20191106-demo add softhand demo * add softhand mode * lint @@ -731,7 +731,7 @@ Changelog for package eus_vive * solve inverse-kinematics not from current pose * set pr2 gripper gain * set loop-enable nil for pr2 -* Merge pull request `#5 `_ from knorth55/use-rosparam +* Merge pull request `#5 `_ from knorth55/use-rosparam Use rosparam for workspace and vive id * fix typo in robot-vive-interface * add rqt_service_buttons @@ -782,11 +782,11 @@ Changelog for package eus_vive * split into baxter_logging launch * add miraikan arg * refactor db_client.launch -* update logger to add eus_vive_status +* update logger to add eus_teleop_status * update rvizconfig * add vive arg for launch * change speak contents -* update eus_vive_status_sounder +* update eus_teleop_status_sounder * speak when enable/disable arm * refactor * add alert sounder @@ -801,11 +801,11 @@ Changelog for package eus_vive * fix typo * add baxter urdf for custom gripper * add mask_rcnn launch -* display eus_vive_status_visualizer in xdisplay +* display eus_teleop_status_visualizer in xdisplay * move robot-state-visualize-topic-name in robot-vive-interface.l -* publish EusViveStatusArray -* add EusViveStatusVisualizer -* add EusViveStatusArray msg +* publish EusTeleopStatusArray +* add EusTeleopStatusVisualizer +* add EusTeleopStatusArray msg * update baxter irtviewer camera * update kinetic.rosinstall * update diff thresh @@ -850,7 +850,7 @@ Changelog for package eus_vive * add baxter_interface * use baxter av-scale 2.0 * start from untuck-pose -* Merge pull request `#4 `_ from knorth55/mirror +* Merge pull request `#4 `_ from knorth55/mirror add mirror mode * add calibration error * try again when calibration is failed @@ -884,7 +884,7 @@ Changelog for package eus_vive * update pr2 paramter * update pr2 parameters * use *irtviewer* -* Merge pull request `#3 `_ from knorth55/support-baxter +* Merge pull request `#3 `_ from knorth55/support-baxter Support baxter vive control * set interpolation and mode * add min-time @@ -917,7 +917,7 @@ Changelog for package eus_vive * update readme * add grip button function * remap move base: use trigger for safe move base -* Merge pull request `#2 `_ from knorth55/no-head-interface +* Merge pull request `#2 `_ from knorth55/no-head-interface refactor and refine move base method * fix typo * use trackpad button @@ -937,7 +937,7 @@ Changelog for package eus_vive * add base option * refactor pr2-vive-interface.l * fix typo -* Merge pull request `#1 `_ from knorth55/pr2-vive-interface +* Merge pull request `#1 `_ from knorth55/pr2-vive-interface add pr2-vive-interface.l * update scale paramter * fix typo diff --git a/CMakeLists.txt b/CMakeLists.txt index 78039311..f486b6f3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) -project(eus_vive) +project(eus_teleop) find_package(catkin REQUIRED @@ -9,8 +9,8 @@ find_package(catkin add_message_files( FILES - EusViveStatus.msg - EusViveStatusArray.msg + EusTeleopStatus.msg + EusTeleopStatusArray.msg ) generate_messages( diff --git a/README.md b/README.md index c1d370f9..2cfc7d41 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,7 @@ -# eus_vive +# eus_teleop -[![main](https://github.com/knorth55/eus_vive/actions/workflows/main.yml/badge.svg)](https://github.com/knorth55/eus_vive/actions/workflows/main.yml) -[![linter](https://github.com/knorth55/eus_vive/actions/workflows/linter.yaml/badge.svg)](https://github.com/knorth55/eus_vive/actions/workflows/linter.yaml) +[![main](https://github.com/knorth55/eus_teleop/actions/workflows/main.yml/badge.svg)](https://github.com/knorth55/eus_teleop/actions/workflows/main.yml) +[![linter](https://github.com/knorth55/eus_teleop/actions/workflows/linter.yaml/badge.svg)](https://github.com/knorth55/eus_teleop/actions/workflows/linter.yaml) Robot remote control program with Vive/Oculus @@ -116,20 +116,20 @@ catkin config catkin build ``` -#### Build `eus_vive` workspace +#### Build `eus_teleop` workspace ```bash source /opt/ros/$ROS_DISTRO/setup.bash -mkdir ~/vive_ws/src -p -cd ~/vive_ws/src -wstool init . https://raw.githubusercontent.com/knorth55/eus_vive/master/fc.rosinstall +mkdir ~/teleop_ws/src -p +cd ~/teleop_ws/src +wstool init . https://raw.githubusercontent.com/knorth55/eus_teleop/master/fc.rosinstall # Only for baxter users -wstool merge https://raw.githubusercontent.com/knorth55/eus_vive/master/baxter.rosinstall -wstool merge https://raw.githubusercontent.com/knorth55/eus_vive/master/baxter.rosinstall.$ROS_DISTRO +wstool merge https://raw.githubusercontent.com/knorth55/eus_teleop/master/baxter.rosinstall +wstool merge https://raw.githubusercontent.com/knorth55/eus_teleop/master/baxter.rosinstall.$ROS_DISTRO # Only for dragon users -wstool merge https://raw.githubusercontent.com/knorth55/eus_vive/master/dragon.rosinstall +wstool merge https://raw.githubusercontent.com/knorth55/eus_teleop/master/dragon.rosinstall wstool up rosdep install --ignore-src --from-path . -y -r -i @@ -137,7 +137,7 @@ rosdep install --ignore-src --from-path . -y -r -i # Only for baxter users source ~/jsk_apc_ws/devel/setup.bash -cd ~/vive_ws +cd ~/teleop_ws catkin config catkin build ``` @@ -173,16 +173,16 @@ https://user-images.githubusercontent.com/9300063/213145161-4b2acb89-9545-460a-b rossetip rossetmaster pr1040 # HMD mode -roslaunch eus_vive pr2_vive.launch +roslaunch eus_teleop pr2_vive.launch # No HMD mode -roslaunch eus_vive pr2_vive.launch head:=false +roslaunch eus_teleop pr2_vive.launch head:=false ``` #### PR2 + Vive in Gazebo ```bash roslaunch pr2_gazebo pr2_empty_world.launch -roslaunch eus_vive pr2_vive_gazebo.launch +roslaunch eus_teleop pr2_vive_gazebo.launch ``` ### PR2 + Tablis @@ -194,7 +194,7 @@ https://user-images.githubusercontent.com/9300063/208720417-176d698e-3789-42a8-9 ```bash rossetip rossetmaster pr1040 -roslaunch eus_vive pr2_tablis.launch +roslaunch eus_teleop pr2_tablis.launch ``` #### PR2 + Tablis in Gazebo @@ -202,12 +202,12 @@ roslaunch eus_vive pr2_tablis.launch ##### Launch Tablis in Choreonoid ```bash -roscd eus_vive/scripts/tablis +roscd eus_teleop/scripts/tablis ./start-tablis-sim.sh ``` ```bash -roscd eus_vive/scripts/tablis +roscd eus_teleop/scripts/tablis ipython -i tablis_setup.py hcf.servoOn() hcf.hc_svc.startHapticsController() @@ -216,7 +216,7 @@ hcf.hc_svc.startHapticsController() ##### Launch bridge ```bash -roscd eus_vive/scripts/tablis +roscd eus_teleop/scripts/tablis ./start-bridge-sim.sh ``` @@ -224,7 +224,7 @@ roscd eus_vive/scripts/tablis ```bash roslaunch pr2_gazebo pr2_empty_world.launch -roslaunch eus_vive pr2_tablis_gazebo.launch +roslaunch eus_teleop pr2_tablis_gazebo.launch ``` ### PR2 + SpaceNav @@ -236,14 +236,14 @@ https://user-images.githubusercontent.com/9300063/213137459-ce5f7075-acee-4a47-9 ```bash rossetip rossetmaster pr1040 -roslaunch eus_vive pr2_spacenav.launch +roslaunch eus_teleop pr2_spacenav.launch ``` #### PR2 + SpaceNav in Gazebo ```bash roslaunch pr2_gazebo pr2_empty_world.launch -roslaunch eus_vive pr2_spacenav_gazebo.launch +roslaunch eus_teleop pr2_spacenav_gazebo.launch ``` ### Baxter + Vive @@ -256,16 +256,16 @@ https://user-images.githubusercontent.com/9300063/213144997-0d224d5c-b462-43a7-b rossetip rossetmaster baxter # HMD mode -roslaunch eus_vive baxter_vive.launch +roslaunch eus_teleop baxter_vive.launch # No HMD mode -roslaunch eus_vive baxter_vive.launch head:=false +roslaunch eus_teleop baxter_vive.launch head:=false ``` #### Baxter + Vive in Gazebo ```bash roslaunch baxter_gazebo baxter_world.launch -roslaunch eus_vive baxter_vive_gazebo.launch +roslaunch eus_teleop baxter_vive_gazebo.launch ``` ### Baxter + Tablis @@ -277,7 +277,7 @@ https://user-images.githubusercontent.com/9300063/208720482-b7ef0abb-e948-448c-b ```bash rossetip rossetmaster baxter -roslaunch eus_vive baxter_tablis.launch +roslaunch eus_teleop baxter_tablis.launch ``` #### Baxter + Tablis in Gazebo @@ -285,12 +285,12 @@ roslaunch eus_vive baxter_tablis.launch ##### Launch Tablis in Choreonoid ```bash -roscd eus_vive/scripts/tablis +roscd eus_teleop/scripts/tablis ./start-tablis-sim.sh ``` ```bash -roscd eus_vive/scripts/tablis +roscd eus_teleop/scripts/tablis ipython -i tablis_setup.py hcf.servoOn() hcf.hc_svc.startHapticsController() @@ -299,7 +299,7 @@ hcf.hc_svc.startHapticsController() ##### Launch bridge ```bash -roscd eus_vive/scripts/tablis +roscd eus_teleop/scripts/tablis ./start-bridge-sim.sh ``` @@ -307,7 +307,7 @@ roscd eus_vive/scripts/tablis ```bash roslaunch baxter_gazebo baxter_world.launch -roslaunch eus_vive baxter_tablis_gazebo.launch +roslaunch eus_teleop baxter_tablis_gazebo.launch ``` ### Baxter + SpaceNav @@ -317,14 +317,14 @@ roslaunch eus_vive baxter_tablis_gazebo.launch ```bash rossetip rossetmaster baxter -roslaunch eus_vive baxter_spacenav.launch +roslaunch eus_teleop baxter_spacenav.launch ``` #### Baxter + SpaceNav in Gazebo ```bash roslaunch baxter_gazebo baxter_world.launch -roslaunch eus_vive baxter_spacenav_gazebo.launch +roslaunch eus_teleop baxter_spacenav_gazebo.launch ``` ### Baxter + MoveIt! @@ -334,7 +334,7 @@ roslaunch eus_vive baxter_spacenav_gazebo.launch ```bash rossetip rossetmaster baxter -roslaunch eus_vive baxter_moveit.launch +roslaunch eus_teleop baxter_moveit.launch ``` ### Dragon + SpaceNav @@ -345,7 +345,7 @@ https://user-images.githubusercontent.com/9300063/210754022-7df92fd5-4875-4465-9 ```bash roslaunch dragon bringup.launch simulation:=true real_machine:=false headless:=false -roslaunch eus_vive dragon_spacenav_gazebo.launch +roslaunch eus_teleop dragon_spacenav_gazebo.launch ``` ### JAXON + SpaceNav @@ -357,12 +357,12 @@ https://user-images.githubusercontent.com/9300063/212047815-e1f2a5ed-cf51-4782-b ##### Launch JAXON in Choreonoid ```bash -roscd eus_vive/scripts/jaxon +roscd eus_teleop/scripts/jaxon ./start-jaxon_with_rhp3hand-sim.sh ``` ```bash -roscd eus_vive/scripts/jaxon +roscd eus_teleop/scripts/jaxon ipython -i jaxon_with_rhp3hand_setup.py hcf.ast_svc.startAutoBalancer() hcf.ast_svc.startStabilizer() @@ -372,7 +372,7 @@ hcf.ast_svc.startWholeBodyMasterSlave() ##### Launch eus\_vive for SpaceNav ```bash -roslaunch eus_vive jaxon_spacenav_choreonoid.launch +roslaunch eus_teleop jaxon_spacenav_choreonoid.launch ``` ### JAXON + Tablis @@ -384,12 +384,12 @@ https://user-images.githubusercontent.com/9300063/212932317-407102d1-093f-4729-b ##### Launch Tablis in Choreonoid ```bash -roscd eus_vive/scripts/tablis +roscd eus_teleop/scripts/tablis ./start-tablis-sim.sh ``` ```bash -roscd eus_vive/scripts/tablis +roscd eus_teleop/scripts/tablis ipython -i tablis_setup.py hcf.servoOn() hcf.hc_svc.startHapticsController() @@ -398,12 +398,12 @@ hcf.hc_svc.startHapticsController() ##### Launch JAXON in Choreonoid ```bash -roscd eus_vive/scripts/jaxon +roscd eus_teleop/scripts/jaxon ./start-jaxon_with_rhp3hand-sim.sh ``` ```bash -roscd eus_vive/scripts/jaxon +roscd eus_teleop/scripts/jaxon ipython -i jaxon_with_rhp3hand_setup.py hcf.ast_svc.startAutoBalancer() hcf.ast_svc.startStabilizer() @@ -413,14 +413,14 @@ hcf.ast_svc.startWholeBodyMasterSlave() ##### Launch bridge and wbms core ```bash -roscd eus_vive/scripts/jaxon -./start-jaxon-eus-vive-sim.sh +roscd eus_teleop/scripts/jaxon +./start-jaxon-eus-teleop-sim.sh ``` ##### Launch eus\_vive for Tablis ```bash -roslaunch eus_vive jaxon_tablis_choreonoid.launch +roslaunch eus_teleop jaxon_tablis_choreonoid.launch ``` ### Demo & Experiments @@ -430,7 +430,7 @@ roslaunch eus_vive jaxon_tablis_choreonoid.launch ```bash rossetip rossetmaster baxter -roslaunch eus_vive baxter_vive_mirror.launch +roslaunch eus_teleop baxter_vive_mirror.launch ``` #### Miraikan Demo 2020/09/11-13 @@ -440,7 +440,7 @@ roslaunch eus_vive baxter_vive_mirror.launch ```bash rossetip rossetmaster baxter -roslaunch eus_vive baxter_remote.launch +roslaunch eus_teleop baxter_remote.launch ``` ##### Vive control PC (Pilot side) @@ -448,7 +448,7 @@ roslaunch eus_vive baxter_remote.launch ```bash rossetip rossetmaster baxter -roslaunch eus_vive baxter_vive_remote.launch +roslaunch eus_teleop baxter_vive_remote.launch ``` ##### Visualization, display and feedback PC (Pilot side) @@ -456,7 +456,7 @@ roslaunch eus_vive baxter_vive_remote.launch ```bash rossetip rossetmaster baxter -roslaunch eus_vive baxter_display_remote.launch +roslaunch eus_teleop baxter_display_remote.launch ``` ## How to use Vive controller diff --git a/euslisp/baxter-vr-main.l b/euslisp/baxter-teleop-main.l similarity index 87% rename from euslisp/baxter-vr-main.l rename to euslisp/baxter-teleop-main.l index a3ba2c23..37b16544 100755 --- a/euslisp/baxter-vr-main.l +++ b/euslisp/baxter-teleop-main.l @@ -1,9 +1,9 @@ #!/usr/bin/env roseus -(require :baxter-vive-interface "package://eus_vive/euslisp/lib/baxter-vive-interface.l") -(require :baxter-oculus-interface "package://eus_vive/euslisp/lib/baxter-oculus-interface.l") -(require :baxter-spacenav-interface "package://eus_vive/euslisp/lib/baxter-spacenav-interface.l") -(require :baxter-tablis-interface "package://eus_vive/euslisp/lib/baxter-tablis-interface.l") +(require :baxter-vive-interface "package://eus_teleop/euslisp/lib/baxter-vive-interface.l") +(require :baxter-oculus-interface "package://eus_teleop/euslisp/lib/baxter-oculus-interface.l") +(require :baxter-spacenav-interface "package://eus_teleop/euslisp/lib/baxter-spacenav-interface.l") +(require :baxter-tablis-interface "package://eus_teleop/euslisp/lib/baxter-tablis-interface.l") (defun vive-init (&key (lgripper :parallel) (rgripper :parallel) (loop-enable t)) @@ -39,7 +39,7 @@ (defun init (&key (lgripper :parallel) (rgripper :parallel) (loop-enable t) (device-type :vive)) - (ros::roseus "baxter_vr_main" :anonymous nil) + (ros::roseus "baxter_teleop_main" :anonymous nil) (cond ((eq device-type :vive) (vive-init :lgripper lgripper :rgripper rgripper :loop-enable loop-enable)) diff --git a/euslisp/dragon-vr-main.l b/euslisp/dragon-teleop-main.l similarity index 86% rename from euslisp/dragon-vr-main.l rename to euslisp/dragon-teleop-main.l index 9c30bc02..1aeb7c1a 100755 --- a/euslisp/dragon-vr-main.l +++ b/euslisp/dragon-teleop-main.l @@ -1,6 +1,6 @@ #!/usr/bin/env roseus -(require :dragon-spacenav-interface "package://eus_vive/euslisp/lib/dragon-spacenav-interface.l") +(require :dragon-spacenav-interface "package://eus_teleop/euslisp/lib/dragon-spacenav-interface.l") (defun spacenav-init (&key (loop-enable t)) @@ -10,7 +10,7 @@ (defun init (&key (loop-enable t) (device-type :spacenav)) - (ros::roseus "dragon_vr_main" :anonymous nil) + (ros::roseus "dragon_teleop_main" :anonymous nil) (cond ((eq device-type :spacenav) (spacenav-init :loop-enable loop-enable)) diff --git a/euslisp/jaxon-vr-main.l b/euslisp/jaxon-teleop-main.l similarity index 88% rename from euslisp/jaxon-vr-main.l rename to euslisp/jaxon-teleop-main.l index 66dff744..f7deab54 100755 --- a/euslisp/jaxon-vr-main.l +++ b/euslisp/jaxon-teleop-main.l @@ -1,7 +1,7 @@ #!/usr/bin/env roseus -(require :jaxon-spacenav-interface "package://eus_vive/euslisp/lib/jaxon-spacenav-interface.l") -(require :jaxon-tablis-interface "package://eus_vive/euslisp/lib/jaxon-tablis-interface.l") +(require :jaxon-spacenav-interface "package://eus_teleop/euslisp/lib/jaxon-spacenav-interface.l") +(require :jaxon-tablis-interface "package://eus_teleop/euslisp/lib/jaxon-tablis-interface.l") (defun spacenav-init (&key (loop-enable t)) @@ -21,7 +21,7 @@ (defun init (&key (loop-enable t) (device-type :spacenav)) - (ros::roseus "jaxon_vr_main" :anonymous nil) + (ros::roseus "jaxon_teleop_main" :anonymous nil) (cond ((eq device-type :spacenav) (spacenav-init :loop-enable loop-enable)) ((eq device-type :tablis) (tablis-init :loop-enable loop-enable)) diff --git a/euslisp/lib/baxter-interface.l b/euslisp/lib/baxter-interface.l index bec53759..928d0be3 100644 --- a/euslisp/lib/baxter-interface.l +++ b/euslisp/lib/baxter-interface.l @@ -1,11 +1,11 @@ -(require :baxter "package://eus_vive/euslisp/lib/baxter-util.l") +(require :baxter "package://eus_teleop/euslisp/lib/baxter-util.l") (require :baxter-softhand-interface "package://baxtereus/baxter-softhand-interface.l") -(if (not (find-package "EUS_VIVE")) - (make-package "EUS_VIVE")) +(if (not (find-package "EUS_TELEOP")) + (make-package "EUS_TELEOP")) -(defun eus_vive::baxter-init (&rest args &key (limit-in-front nil) &allow-other-keys) +(defun eus_teleop::baxter-init (&rest args &key (limit-in-front nil) &allow-other-keys) (apply 'baxter-init :allow-other-keys t args) ;; overwrite s0, e0, e1 joint limit ;; do not rotate s0, e0, e1 joint and stay arm in front of the robot diff --git a/euslisp/lib/baxter-oculus-interface.l b/euslisp/lib/baxter-oculus-interface.l index 50ee909e..38a6f2da 100644 --- a/euslisp/lib/baxter-oculus-interface.l +++ b/euslisp/lib/baxter-oculus-interface.l @@ -1,10 +1,10 @@ ;; -*- mode: lisp;-*- (ros::load-ros-manifest "baxter_core_msgs") -(require :baxter-interface "package://eus_vive/euslisp/lib/baxter-interface.l") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :baxter-vr-interface "package://eus_vive/euslisp/lib/baxter-vr-interface.l") -(require :robot-oculus-interface "package://eus_vive/euslisp/lib/robot-oculus-interface.l") +(require :baxter-interface "package://eus_teleop/euslisp/lib/baxter-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :baxter-teleop-interface "package://eus_teleop/euslisp/lib/baxter-teleop-interface.l") +(require :robot-oculus-interface "package://eus_teleop/euslisp/lib/robot-oculus-interface.l") (defclass baxter-oculus-interface @@ -25,7 +25,7 @@ (defun baxter-oculus-init (&key (lgripper :parallel) (rgripper :parallel) (loop-enable t)) - (eus_vive::baxter-init :lgripper lgripper :rgripper rgripper :limit-in-front t) + (eus_teleop::baxter-init :lgripper lgripper :rgripper rgripper :limit-in-front t) (make-baxter-irtviewer :no-window t) (make-baxter-camera-model :no-window t) (setq *ti* (instance baxter-oculus-interface :init :loop-enable loop-enable diff --git a/euslisp/lib/baxter-spacenav-interface.l b/euslisp/lib/baxter-spacenav-interface.l index 2355141a..378e0536 100644 --- a/euslisp/lib/baxter-spacenav-interface.l +++ b/euslisp/lib/baxter-spacenav-interface.l @@ -1,10 +1,10 @@ ;; -*- mode: lisp;-*- (ros::load-ros-manifest "baxter_core_msgs") -(require :baxter-interface "package://eus_vive/euslisp/lib/baxter-interface.l") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :baxter-vr-interface "package://eus_vive/euslisp/lib/baxter-vr-interface.l") -(require :robot-spacenav-interface "package://eus_vive/euslisp/lib/robot-spacenav-interface.l") +(require :baxter-interface "package://eus_teleop/euslisp/lib/baxter-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :baxter-teleop-interface "package://eus_teleop/euslisp/lib/baxter-teleop-interface.l") +(require :robot-spacenav-interface "package://eus_teleop/euslisp/lib/robot-spacenav-interface.l") (defclass baxter-spacenav-interface @@ -29,7 +29,7 @@ (defun baxter-spacenav-init (&key (lgripper :parallel) (rgripper :parallel) (loop-enable t)) - (eus_vive::baxter-init :lgripper lgripper :rgripper rgripper) + (eus_teleop::baxter-init :lgripper lgripper :rgripper rgripper) (make-baxter-irtviewer :no-window t) (make-baxter-camera-model :no-window t) (setq *ti* (instance baxter-spacenav-interface :init :loop-enable loop-enable diff --git a/euslisp/lib/baxter-tablis-interface.l b/euslisp/lib/baxter-tablis-interface.l index 7a607b22..693d5248 100644 --- a/euslisp/lib/baxter-tablis-interface.l +++ b/euslisp/lib/baxter-tablis-interface.l @@ -2,10 +2,10 @@ (ros::load-ros-manifest "baxter_core_msgs") -(require :baxter-interface "package://eus_vive/euslisp/lib/baxter-interface.l") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :baxter-vr-interface "package://eus_vive/euslisp/lib/baxter-vr-interface.l") -(require :robot-tablis-interface "package://eus_vive/euslisp/lib/robot-tablis-interface.l") +(require :baxter-interface "package://eus_teleop/euslisp/lib/baxter-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :baxter-teleop-interface "package://eus_teleop/euslisp/lib/baxter-teleop-interface.l") +(require :robot-tablis-interface "package://eus_teleop/euslisp/lib/robot-tablis-interface.l") (defclass baxter-tablis-interface @@ -40,7 +40,7 @@ (defun baxter-tablis-init (&key (lgripper :parallel) (rgripper :parallel) (loop-enable t)) - (eus_vive::baxter-init :lgripper lgripper :rgripper rgripper :limit-in-front t) + (eus_teleop::baxter-init :lgripper lgripper :rgripper rgripper :limit-in-front t) (make-baxter-irtviewer :no-window t) (make-baxter-camera-model :no-window t) (setq *ti* (instance baxter-tablis-interface :init :loop-enable loop-enable diff --git a/euslisp/lib/baxter-vr-interface.l b/euslisp/lib/baxter-teleop-interface.l similarity index 85% rename from euslisp/lib/baxter-vr-interface.l rename to euslisp/lib/baxter-teleop-interface.l index af3744d6..f0d55372 100644 --- a/euslisp/lib/baxter-vr-interface.l +++ b/euslisp/lib/baxter-teleop-interface.l @@ -1,25 +1,25 @@ ;; -*- mode: lisp;-*- (ros::load-ros-manifest "baxter_core_msgs") -(require :baxter-interface "package://eus_vive/euslisp/lib/baxter-interface.l") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") +(require :baxter-interface "package://eus_teleop/euslisp/lib/baxter-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") -(if (not (assoc :init-baxter-org (send robot-vr-interface :methods))) - (rplaca (assoc :init (send robot-vr-interface :methods)) :init-baxter-org)) -(if (not (assoc :reset-baxter-org (send robot-vr-interface :methods))) - (rplaca (assoc :reset (send robot-vr-interface :methods)) :reset-baxter-org)) -(if (not (assoc :reset-arm-baxter-org (send robot-vr-interface :methods))) - (rplaca (assoc :reset-arm (send robot-vr-interface :methods)) :reset-arm-baxter-org)) -(if (not (assoc :disable-baxter-org (send robot-vr-interface :methods))) - (rplaca (assoc :disable (send robot-vr-interface :methods)) :disable-baxter-org)) -(if (not (assoc :enable-baxter-org (send robot-vr-interface :methods))) - (rplaca (assoc :enable (send robot-vr-interface :methods)) :enable-baxter-org)) -(if (not (assoc :arm-motion-cb-baxter-org (send robot-vr-interface :methods))) - (rplaca (assoc :arm-motion-cb (send robot-vr-interface :methods)) :arm-motion-cb-baxter-org)) +(if (not (assoc :init-baxter-org (send robot-teleop-interface :methods))) + (rplaca (assoc :init (send robot-teleop-interface :methods)) :init-baxter-org)) +(if (not (assoc :reset-baxter-org (send robot-teleop-interface :methods))) + (rplaca (assoc :reset (send robot-teleop-interface :methods)) :reset-baxter-org)) +(if (not (assoc :reset-arm-baxter-org (send robot-teleop-interface :methods))) + (rplaca (assoc :reset-arm (send robot-teleop-interface :methods)) :reset-arm-baxter-org)) +(if (not (assoc :disable-baxter-org (send robot-teleop-interface :methods))) + (rplaca (assoc :disable (send robot-teleop-interface :methods)) :disable-baxter-org)) +(if (not (assoc :enable-baxter-org (send robot-teleop-interface :methods))) + (rplaca (assoc :enable (send robot-teleop-interface :methods)) :enable-baxter-org)) +(if (not (assoc :arm-motion-cb-baxter-org (send robot-teleop-interface :methods))) + (rplaca (assoc :arm-motion-cb (send robot-teleop-interface :methods)) :arm-motion-cb-baxter-org)) -(defmethod robot-vr-interface +(defmethod robot-teleop-interface (:init (&rest args) (prog1 (send* self :init-baxter-org args) @@ -171,4 +171,4 @@ (unix:signal 15 'signal-hook) -(provide :baxter-vr-interface) +(provide :baxter-teleop-interface) diff --git a/euslisp/lib/baxter-vive-interface.l b/euslisp/lib/baxter-vive-interface.l index d2daa503..089b08c5 100644 --- a/euslisp/lib/baxter-vive-interface.l +++ b/euslisp/lib/baxter-vive-interface.l @@ -1,10 +1,10 @@ ;; -*- mode: lisp;-*- (ros::load-ros-manifest "baxter_core_msgs") -(require :baxter-interface "package://eus_vive/euslisp/lib/baxter-interface.l") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :baxter-vr-interface "package://eus_vive/euslisp/lib/baxter-vr-interface.l") -(require :robot-vive-interface "package://eus_vive/euslisp/lib/robot-vive-interface.l") +(require :baxter-interface "package://eus_teleop/euslisp/lib/baxter-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :baxter-teleop-interface "package://eus_teleop/euslisp/lib/baxter-teleop-interface.l") +(require :robot-vive-interface "package://eus_teleop/euslisp/lib/robot-vive-interface.l") (defclass baxter-vive-interface @@ -37,7 +37,7 @@ (defun baxter-vive-init (&key (lgripper :parallel) (rgripper :parallel) (loop-enable t)) - (eus_vive::baxter-init :lgripper lgripper :rgripper rgripper :limit-in-front t) + (eus_teleop::baxter-init :lgripper lgripper :rgripper rgripper :limit-in-front t) (make-baxter-irtviewer :no-window t) (make-baxter-camera-model :no-window t) (setq *ti* (instance baxter-vive-interface :init :loop-enable loop-enable diff --git a/euslisp/lib/dragon-spacenav-interface.l b/euslisp/lib/dragon-spacenav-interface.l index 94da8dc1..e0809da6 100644 --- a/euslisp/lib/dragon-spacenav-interface.l +++ b/euslisp/lib/dragon-spacenav-interface.l @@ -1,9 +1,9 @@ ;; -*- mode: lisp;-*- (require :dragon-interface "package://dragon/euslisp/quad/dragon-interface.l") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :dragon-vr-interface "package://eus_vive/euslisp/lib/dragon-vr-interface.l") -(require :robot-spacenav-interface "package://eus_vive/euslisp/lib/robot-spacenav-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :dragon-teleop-interface "package://eus_teleop/euslisp/lib/dragon-teleop-interface.l") +(require :robot-spacenav-interface "package://eus_teleop/euslisp/lib/robot-spacenav-interface.l") (defclass dragon-spacenav-interface diff --git a/euslisp/lib/dragon-vr-interface.l b/euslisp/lib/dragon-teleop-interface.l similarity index 79% rename from euslisp/lib/dragon-vr-interface.l rename to euslisp/lib/dragon-teleop-interface.l index 8959c8a8..b59d46c5 100644 --- a/euslisp/lib/dragon-vr-interface.l +++ b/euslisp/lib/dragon-teleop-interface.l @@ -1,22 +1,22 @@ ;; -*- mode: lisp;-*- (load "package://dragon/euslisp/quad/dragon-interface.l") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") -(if (not (assoc :init-dragon-org (send robot-vr-interface :methods))) - (rplaca (assoc :init (send robot-vr-interface :methods)) :init-dragon-org)) -(if (not (assoc :reset-dragon-org (send robot-vr-interface :methods))) - (rplaca (assoc :reset (send robot-vr-interface :methods)) :reset-dragon-org)) -(if (not (assoc :reset-arm-dragon-org (send robot-vr-interface :methods))) - (rplaca (assoc :reset-arm (send robot-vr-interface :methods)) :reset-arm-dragon-org)) -(if (not (assoc :disable-dragon-org (send robot-vr-interface :methods))) - (rplaca (assoc :disable (send robot-vr-interface :methods)) :disable-dragon-org)) -(if (not (assoc :enable-dragon-org (send robot-vr-interface :methods))) - (rplaca (assoc :enable (send robot-vr-interface :methods)) :enable-dragon-org)) +(if (not (assoc :init-dragon-org (send robot-teleop-interface :methods))) + (rplaca (assoc :init (send robot-teleop-interface :methods)) :init-dragon-org)) +(if (not (assoc :reset-dragon-org (send robot-teleop-interface :methods))) + (rplaca (assoc :reset (send robot-teleop-interface :methods)) :reset-dragon-org)) +(if (not (assoc :reset-arm-dragon-org (send robot-teleop-interface :methods))) + (rplaca (assoc :reset-arm (send robot-teleop-interface :methods)) :reset-arm-dragon-org)) +(if (not (assoc :disable-dragon-org (send robot-teleop-interface :methods))) + (rplaca (assoc :disable (send robot-teleop-interface :methods)) :disable-dragon-org)) +(if (not (assoc :enable-dragon-org (send robot-teleop-interface :methods))) + (rplaca (assoc :enable (send robot-teleop-interface :methods)) :enable-dragon-org)) -(defmethod robot-vr-interface +(defmethod robot-teleop-interface (:init (&rest args) (prog1 (send* self :init-dragon-org args) @@ -108,4 +108,4 @@ (unix:signal 15 'signal-hook) -(provide :dragon-vr-interface) +(provide :dragon-teleop-interface) diff --git a/euslisp/lib/jaxon-spacenav-interface.l b/euslisp/lib/jaxon-spacenav-interface.l index 11e070d8..39c2e8aa 100644 --- a/euslisp/lib/jaxon-spacenav-interface.l +++ b/euslisp/lib/jaxon-spacenav-interface.l @@ -1,11 +1,11 @@ ;; -*- mode: lisp;-*- (require :jaxon-interface "package://hrpsys_ros_bridge_tutorials/euslisp/jaxon-interface.l") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :robot-move-base-vr-interface "package://eus_vive/euslisp/lib/robot-move-base-vr-interface.l") -(require :jaxon-vr-interface "package://eus_vive/euslisp/lib/jaxon-vr-interface.l") -(require :robot-spacenav-interface "package://eus_vive/euslisp/lib/robot-spacenav-interface.l") -(require :robot-move-base-spacenav-interface "package://eus_vive/euslisp/lib/robot-move-base-spacenav-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :robot-move-base-teleop-interface "package://eus_teleop/euslisp/lib/robot-move-base-teleop-interface.l") +(require :jaxon-teleop-interface "package://eus_teleop/euslisp/lib/jaxon-teleop-interface.l") +(require :robot-spacenav-interface "package://eus_teleop/euslisp/lib/robot-spacenav-interface.l") +(require :robot-move-base-spacenav-interface "package://eus_teleop/euslisp/lib/robot-move-base-spacenav-interface.l") (defclass jaxon-spacenav-interface diff --git a/euslisp/lib/jaxon-tablis-interface.l b/euslisp/lib/jaxon-tablis-interface.l index 33770368..4aa86e1c 100644 --- a/euslisp/lib/jaxon-tablis-interface.l +++ b/euslisp/lib/jaxon-tablis-interface.l @@ -1,13 +1,13 @@ ;; -*- mode: lisp;-*- (require :jaxon-interface "package://hrpsys_ros_bridge_tutorials/euslisp/jaxon-interface.l") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :robot-move-base-vr-interface "package://eus_vive/euslisp/lib/robot-move-base-vr-interface.l") -(require :jaxon-vr-interface "package://eus_vive/euslisp/lib/jaxon-vr-interface.l") -(require :robot-vive-interface "package://eus_vive/euslisp/lib/robot-vive-interface.l") -(require :robot-move-base-vive-interface "package://eus_vive/euslisp/lib/robot-move-base-vive-interface.l") -(require :robot-tablis-interface "package://eus_vive/euslisp/lib/robot-tablis-interface.l") -(require :robot-move-base-tablis-interface "package://eus_vive/euslisp/lib/robot-move-base-tablis-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :robot-move-base-teleop-interface "package://eus_teleop/euslisp/lib/robot-move-base-teleop-interface.l") +(require :jaxon-teleop-interface "package://eus_teleop/euslisp/lib/jaxon-teleop-interface.l") +(require :robot-vive-interface "package://eus_teleop/euslisp/lib/robot-vive-interface.l") +(require :robot-move-base-vive-interface "package://eus_teleop/euslisp/lib/robot-move-base-vive-interface.l") +(require :robot-tablis-interface "package://eus_teleop/euslisp/lib/robot-tablis-interface.l") +(require :robot-move-base-tablis-interface "package://eus_teleop/euslisp/lib/robot-move-base-tablis-interface.l") (defclass jaxon-tablis-interface diff --git a/euslisp/lib/jaxon-vr-interface.l b/euslisp/lib/jaxon-teleop-interface.l similarity index 88% rename from euslisp/lib/jaxon-vr-interface.l rename to euslisp/lib/jaxon-teleop-interface.l index 0a503bfa..0bf75c8e 100644 --- a/euslisp/lib/jaxon-vr-interface.l +++ b/euslisp/lib/jaxon-teleop-interface.l @@ -3,20 +3,20 @@ (ros::roseus-add-msgs "geometry_msgs") (require :jaxon-interface "package://hrpsys_ros_bridge_tutorials/euslisp/jaxon-interface.l") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :robot-move-base-vr-interface "package://eus_vive/euslisp/lib/robot-move-base-vr-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :robot-move-base-teleop-interface "package://eus_teleop/euslisp/lib/robot-move-base-teleop-interface.l") -(if (not (assoc :init-jaxon-org (send robot-vr-interface :methods))) - (rplaca (assoc :init (send robot-vr-interface :methods)) :init-jaxon-org)) -(if (not (assoc :ros-init-jaxon-org (send robot-vr-interface :methods))) - (rplaca (assoc :ros-init (send robot-vr-interface :methods)) :ros-init-jaxon-org)) -(if (not (assoc :publish-command-pose-jaxon-org (send robot-vr-interface :methods))) - (rplaca (assoc :publish-command-pose (send robot-vr-interface :methods)) +(if (not (assoc :init-jaxon-org (send robot-teleop-interface :methods))) + (rplaca (assoc :init (send robot-teleop-interface :methods)) :init-jaxon-org)) +(if (not (assoc :ros-init-jaxon-org (send robot-teleop-interface :methods))) + (rplaca (assoc :ros-init (send robot-teleop-interface :methods)) :ros-init-jaxon-org)) +(if (not (assoc :publish-command-pose-jaxon-org (send robot-teleop-interface :methods))) + (rplaca (assoc :publish-command-pose (send robot-teleop-interface :methods)) :publish-command-pose-jaxon-org)) -(defmethod robot-vr-interface +(defmethod robot-teleop-interface (:init (&rest args) (prog1 (send* self :init-jaxon-org args) @@ -143,7 +143,7 @@ (send *ri* :cancel-angle-vector :controller-type :torso-controller))) (if (and (boundp '*ti*) (find-method *ti* :switch-joy-to-ps3joy)) (progn - (ros::ros-info "switch joy from vr device to ps3joy") + (ros::ros-info "switch joy from teleop device to ps3joy") (send *ti* :switch-joy-to-ps3joy))) (reset)) @@ -153,4 +153,4 @@ (unix:signal 15 'signal-hook) -(provide :jaxon-vr-interface) +(provide :jaxon-teleop-interface) diff --git a/euslisp/lib/pr2-oculus-interface.l b/euslisp/lib/pr2-oculus-interface.l index 7a5e7af8..9955c7b2 100644 --- a/euslisp/lib/pr2-oculus-interface.l +++ b/euslisp/lib/pr2-oculus-interface.l @@ -1,10 +1,10 @@ ;; -*- mode: lisp;-*- (require :pr2-interface "package://pr2eus/pr2-interface.l") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :robot-move-base-vr-interface "package://eus_vive/euslisp/lib/robot-move-base-vr-interface.l") -(require :pr2-vr-interface "package://eus_vive/euslisp/lib/pr2-vr-interface.l") -(require :robot-oculus-interface "package://eus_vive/euslisp/lib/robot-oculus-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :robot-move-base-teleop-interface "package://eus_teleop/euslisp/lib/robot-move-base-teleop-interface.l") +(require :pr2-teleop-interface "package://eus_teleop/euslisp/lib/pr2-teleop-interface.l") +(require :robot-oculus-interface "package://eus_teleop/euslisp/lib/robot-oculus-interface.l") (defclass pr2-oculus-interface diff --git a/euslisp/lib/pr2-spacenav-interface.l b/euslisp/lib/pr2-spacenav-interface.l index d36c871f..da2ee3d0 100644 --- a/euslisp/lib/pr2-spacenav-interface.l +++ b/euslisp/lib/pr2-spacenav-interface.l @@ -1,11 +1,11 @@ ;; -*- mode: lisp;-*- (require :pr2-interface "package://pr2eus/pr2-interface.l") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :robot-move-base-vr-interface "package://eus_vive/euslisp/lib/robot-move-base-vr-interface.l") -(require :pr2-vr-interface "package://eus_vive/euslisp/lib/pr2-vr-interface.l") -(require :robot-spacenav-interface "package://eus_vive/euslisp/lib/robot-spacenav-interface.l") -(require :robot-move-base-spacenav-interface "package://eus_vive/euslisp/lib/robot-move-base-spacenav-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :robot-move-base-teleop-interface "package://eus_teleop/euslisp/lib/robot-move-base-teleop-interface.l") +(require :pr2-teleop-interface "package://eus_teleop/euslisp/lib/pr2-teleop-interface.l") +(require :robot-spacenav-interface "package://eus_teleop/euslisp/lib/robot-spacenav-interface.l") +(require :robot-move-base-spacenav-interface "package://eus_teleop/euslisp/lib/robot-move-base-spacenav-interface.l") (defclass pr2-spacenav-interface diff --git a/euslisp/lib/pr2-tablis-interface.l b/euslisp/lib/pr2-tablis-interface.l index 590244aa..a0a5bd86 100644 --- a/euslisp/lib/pr2-tablis-interface.l +++ b/euslisp/lib/pr2-tablis-interface.l @@ -1,13 +1,13 @@ ;; -*- mode: lisp;-*- (require :pr2-interface "package://pr2eus/pr2-interface.l") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :robot-move-base-vr-interface "package://eus_vive/euslisp/lib/robot-move-base-vr-interface.l") -(require :pr2-vr-interface "package://eus_vive/euslisp/lib/pr2-vr-interface.l") -(require :robot-vive-interface "package://eus_vive/euslisp/lib/robot-vive-interface.l") -(require :robot-move-base-vive-interface "package://eus_vive/euslisp/lib/robot-move-base-vive-interface.l") -(require :robot-tablis-interface "package://eus_vive/euslisp/lib/robot-tablis-interface.l") -(require :robot-move-base-tablis-interface "package://eus_vive/euslisp/lib/robot-move-base-tablis-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :robot-move-base-teleop-interface "package://eus_teleop/euslisp/lib/robot-move-base-teleop-interface.l") +(require :pr2-teleop-interface "package://eus_teleop/euslisp/lib/pr2-teleop-interface.l") +(require :robot-vive-interface "package://eus_teleop/euslisp/lib/robot-vive-interface.l") +(require :robot-move-base-vive-interface "package://eus_teleop/euslisp/lib/robot-move-base-vive-interface.l") +(require :robot-tablis-interface "package://eus_teleop/euslisp/lib/robot-tablis-interface.l") +(require :robot-move-base-tablis-interface "package://eus_teleop/euslisp/lib/robot-move-base-tablis-interface.l") (defclass pr2-tablis-interface diff --git a/euslisp/lib/pr2-vr-interface.l b/euslisp/lib/pr2-teleop-interface.l similarity index 85% rename from euslisp/lib/pr2-vr-interface.l rename to euslisp/lib/pr2-teleop-interface.l index b53a99cd..884ab8a3 100644 --- a/euslisp/lib/pr2-vr-interface.l +++ b/euslisp/lib/pr2-teleop-interface.l @@ -1,19 +1,19 @@ ;; -*- mode: lisp;-*- (require :pr2-interface "package://pr2eus/pr2-interface.l") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :robot-move-base-vr-interface "package://eus_vive/euslisp/lib/robot-move-base-vr-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :robot-move-base-teleop-interface "package://eus_teleop/euslisp/lib/robot-move-base-teleop-interface.l") -(if (not (assoc :init-pr2-org (send robot-vr-interface :methods))) - (rplaca (assoc :init (send robot-vr-interface :methods)) :init-pr2-org)) -(if (not (assoc :reset-arm-pr2-org (send robot-vr-interface :methods))) - (rplaca (assoc :reset-arm (send robot-vr-interface :methods)) :reset-arm-pr2-org)) -(if (not (assoc :reset-torso-pr2-org (send robot-vr-interface :methods))) - (rplaca (assoc :reset-torso (send robot-vr-interface :methods)) :reset-torso-pr2-org)) +(if (not (assoc :init-pr2-org (send robot-teleop-interface :methods))) + (rplaca (assoc :init (send robot-teleop-interface :methods)) :init-pr2-org)) +(if (not (assoc :reset-arm-pr2-org (send robot-teleop-interface :methods))) + (rplaca (assoc :reset-arm (send robot-teleop-interface :methods)) :reset-arm-pr2-org)) +(if (not (assoc :reset-torso-pr2-org (send robot-teleop-interface :methods))) + (rplaca (assoc :reset-torso (send robot-teleop-interface :methods)) :reset-torso-pr2-org)) -(defmethod robot-vr-interface +(defmethod robot-teleop-interface (:init (&rest args) (prog1 (send* self :init-pr2-org args) @@ -118,7 +118,7 @@ (send *ri* :cancel-angle-vector :controller-type :torso-controller))) (if (and (boundp '*ti*) (find-method *ti* :switch-joy-to-ps3joy)) (progn - (ros::ros-info "switch joy from vr device to ps3joy") + (ros::ros-info "switch joy from teleop device to ps3joy") (send *ti* :switch-joy-to-ps3joy))) (reset)) @@ -128,4 +128,4 @@ (unix:signal 15 'signal-hook) -(provide :pr2-vr-interface) +(provide :pr2-teleop-interface) diff --git a/euslisp/lib/pr2-vive-interface.l b/euslisp/lib/pr2-vive-interface.l index 77790ef7..ec1e593d 100644 --- a/euslisp/lib/pr2-vive-interface.l +++ b/euslisp/lib/pr2-vive-interface.l @@ -1,11 +1,11 @@ ;; -*- mode: lisp;-*- (require :pr2-interface "package://pr2eus/pr2-interface.l") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :robot-move-base-vr-interface "package://eus_vive/euslisp/lib/robot-move-base-vr-interface.l") -(require :pr2-vr-interface "package://eus_vive/euslisp/lib/pr2-vr-interface.l") -(require :robot-vive-interface "package://eus_vive/euslisp/lib/robot-vive-interface.l") -(require :robot-move-base-vive-interface "package://eus_vive/euslisp/lib/robot-move-base-vive-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :robot-move-base-teleop-interface "package://eus_teleop/euslisp/lib/robot-move-base-teleop-interface.l") +(require :pr2-teleop-interface "package://eus_teleop/euslisp/lib/pr2-teleop-interface.l") +(require :robot-vive-interface "package://eus_teleop/euslisp/lib/robot-vive-interface.l") +(require :robot-move-base-vive-interface "package://eus_teleop/euslisp/lib/robot-move-base-vive-interface.l") (defclass pr2-vive-interface diff --git a/euslisp/lib/robot-move-base-oculus-interface.l b/euslisp/lib/robot-move-base-oculus-interface.l index 916ea46f..1099d4c8 100644 --- a/euslisp/lib/robot-move-base-oculus-interface.l +++ b/euslisp/lib/robot-move-base-oculus-interface.l @@ -2,9 +2,9 @@ (ros::roseus-add-msgs "geometry_msgs") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :robot-move-base-vr-interface "package://eus_vive/euslisp/lib/robot-move-base-vr-interface.l") -(require :robot-oculus-interface "package://eus_vive/euslisp/lib/robot-oculus-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :robot-move-base-teleop-interface "package://eus_teleop/euslisp/lib/robot-move-base-teleop-interface.l") +(require :robot-oculus-interface "package://eus_teleop/euslisp/lib/robot-oculus-interface.l") (provide :robot-move-base-oculus-interface) diff --git a/euslisp/lib/robot-move-base-spacenav-interface.l b/euslisp/lib/robot-move-base-spacenav-interface.l index 566192ee..cc942c74 100644 --- a/euslisp/lib/robot-move-base-spacenav-interface.l +++ b/euslisp/lib/robot-move-base-spacenav-interface.l @@ -2,9 +2,9 @@ (ros::roseus-add-msgs "geometry_msgs") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :robot-move-base-vr-interface "package://eus_vive/euslisp/lib/robot-move-base-vr-interface.l") -(require :robot-spacenav-interface "package://eus_vive/euslisp/lib/robot-spacenav-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :robot-move-base-teleop-interface "package://eus_teleop/euslisp/lib/robot-move-base-teleop-interface.l") +(require :robot-spacenav-interface "package://eus_teleop/euslisp/lib/robot-spacenav-interface.l") (if (not (assoc :spacenav-joy-axes-cb-move-base-spacenav-org diff --git a/euslisp/lib/robot-move-base-tablis-interface.l b/euslisp/lib/robot-move-base-tablis-interface.l index c6d921a0..6e92d6c6 100644 --- a/euslisp/lib/robot-move-base-tablis-interface.l +++ b/euslisp/lib/robot-move-base-tablis-interface.l @@ -2,11 +2,11 @@ (ros::roseus-add-msgs "geometry_msgs") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :robot-move-base-vr-interface "package://eus_vive/euslisp/lib/robot-move-base-vr-interface.l") -(require :robot-vive-interface "package://eus_vive/euslisp/lib/robot-vive-interface.l") -(require :robot-move-base-vive-interface "package://eus_vive/euslisp/lib/robot-move-base-vive-interface.l") -(require :robot-tablis-interface "package://eus_vive/euslisp/lib/robot-tablis-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :robot-move-base-teleop-interface "package://eus_teleop/euslisp/lib/robot-move-base-teleop-interface.l") +(require :robot-vive-interface "package://eus_teleop/euslisp/lib/robot-vive-interface.l") +(require :robot-move-base-vive-interface "package://eus_teleop/euslisp/lib/robot-move-base-vive-interface.l") +(require :robot-tablis-interface "package://eus_teleop/euslisp/lib/robot-tablis-interface.l") (provide :robot-move-base-tablis-interface) diff --git a/euslisp/lib/robot-move-base-vr-interface.l b/euslisp/lib/robot-move-base-teleop-interface.l similarity index 90% rename from euslisp/lib/robot-move-base-vr-interface.l rename to euslisp/lib/robot-move-base-teleop-interface.l index 85a28cae..a9bce34c 100644 --- a/euslisp/lib/robot-move-base-vr-interface.l +++ b/euslisp/lib/robot-move-base-teleop-interface.l @@ -1,19 +1,19 @@ ;; -*- mode: lisp;-*- -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") -(if (not (assoc :init-move-base-org (send robot-vr-interface :methods))) - (rplaca (assoc :init (send robot-vr-interface :methods)) :init-move-base-org)) -(if (not (assoc :ros-init-move-base-org (send robot-vr-interface :methods))) - (rplaca (assoc :ros-init (send robot-vr-interface :methods)) :ros-init-move-base-org)) -(if (not (assoc :reset-move-base-org (send robot-vr-interface :methods))) - (rplaca (assoc :reset (send robot-vr-interface :methods)) :reset-move-base-org)) -(if (not (assoc :enable-cb-move-base-org (send robot-vr-interface :methods))) - (rplaca (assoc :enable-cb (send robot-vr-interface :methods)) :enable-cb-move-base-org)) +(if (not (assoc :init-move-base-org (send robot-teleop-interface :methods))) + (rplaca (assoc :init (send robot-teleop-interface :methods)) :init-move-base-org)) +(if (not (assoc :ros-init-move-base-org (send robot-teleop-interface :methods))) + (rplaca (assoc :ros-init (send robot-teleop-interface :methods)) :ros-init-move-base-org)) +(if (not (assoc :reset-move-base-org (send robot-teleop-interface :methods))) + (rplaca (assoc :reset (send robot-teleop-interface :methods)) :reset-move-base-org)) +(if (not (assoc :enable-cb-move-base-org (send robot-teleop-interface :methods))) + (rplaca (assoc :enable-cb (send robot-teleop-interface :methods)) :enable-cb-move-base-org)) -(defmethod robot-vr-interface +(defmethod robot-teleop-interface (:init (&rest args) (prog1 (send* self :init-move-base-org args) @@ -181,4 +181,4 @@ (if (and head loop-enable) (send self :head-cb)) (if visualize (send self :visualize visualize-arm-coords))))) -(provide :robot-move-base-vr-interface) +(provide :robot-move-base-teleop-interface) diff --git a/euslisp/lib/robot-move-base-vive-interface.l b/euslisp/lib/robot-move-base-vive-interface.l index 91846ad4..5c1ffaa3 100644 --- a/euslisp/lib/robot-move-base-vive-interface.l +++ b/euslisp/lib/robot-move-base-vive-interface.l @@ -1,8 +1,8 @@ ;; -*- mode: lisp;-*- -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :robot-move-base-vr-interface "package://eus_vive/euslisp/lib/robot-move-base-vr-interface.l") -(require :robot-vive-interface "package://eus_vive/euslisp/lib/robot-vive-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :robot-move-base-teleop-interface "package://eus_teleop/euslisp/lib/robot-move-base-teleop-interface.l") +(require :robot-vive-interface "package://eus_teleop/euslisp/lib/robot-vive-interface.l") (if (not (assoc :controller-button-cb-move-base-vive-org diff --git a/euslisp/lib/robot-oculus-interface.l b/euslisp/lib/robot-oculus-interface.l index 74a9a2e5..1ac30d33 100644 --- a/euslisp/lib/robot-oculus-interface.l +++ b/euslisp/lib/robot-oculus-interface.l @@ -3,11 +3,11 @@ (ros::load-ros-manifest "sensor_msgs") (ros::load-ros-manifest "topic_tools") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") (defclass robot-oculus-interface - :super robot-vr-interface + :super robot-teleop-interface :slots (hmd-pose-topic-name hmd-coords larm-controller-coords diff --git a/euslisp/lib/robot-spacenav-interface.l b/euslisp/lib/robot-spacenav-interface.l index c0539d55..f26d13ab 100644 --- a/euslisp/lib/robot-spacenav-interface.l +++ b/euslisp/lib/robot-spacenav-interface.l @@ -2,11 +2,11 @@ (ros::load-ros-manifest "sensor_msgs") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") (defclass robot-spacenav-interface - :super robot-vr-interface + :super robot-teleop-interface :slots (spacenav-joy-topic-name spacenav-joy-axes spacenav-joy-axes-threshold diff --git a/euslisp/lib/robot-tablis-interface.l b/euslisp/lib/robot-tablis-interface.l index a53ef09f..98ff6e9f 100644 --- a/euslisp/lib/robot-tablis-interface.l +++ b/euslisp/lib/robot-tablis-interface.l @@ -2,8 +2,8 @@ (ros::roseus-add-msgs "geometry_msgs") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") -(require :robot-vive-interface "package://eus_vive/euslisp/lib/robot-vive-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") +(require :robot-vive-interface "package://eus_teleop/euslisp/lib/robot-vive-interface.l") (defclass robot-tablis-interface diff --git a/euslisp/lib/robot-vr-interface.l b/euslisp/lib/robot-teleop-interface.l similarity index 89% rename from euslisp/lib/robot-vr-interface.l rename to euslisp/lib/robot-teleop-interface.l index 9d4cec5b..4c06ebd7 100644 --- a/euslisp/lib/robot-vr-interface.l +++ b/euslisp/lib/robot-teleop-interface.l @@ -1,7 +1,7 @@ ;; -*- mode: lisp;-*- (ros::load-ros-manifest "actionlib_msgs") -(ros::load-ros-manifest "eus_vive") +(ros::load-ros-manifest "eus_teleop") (ros::load-ros-manifest "moveit_msgs") (ros::load-ros-manifest "sensor_msgs") (ros::load-ros-manifest "std_msgs") @@ -10,7 +10,7 @@ (require :display-robot-state "package://jsk_interactive_marker/euslisp/display-robot-state.l") -(defclass robot-vr-interface +(defclass robot-teleop-interface :super propertied-object :slots (robot robot-interface @@ -21,25 +21,25 @@ collision-status-topic-type robot-state-visualize-topic-name irtviewer-visualize-topic-name - eus-vive-status-topic-name - eus-vive-reset-service-name - eus-vive-reset-larm-service-name - eus-vive-reset-rarm-service-name - eus-vive-enable-service-name - eus-vive-enable-larm-service-name - eus-vive-enable-rarm-service-name - eus-vive-disable-service-name - eus-vive-disable-larm-service-name - eus-vive-disable-rarm-service-name - eus-vive-calib-service-name - eus-vive-calib-larm-service-name - eus-vive-calib-rarm-service-name - eus-vive-start-grasp-larm-service-name - eus-vive-start-grasp-rarm-service-name - eus-vive-stop-grasp-larm-service-name - eus-vive-stop-grasp-rarm-service-name - eus-vive-toggle-grasp-service-name - eus-vive-hold-grasp-service-name + eus-teleop-status-topic-name + eus-teleop-reset-service-name + eus-teleop-reset-larm-service-name + eus-teleop-reset-rarm-service-name + eus-teleop-enable-service-name + eus-teleop-enable-larm-service-name + eus-teleop-enable-rarm-service-name + eus-teleop-disable-service-name + eus-teleop-disable-larm-service-name + eus-teleop-disable-rarm-service-name + eus-teleop-calib-service-name + eus-teleop-calib-larm-service-name + eus-teleop-calib-rarm-service-name + eus-teleop-start-grasp-larm-service-name + eus-teleop-start-grasp-rarm-service-name + eus-teleop-stop-grasp-larm-service-name + eus-teleop-stop-grasp-rarm-service-name + eus-teleop-toggle-grasp-service-name + eus-teleop-hold-grasp-service-name loop-enable draw-object-list gripper-button-toggle-p @@ -131,45 +131,45 @@ )) -(defmethod robot-vr-interface +(defmethod robot-teleop-interface (:init (&key (loop-enable t) (lgripper nil) (rgripper nil)) (send self :set-val 'larm-gripper-type lgripper) (send self :set-val 'rarm-gripper-type rgripper) ;; for workspace - (send self :set-val 'target-coords-max-x (ros::get-param "/eus_vive/workspace/max_x" nil)) - (send self :set-val 'target-coords-max-y (ros::get-param "/eus_vive/workspace/max_y" nil)) - (send self :set-val 'target-coords-max-z (ros::get-param "/eus_vive/workspace/max_z" nil)) - (send self :set-val 'target-coords-min-x (ros::get-param "/eus_vive/workspace/min_x" nil)) - (send self :set-val 'target-coords-min-y (ros::get-param "/eus_vive/workspace/min_y" nil)) - (send self :set-val 'target-coords-min-z (ros::get-param "/eus_vive/workspace/min_z" nil)) - ;; for eus_vive + (send self :set-val 'target-coords-max-x (ros::get-param "/eus_teleop/workspace/max_x" nil)) + (send self :set-val 'target-coords-max-y (ros::get-param "/eus_teleop/workspace/max_y" nil)) + (send self :set-val 'target-coords-max-z (ros::get-param "/eus_teleop/workspace/max_z" nil)) + (send self :set-val 'target-coords-min-x (ros::get-param "/eus_teleop/workspace/min_x" nil)) + (send self :set-val 'target-coords-min-y (ros::get-param "/eus_teleop/workspace/min_y" nil)) + (send self :set-val 'target-coords-min-z (ros::get-param "/eus_teleop/workspace/min_z" nil)) + ;; for eus_teleop (send self :set-val 'robot-state-visualize-topic-name "/display_robot_state") - (send self :set-val 'irtviewer-visualize-topic-name "/eus_vive/irtviewer/image") - (send self :set-val 'eus-vive-status-topic-name "/eus_vive/status") - (send self :set-val 'eus-vive-reset-service-name "/eus_vive/reset") - (send self :set-val 'eus-vive-reset-larm-service-name "/eus_vive/larm/reset") - (send self :set-val 'eus-vive-reset-rarm-service-name "/eus_vive/rarm/reset") - (send self :set-val 'eus-vive-enable-service-name "/eus_vive/enable") - (send self :set-val 'eus-vive-enable-larm-service-name "/eus_vive/larm/enable") - (send self :set-val 'eus-vive-enable-rarm-service-name "/eus_vive/rarm/enable") - (send self :set-val 'eus-vive-disable-service-name "/eus_vive/disable") - (send self :set-val 'eus-vive-disable-larm-service-name "/eus_vive/larm/disable") - (send self :set-val 'eus-vive-disable-rarm-service-name "/eus_vive/rarm/disable") - (send self :set-val 'eus-vive-calib-service-name "/eus_vive/calibrate") - (send self :set-val 'eus-vive-calib-larm-service-name "/eus_vive/larm/calibrate") - (send self :set-val 'eus-vive-calib-rarm-service-name "/eus_vive/rarm/calibrate") - (send self :set-val 'eus-vive-start-grasp-larm-service-name "/eus_vive/larm/start_grasp") - (send self :set-val 'eus-vive-start-grasp-rarm-service-name "/eus_vive/rarm/start_grasp") - (send self :set-val 'eus-vive-stop-grasp-larm-service-name "/eus_vive/larm/stop_grasp") - (send self :set-val 'eus-vive-stop-grasp-rarm-service-name "/eus_vive/rarm/stop_grasp") - (send self :set-val 'eus-vive-toggle-grasp-service-name "/eus_vive/toggle_grasp") - (send self :set-val 'eus-vive-hold-grasp-service-name "/eus_vive/hold_grasp") - (send self :set-val 'gripper-button-toggle-p (ros::get-param "/eus_vive/button_toggle" t)) + (send self :set-val 'irtviewer-visualize-topic-name "/eus_teleop/irtviewer/image") + (send self :set-val 'eus-teleop-status-topic-name "/eus_teleop/status") + (send self :set-val 'eus-teleop-reset-service-name "/eus_teleop/reset") + (send self :set-val 'eus-teleop-reset-larm-service-name "/eus_teleop/larm/reset") + (send self :set-val 'eus-teleop-reset-rarm-service-name "/eus_teleop/rarm/reset") + (send self :set-val 'eus-teleop-enable-service-name "/eus_teleop/enable") + (send self :set-val 'eus-teleop-enable-larm-service-name "/eus_teleop/larm/enable") + (send self :set-val 'eus-teleop-enable-rarm-service-name "/eus_teleop/rarm/enable") + (send self :set-val 'eus-teleop-disable-service-name "/eus_teleop/disable") + (send self :set-val 'eus-teleop-disable-larm-service-name "/eus_teleop/larm/disable") + (send self :set-val 'eus-teleop-disable-rarm-service-name "/eus_teleop/rarm/disable") + (send self :set-val 'eus-teleop-calib-service-name "/eus_teleop/calibrate") + (send self :set-val 'eus-teleop-calib-larm-service-name "/eus_teleop/larm/calibrate") + (send self :set-val 'eus-teleop-calib-rarm-service-name "/eus_teleop/rarm/calibrate") + (send self :set-val 'eus-teleop-start-grasp-larm-service-name "/eus_teleop/larm/start_grasp") + (send self :set-val 'eus-teleop-start-grasp-rarm-service-name "/eus_teleop/rarm/start_grasp") + (send self :set-val 'eus-teleop-stop-grasp-larm-service-name "/eus_teleop/larm/stop_grasp") + (send self :set-val 'eus-teleop-stop-grasp-rarm-service-name "/eus_teleop/rarm/stop_grasp") + (send self :set-val 'eus-teleop-toggle-grasp-service-name "/eus_teleop/toggle_grasp") + (send self :set-val 'eus-teleop-hold-grasp-service-name "/eus_teleop/hold_grasp") + (send self :set-val 'gripper-button-toggle-p (ros::get-param "/eus_teleop/button_toggle" t)) - (send self :set-arm-val :larm :coords-visualize-topic-name "/eus_vive/left/target_pose_stamped") - (send self :set-arm-val :rarm :coords-visualize-topic-name "/eus_vive/right/target_pose_stamped") - (send self :set-arm-val :larm :grasp-visualize-topic-name "/eus_vive/left/hand_open_rate") - (send self :set-arm-val :rarm :grasp-visualize-topic-name "/eus_vive/right/hand_open_rate") + (send self :set-arm-val :larm :coords-visualize-topic-name "/eus_teleop/left/target_pose_stamped") + (send self :set-arm-val :rarm :coords-visualize-topic-name "/eus_teleop/right/target_pose_stamped") + (send self :set-arm-val :larm :grasp-visualize-topic-name "/eus_teleop/left/hand_open_rate") + (send self :set-arm-val :rarm :grasp-visualize-topic-name "/eus_teleop/right/hand_open_rate") (send self :set-val 'tfl (instance ros::transform-listener :init)) self) @@ -192,42 +192,42 @@ (ros::advertise larm-grasp-visualize-topic-name std_msgs::Float32 1) (ros::advertise rarm-grasp-visualize-topic-name std_msgs::Float32 1) (ros::advertise robot-state-visualize-topic-name moveit_msgs::DisplayRobotState 1) - (ros::advertise eus-vive-status-topic-name eus_vive::EusViveStatusArray 1) - (ros::advertise-service eus-vive-reset-service-name std_srvs::Empty + (ros::advertise eus-teleop-status-topic-name eus_teleop::EusTeleopStatusArray 1) + (ros::advertise-service eus-teleop-reset-service-name std_srvs::Empty #'send self :reset-service) - (ros::advertise-service eus-vive-reset-larm-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-reset-larm-service-name std_srvs::Empty #'send self :reset-larm-service) - (ros::advertise-service eus-vive-reset-rarm-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-reset-rarm-service-name std_srvs::Empty #'send self :reset-rarm-service) - (ros::advertise-service eus-vive-enable-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-enable-service-name std_srvs::Empty #'send self :enable-service) - (ros::advertise-service eus-vive-enable-larm-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-enable-larm-service-name std_srvs::Empty #'send self :enable-larm-service) - (ros::advertise-service eus-vive-enable-rarm-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-enable-rarm-service-name std_srvs::Empty #'send self :enable-rarm-service) - (ros::advertise-service eus-vive-disable-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-disable-service-name std_srvs::Empty #'send self :disable-service) - (ros::advertise-service eus-vive-disable-larm-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-disable-larm-service-name std_srvs::Empty #'send self :disable-larm-service) - (ros::advertise-service eus-vive-disable-rarm-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-disable-rarm-service-name std_srvs::Empty #'send self :disable-rarm-service) - (ros::advertise-service eus-vive-calib-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-calib-service-name std_srvs::Empty #'send self :calib-service) - (ros::advertise-service eus-vive-calib-larm-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-calib-larm-service-name std_srvs::Empty #'send self :calib-larm-service) - (ros::advertise-service eus-vive-calib-rarm-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-calib-rarm-service-name std_srvs::Empty #'send self :calib-rarm-service) - (ros::advertise-service eus-vive-start-grasp-larm-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-start-grasp-larm-service-name std_srvs::Empty #'send self :start-grasp-larm-service) - (ros::advertise-service eus-vive-start-grasp-rarm-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-start-grasp-rarm-service-name std_srvs::Empty #'send self :start-grasp-rarm-service) - (ros::advertise-service eus-vive-stop-grasp-larm-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-stop-grasp-larm-service-name std_srvs::Empty #'send self :stop-grasp-larm-service) - (ros::advertise-service eus-vive-stop-grasp-rarm-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-stop-grasp-rarm-service-name std_srvs::Empty #'send self :stop-grasp-rarm-service) - (ros::advertise-service eus-vive-toggle-grasp-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-toggle-grasp-service-name std_srvs::Empty #'send self :toggle-grasp-service) - (ros::advertise-service eus-vive-hold-grasp-service-name std_srvs::Empty + (ros::advertise-service eus-teleop-hold-grasp-service-name std_srvs::Empty #'send self :hold-grasp-service) (ros::advertise irtviewer-visualize-topic-name sensor_msgs::Image 1) t) @@ -777,12 +777,12 @@ (send msg :pose :position (ros::pos->tf-translation pos)) (send msg :pose :orientation (ros::rot->tf-quaternion rot)) msg)) - (:generate-eus-vive-status-msg () - (let ((eus-vive-status-msg (instance eus_vive::EusViveStatusArray :init)) + (:generate-eus-teleop-status-msg () + (let ((eus-teleop-status-msg (instance eus_teleop::EusTeleopStatusArray :init)) (now (ros::time-now)) - (larm-status-msg (instance eus_vive::EusViveStatus :init)) - (rarm-status-msg (instance eus_vive::EusViveStatus :init))) - (send eus-vive-status-msg :header :stamp now) + (larm-status-msg (instance eus_teleop::EusTeleopStatus :init)) + (rarm-status-msg (instance eus_teleop::EusTeleopStatus :init))) + (send eus-teleop-status-msg :header :stamp now) (send larm-status-msg :header :stamp now) (send larm-status-msg :part_name (string-downcase :larm)) (send larm-status-msg :enable (send self :get-arm-val :larm :enable)) @@ -795,11 +795,11 @@ (send rarm-status-msg :collision (send self :get-arm-val :rarm :collision-p)) (send rarm-status-msg :track_error (send self :get-arm-val :rarm :track-error-p)) (send rarm-status-msg :hand_close (send self :get-arm-val :rarm :grasp)) - (send eus-vive-status-msg :status (list larm-status-msg rarm-status-msg)) - eus-vive-status-msg)) + (send eus-teleop-status-msg :status (list larm-status-msg rarm-status-msg)) + eus-teleop-status-msg)) (:visualize (arm-coords) (let ((camera-draw-object-list draw-object-list) - (eus-vive-status-msg (send self :generate-eus-vive-status-msg)) + (eus-teleop-status-msg (send self :generate-eus-teleop-status-msg)) larm-cube larm-coords rarm-cube rarm-coords) (setq larm-coords (car arm-coords)) (if larm-coords @@ -830,7 +830,7 @@ (ros::publish robot-state-visualize-topic-name (angle-vector-to-display-robot-state robot (send (send robot :link base-frame-id) :copy-worldcoords))) - (ros::publish eus-vive-status-topic-name eus-vive-status-msg) + (ros::publish eus-teleop-status-topic-name eus-teleop-status-msg) (ros::publish larm-grasp-visualize-topic-name (instance std_msgs::Float32 :init :data (if (send self :get-arm-val :larm :grasp) 0.0 1.0))) @@ -970,4 +970,4 @@ (return-from :get-head-ypr-angle nil))) -(provide :robot-vr-interface) +(provide :robot-teleop-interface) diff --git a/euslisp/lib/robot-vive-interface.l b/euslisp/lib/robot-vive-interface.l index 10dffe5d..868252ce 100644 --- a/euslisp/lib/robot-vive-interface.l +++ b/euslisp/lib/robot-vive-interface.l @@ -3,11 +3,11 @@ (ros::load-ros-manifest "sensor_msgs") (ros::load-ros-manifest "topic_tools") -(require :robot-vr-interface "package://eus_vive/euslisp/lib/robot-vr-interface.l") +(require :robot-teleop-interface "package://eus_teleop/euslisp/lib/robot-teleop-interface.l") (defclass robot-vive-interface - :super robot-vr-interface + :super robot-teleop-interface :slots (hmd-frame-id vrbase-device-id larm-controller-device-id @@ -58,15 +58,15 @@ (send self :set-val 'vrbase->shoulder-z nil) ;; for vive (send self :set-val 'hmd-frame-id "hmd") - (send self :set-val 'vrbase-device-id (ros::get-param "/eus_vive/b_lighthouse_id")) + (send self :set-val 'vrbase-device-id (ros::get-param "/eus_teleop/b_lighthouse_id")) (send self :set-arm-val :larm :controller-device-id - (ros::get-param "/eus_vive/l_controller_id")) + (ros::get-param "/eus_teleop/l_controller_id")) (send self :set-arm-val :rarm :controller-device-id - (ros::get-param "/eus_vive/r_controller_id")) + (ros::get-param "/eus_teleop/r_controller_id")) (send self :set-val 'feedback-topic-name "/vive/set_feedback") (if vrbase-device-id (send self :set-val 'vrbase-frame-id (format nil "lighthouse_LHB_~A" vrbase-device-id)) - (ros::ros-warn "param: /eus_vive/b_lighthouse_id is not set")))) + (ros::ros-warn "param: /eus_teleop/b_lighthouse_id is not set")))) (:ros-init () (prog1 (send-super :ros-init) @@ -78,7 +78,7 @@ (ros::subscribe (format nil "/vive/~A/joy" (send self :get-arm-val :larm :controller-frame-id)) sensor_msgs::Joy #'send self :controller-button-cb :larm)) - (ros::ros-warn "param: /eus_vive/l_controller_id is not set")) + (ros::ros-warn "param: /eus_teleop/l_controller_id is not set")) (if rarm-controller-device-id (progn (send self :set-arm-val :rarm :controller-frame-id @@ -86,7 +86,7 @@ (ros::subscribe (format nil "/vive/~A/joy" (send self :get-arm-val :rarm :controller-frame-id)) sensor_msgs::Joy #'send self :controller-button-cb :rarm)) - (ros::ros-warn "param: /eus_vive/r_controller_id is not set")))) + (ros::ros-warn "param: /eus_teleop/r_controller_id is not set")))) ;; redefine :reset-arm-val (:reset-arm-val (arm) (send-super :reset-arm-val arm) diff --git a/euslisp/pr2-vr-main.l b/euslisp/pr2-teleop-main.l similarity index 88% rename from euslisp/pr2-vr-main.l rename to euslisp/pr2-teleop-main.l index 307b641d..cadf0205 100755 --- a/euslisp/pr2-vr-main.l +++ b/euslisp/pr2-teleop-main.l @@ -1,9 +1,9 @@ #!/usr/bin/env roseus -(require :pr2-vive-interface "package://eus_vive/euslisp/lib/pr2-vive-interface.l") -(require :pr2-oculus-interface "package://eus_vive/euslisp/lib/pr2-oculus-interface.l") -(require :pr2-spacenav-interface "package://eus_vive/euslisp/lib/pr2-spacenav-interface.l") -(require :pr2-tablis-interface "package://eus_vive/euslisp/lib/pr2-tablis-interface.l") +(require :pr2-vive-interface "package://eus_teleop/euslisp/lib/pr2-vive-interface.l") +(require :pr2-oculus-interface "package://eus_teleop/euslisp/lib/pr2-oculus-interface.l") +(require :pr2-spacenav-interface "package://eus_teleop/euslisp/lib/pr2-spacenav-interface.l") +(require :pr2-tablis-interface "package://eus_teleop/euslisp/lib/pr2-tablis-interface.l") (defun vive-init (&key (loop-enable t)) @@ -43,7 +43,7 @@ (defun init (&key (loop-enable t) (device-type :vive)) - (ros::roseus "pr2_vr_main" :anonymous nil) + (ros::roseus "pr2_teleop_main" :anonymous nil) (cond ((eq device-type :vive) (vive-init :loop-enable loop-enable)) ((eq device-type :oculus) (oculus-init :loop-enable loop-enable)) diff --git a/fc.rosinstall b/fc.rosinstall index 5bdce827..0e18c0f6 100644 --- a/fc.rosinstall +++ b/fc.rosinstall @@ -19,8 +19,8 @@ # uri: https://github.com/jsk-ros-pkg/jsk_robot.git # version: master - git: - local-name: knorth55/eus_vive - uri: https://github.com/knorth55/eus_vive.git + local-name: knorth55/eus_teleop + uri: https://github.com/knorth55/eus_teleop.git version: master # need latest version - git: diff --git a/launch/baxter/baxter.launch b/launch/baxter/baxter.launch index e83d60db..025742ac 100644 --- a/launch/baxter/baxter.launch +++ b/launch/baxter/baxter.launch @@ -50,7 +50,7 @@ if="$(arg spherical_stereo)" /> @@ -103,7 +103,7 @@ args="0.05 0.05 0.1 -1.5 -0.6 0.0 head_camera $(arg camera_ns)_link 100" /> --> - + @@ -123,11 +123,11 @@ args="0 0 0 -1.57 0 -1.57 $(arg spherical_left_camera_ns)_link $(arg spherical_left_camera_ns)_optical_frame 100" /> - + - + - + - + @@ -151,30 +151,30 @@ args="0 0 0 0 0 1.57 $(arg spherical_camera_ns)_link $(arg spherical_camera_ns)_optical_frame 100" /> - + - + - + - - - + + max_width: $(arg xdisplay_max_width) @@ -183,7 +183,7 @@ - + diff --git a/launch/baxter/baxter.machine b/launch/baxter/baxter.machine index 45196a6c..9a26cbfd 100644 --- a/launch/baxter/baxter.machine +++ b/launch/baxter/baxter.machine @@ -1,4 +1,4 @@ - - + + diff --git a/launch/baxter/baxter_db_client.launch b/launch/baxter/baxter_db_client.launch index c0b29460..2ac8e862 100644 --- a/launch/baxter/baxter_db_client.launch +++ b/launch/baxter/baxter_db_client.launch @@ -69,21 +69,21 @@ - sound_play/SoundRequestActionGoal - - + update_rate: $(arg log_rate) - - + enable_monitor: $(arg enable_monitor) - monitor_topic: /eus_vive/status + monitor_topic: /eus_teleop/status vital_check: $(arg vital_check) diff --git a/launch/baxter/baxter_grasp_mask_rcnn.launch b/launch/baxter/baxter_grasp_mask_rcnn.launch index 0326ada1..2bd933a2 100644 --- a/launch/baxter/baxter_grasp_mask_rcnn.launch +++ b/launch/baxter/baxter_grasp_mask_rcnn.launch @@ -12,7 +12,7 @@ + default="$(find eus_teleop)/config/baxter/grasp_mask_rcnn_target_names.yaml" /> @@ -35,7 +35,7 @@ - + score_thresh: 0.5 grasp_thresh: 0.1 diff --git a/launch/baxter/baxter_logging.launch b/launch/baxter/baxter_logging.launch index abbeb2ac..a1f2ecd1 100644 --- a/launch/baxter/baxter_logging.launch +++ b/launch/baxter/baxter_logging.launch @@ -23,7 +23,7 @@ - + @@ -35,8 +35,8 @@ - - + + diff --git a/launch/baxter/baxter_realsense_torso.launch b/launch/baxter/baxter_realsense_torso.launch index 034f5a6a..27e75594 100644 --- a/launch/baxter/baxter_realsense_torso.launch +++ b/launch/baxter/baxter_realsense_torso.launch @@ -23,7 +23,7 @@ - + object_type: cube publish_tf: true @@ -34,7 +34,7 @@ - + @@ -54,7 +54,7 @@ - @@ -64,7 +64,7 @@ - diff --git a/launch/baxter/baxter_rosbag_play.launch b/launch/baxter/baxter_rosbag_play.launch index 88a5e2d2..c256e6ce 100644 --- a/launch/baxter/baxter_rosbag_play.launch +++ b/launch/baxter/baxter_rosbag_play.launch @@ -39,7 +39,7 @@ @@ -52,7 +52,7 @@ diff --git a/launch/baxter/baxter_rosbag_record.launch b/launch/baxter/baxter_rosbag_record.launch index 50875bf2..f963837a 100644 --- a/launch/baxter/baxter_rosbag_record.launch +++ b/launch/baxter/baxter_rosbag_record.launch @@ -19,7 +19,7 @@ /tf /tf_static /audio - /eus_vive/status + /eus_teleop/status /$(arg camera_ns)/color/image_rect_color/compressed /$(arg camera_ns)/color/camera_info /$(arg camera_ns)/depth/compressed/image_rect_raw/compressedDepth diff --git a/launch/baxter/baxter_tabletop_object_detector.launch b/launch/baxter/baxter_tabletop_object_detector.launch index 746d75c5..27aeb669 100644 --- a/launch/baxter/baxter_tabletop_object_detector.launch +++ b/launch/baxter/baxter_tabletop_object_detector.launch @@ -17,7 +17,7 @@ output="screen"> - config_file: $(find eus_vive)/config/baxter/workspace_transformable_markers_client.yaml + config_file: $(find eus_teleop)/config/baxter/workspace_transformable_markers_client.yaml config_auto_save: true interactive_mode: 2 # BUTTON diff --git a/launch/baxter/baxter_vr.launch b/launch/baxter/baxter_teleop.launch similarity index 87% rename from launch/baxter/baxter_vr.launch rename to launch/baxter/baxter_teleop.launch index 1d725354..61c006a9 100644 --- a/launch/baxter/baxter_vr.launch +++ b/launch/baxter/baxter_teleop.launch @@ -53,7 +53,7 @@ - + @@ -81,7 +81,7 @@ - + @@ -90,10 +90,10 @@ - + - - + + button_toggle: $(arg button_toggle) workspace: @@ -107,21 +107,21 @@ - - - - - + diff --git a/launch/baxter/baxter_vr_display.launch b/launch/baxter/baxter_teleop_display.launch similarity index 79% rename from launch/baxter/baxter_vr_display.launch rename to launch/baxter/baxter_teleop_display.launch index 26158b3e..2d12ca03 100644 --- a/launch/baxter/baxter_vr_display.launch +++ b/launch/baxter/baxter_teleop_display.launch @@ -8,7 +8,7 @@ - + @@ -45,12 +45,12 @@ - + - + - + @@ -114,7 +114,7 @@ - @@ -127,7 +127,7 @@ - @@ -144,7 +144,7 @@ - @@ -162,7 +162,7 @@ - @@ -185,56 +185,56 @@ - - + + - - + + - + - + - + - + - + + args="-d $(find eus_teleop)/rvizconfig/baxter/baxter_top_visualization.rviz" /> + args="-d $(find eus_teleop)/rvizconfig/baxter/baxter_front_visualization.rviz" /> - + diff --git a/launch/baxter/baxter_vr_gazebo.launch b/launch/baxter/baxter_teleop_gazebo.launch similarity index 93% rename from launch/baxter/baxter_vr_gazebo.launch rename to launch/baxter/baxter_teleop_gazebo.launch index cd8ad967..00209af7 100644 --- a/launch/baxter/baxter_vr_gazebo.launch +++ b/launch/baxter/baxter_teleop_gazebo.launch @@ -27,8 +27,8 @@ - - + + @@ -62,6 +62,6 @@ - + diff --git a/launch/baxter/baxter_visualization.launch b/launch/baxter/baxter_visualization.launch index 784cb3d9..1498ff3e 100644 --- a/launch/baxter/baxter_visualization.launch +++ b/launch/baxter/baxter_visualization.launch @@ -1,4 +1,4 @@ + args="-d $(find eus_teleop)/rvizconfig/baxter/baxter_visualization.rviz" respawn="true"/> diff --git a/launch/dragon/dragon_vr.launch b/launch/dragon/dragon_teleop.launch similarity index 78% rename from launch/dragon/dragon_vr.launch rename to launch/dragon/dragon_teleop.launch index f7898eed..e2f92b03 100644 --- a/launch/dragon/dragon_vr.launch +++ b/launch/dragon/dragon_teleop.launch @@ -20,8 +20,8 @@ - - + + button_toggle: $(arg button_toggle) workspace: @@ -35,15 +35,15 @@ - - - - diff --git a/launch/dragon/dragon_vr_gazebo.launch b/launch/dragon/dragon_teleop_gazebo.launch similarity index 91% rename from launch/dragon/dragon_vr_gazebo.launch rename to launch/dragon/dragon_teleop_gazebo.launch index 9111f3a2..ea36315e 100644 --- a/launch/dragon/dragon_vr_gazebo.launch +++ b/launch/dragon/dragon_teleop_gazebo.launch @@ -22,7 +22,7 @@ - + @@ -39,6 +39,6 @@ - + diff --git a/launch/include/kinfu.launch b/launch/include/kinfu.launch index ec427091..3744ed91 100644 --- a/launch/include/kinfu.launch +++ b/launch/include/kinfu.launch @@ -13,7 +13,7 @@ auto_reset: true integrate_color: true - save_dir: $(optenv HOME)/.ros/eus_vive/kinfu + save_dir: $(optenv HOME)/.ros/eus_teleop/kinfu volume_size: 6.0 diff --git a/launch/include/realsense_d435.launch b/launch/include/realsense_d435.launch index 829a6077..b802187d 100644 --- a/launch/include/realsense_d435.launch +++ b/launch/include/realsense_d435.launch @@ -7,7 +7,7 @@ - + diff --git a/launch/include/realsense_l515.launch b/launch/include/realsense_l515.launch index 305f0012..49336833 100644 --- a/launch/include/realsense_l515.launch +++ b/launch/include/realsense_l515.launch @@ -8,7 +8,7 @@ - + diff --git a/launch/include/rqt_gui.launch b/launch/include/rqt_gui.launch index 1f50fdbe..ce18fb7b 100644 --- a/launch/include/rqt_gui.launch +++ b/launch/include/rqt_gui.launch @@ -2,6 +2,6 @@ - + diff --git a/launch/jaxon/jaxon_vr.launch b/launch/jaxon/jaxon_teleop.launch similarity index 79% rename from launch/jaxon/jaxon_vr.launch rename to launch/jaxon/jaxon_teleop.launch index 50541e3a..84fb6762 100644 --- a/launch/jaxon/jaxon_vr.launch +++ b/launch/jaxon/jaxon_teleop.launch @@ -20,8 +20,8 @@ - - + + button_toggle: $(arg button_toggle) workspace: @@ -35,15 +35,15 @@ - - - - diff --git a/launch/jaxon/jaxon_vr_choreonoid.launch b/launch/jaxon/jaxon_teleop_choreonoid.launch similarity index 91% rename from launch/jaxon/jaxon_vr_choreonoid.launch rename to launch/jaxon/jaxon_teleop_choreonoid.launch index afdf232d..102c4e51 100644 --- a/launch/jaxon/jaxon_vr_choreonoid.launch +++ b/launch/jaxon/jaxon_teleop_choreonoid.launch @@ -22,7 +22,7 @@ - + @@ -39,6 +39,6 @@ - + diff --git a/launch/pr2/pr2_logging.launch b/launch/pr2/pr2_logging.launch index 16a2a41a..5dc1270a 100644 --- a/launch/pr2/pr2_logging.launch +++ b/launch/pr2/pr2_logging.launch @@ -11,13 +11,13 @@ diff --git a/launch/pr2/pr2_vr.launch b/launch/pr2/pr2_teleop.launch similarity index 86% rename from launch/pr2/pr2_vr.launch rename to launch/pr2/pr2_teleop.launch index 87ef3f3d..224b1c14 100644 --- a/launch/pr2/pr2_vr.launch +++ b/launch/pr2/pr2_teleop.launch @@ -65,7 +65,7 @@ - + @@ -74,10 +74,10 @@ - + - - + + button_toggle: $(arg button_toggle) workspace: @@ -91,21 +91,21 @@ - - - - - + @@ -121,14 +121,14 @@ - + - + diff --git a/launch/pr2/pr2_vr_display.launch b/launch/pr2/pr2_teleop_display.launch similarity index 85% rename from launch/pr2/pr2_vr_display.launch rename to launch/pr2/pr2_teleop_display.launch index 41133bec..6e5c0458 100644 --- a/launch/pr2/pr2_vr_display.launch +++ b/launch/pr2/pr2_teleop_display.launch @@ -38,7 +38,7 @@ pkg="jsk_rviz_plugins" type="rosconsole_overlay_text.py"> nodes: - - /pr2_vr_main + - /pr2_teleop_main exclude_regexes: - .*follow_joint_trajectory.* - .*:joint-angle.* @@ -49,12 +49,12 @@ - + - + - + - @@ -91,7 +91,7 @@ - @@ -110,11 +110,11 @@ + args="-d $(find eus_teleop)/rvizconfig/pr2/pr2_teleop_visualization_with_kinfu.rviz" respawn="true" /> + args="-d $(find eus_teleop)/rvizconfig/pr2/pr2_teleop_visualization.rviz" respawn="true" /> - + diff --git a/launch/pr2/pr2_vr_gazebo.launch b/launch/pr2/pr2_teleop_gazebo.launch similarity index 92% rename from launch/pr2/pr2_vr_gazebo.launch rename to launch/pr2/pr2_teleop_gazebo.launch index 13377ad2..1d692b71 100644 --- a/launch/pr2/pr2_vr_gazebo.launch +++ b/launch/pr2/pr2_teleop_gazebo.launch @@ -26,7 +26,7 @@ - + @@ -50,6 +50,6 @@ - + diff --git a/msg/EusViveStatus.msg b/msg/EusTeleopStatus.msg similarity index 100% rename from msg/EusViveStatus.msg rename to msg/EusTeleopStatus.msg diff --git a/msg/EusTeleopStatusArray.msg b/msg/EusTeleopStatusArray.msg new file mode 100644 index 00000000..cbb469bb --- /dev/null +++ b/msg/EusTeleopStatusArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +eus_teleop/EusTeleopStatus[] status diff --git a/msg/EusViveStatusArray.msg b/msg/EusViveStatusArray.msg deleted file mode 100644 index 46cab0a6..00000000 --- a/msg/EusViveStatusArray.msg +++ /dev/null @@ -1,2 +0,0 @@ -std_msgs/Header header -eus_vive/EusViveStatus[] status diff --git a/node_scripts/eus_vive_status_sounder.py b/node_scripts/eus_teleop_status_sounder.py similarity index 92% rename from node_scripts/eus_vive_status_sounder.py rename to node_scripts/eus_teleop_status_sounder.py index 9f4bafd4..9bd15cc2 100755 --- a/node_scripts/eus_vive_status_sounder.py +++ b/node_scripts/eus_teleop_status_sounder.py @@ -6,14 +6,14 @@ from jsk_topic_tools import ConnectionBasedTransport -from eus_vive.msg import EusViveStatusArray +from eus_teleop.msg import EusTeleopStatusArray from sound_play.msg import SoundRequest -class EusViveStatusSounder(ConnectionBasedTransport): +class EusTeleopStatusSounder(ConnectionBasedTransport): def __init__(self): - super(EusViveStatusSounder, self).__init__() + super(EusTeleopStatusSounder, self).__init__() self.pub = self.advertise('~output/sound', SoundRequest, queue_size=1) self.enable = {'larm': False, 'rarm': False} self.prev_enable = {'larm': None, 'rarm': None} @@ -26,7 +26,7 @@ def __init__(self): def subscribe(self): self.status_sub = rospy.Subscriber( - '~input/status', EusViveStatusArray, self._status_cb) + '~input/status', EusTeleopStatusArray, self._status_cb) def unsubscribe(self): self.status_sub.unregister() @@ -84,7 +84,7 @@ def _timer_cb(self, event): sound_msg.command = SoundRequest.PLAY_ONCE sound_msg.volume = 0.6 sound_msg.arg = os.path.join( - self.rospack.get_path('eus_vive'), 'sounds/start.wav') + self.rospack.get_path('eus_teleop'), 'sounds/start.wav') self.pub.publish(sound_msg) rospy.sleep(1.0) warning_msg = SoundRequest() @@ -104,7 +104,7 @@ def _timer_cb(self, event): sound_msg.command = SoundRequest.PLAY_ONCE sound_msg.volume = 0.6 sound_msg.arg = os.path.join( - self.rospack.get_path('eus_vive'), 'sounds/stop.wav') + self.rospack.get_path('eus_teleop'), 'sounds/stop.wav') self.pub.publish(sound_msg) rospy.sleep(1.0) warning_msg = SoundRequest() @@ -125,7 +125,7 @@ def _timer_cb(self, event): sound_msg.command = SoundRequest.PLAY_ONCE sound_msg.volume = 0.6 sound_msg.arg = os.path.join( - self.rospack.get_path('eus_vive'), 'sounds/gripper.wav') + self.rospack.get_path('eus_teleop'), 'sounds/gripper.wav') self.pub.publish(sound_msg) rospy.sleep(1.0) warning_msg = SoundRequest() @@ -147,7 +147,7 @@ def _timer_cb(self, event): sound_msg.command = SoundRequest.PLAY_ONCE sound_msg.volume = 0.6 sound_msg.arg = os.path.join( - self.rospack.get_path('eus_vive'), 'sounds/gripper.wav') + self.rospack.get_path('eus_teleop'), 'sounds/gripper.wav') self.pub.publish(sound_msg) rospy.sleep(1.0) warning_msg = SoundRequest() @@ -169,7 +169,7 @@ def _timer_cb(self, event): sound_msg.command = SoundRequest.PLAY_ONCE sound_msg.volume = 0.6 sound_msg.arg = os.path.join( - self.rospack.get_path('eus_vive'), 'sounds/alert.wav') + self.rospack.get_path('eus_teleop'), 'sounds/alert.wav') self.pub.publish(sound_msg) rospy.sleep(1.0) warning_msg = SoundRequest() @@ -190,7 +190,7 @@ def _timer_cb(self, event): sound_msg.command = SoundRequest.PLAY_ONCE sound_msg.volume = 0.6 sound_msg.arg = os.path.join( - self.rospack.get_path('eus_vive'), 'sounds/warn.wav') + self.rospack.get_path('eus_teleop'), 'sounds/warn.wav') self.pub.publish(sound_msg) rospy.sleep(1.0) warning_msg = SoundRequest() @@ -223,6 +223,6 @@ def _status_cb(self, msg): if __name__ == '__main__': - rospy.init_node('eus_vive_status_sounder') - app = EusViveStatusSounder() + rospy.init_node('eus_teleop_status_sounder') + app = EusTeleopStatusSounder() rospy.spin() diff --git a/node_scripts/eus_vive_status_visualizer.py b/node_scripts/eus_teleop_status_visualizer.py similarity index 88% rename from node_scripts/eus_vive_status_visualizer.py rename to node_scripts/eus_teleop_status_visualizer.py index 5344b3a8..0bae3536 100755 --- a/node_scripts/eus_vive_status_visualizer.py +++ b/node_scripts/eus_teleop_status_visualizer.py @@ -6,14 +6,14 @@ from jsk_topic_tools import ConnectionBasedTransport import rospy -from eus_vive.msg import EusViveStatusArray +from eus_teleop.msg import EusTeleopStatusArray from sensor_msgs.msg import Image -class EusViveStatusVisualizer(ConnectionBasedTransport): +class EusTeleopStatusVisualizer(ConnectionBasedTransport): def __init__(self): - super(EusViveStatusVisualizer, self).__init__() + super(EusTeleopStatusVisualizer, self).__init__() self.pub = self.advertise('~output/image', Image, queue_size=1) self.enable = {'larm': False, 'rarm': False} self.collision = {'larm': False, 'rarm': False} @@ -24,7 +24,7 @@ def __init__(self): def subscribe(self): self.sub = rospy.Subscriber('~input/image', Image, self._cb) self.status_sub = rospy.Subscriber( - '~input/status', EusViveStatusArray, self._status_cb) + '~input/status', EusTeleopStatusArray, self._status_cb) def unsubscribe(self): self.sub.unregister() @@ -74,6 +74,6 @@ def _status_cb(self, msg): if __name__ == '__main__': - rospy.init_node('eus_vive_status_visualizer') - app = EusViveStatusVisualizer() + rospy.init_node('eus_teleop_status_visualizer') + app = EusTeleopStatusVisualizer() rospy.spin() diff --git a/package.xml b/package.xml index 03b69603..42db257f 100644 --- a/package.xml +++ b/package.xml @@ -1,8 +1,8 @@ - eus_vive + eus_teleop 0.0.9 - The eus_vive package + The eus_teleop package Shingo Kitagawa Shingo Kitagawa diff --git a/resource/gripper_button.perspective b/resource/gripper_button.perspective index 6911345c..194769b6 100644 --- a/resource/gripper_button.perspective +++ b/resource/gripper_button.perspective @@ -33,7 +33,7 @@ "keys": { "layout_param": { "type": "repr", - "repr": "u'package://eus_vive/resource/gripper_button_layout.yaml'" + "repr": "u'package://eus_teleop/resource/gripper_button_layout.yaml'" } }, "groups": {} diff --git a/resource/gripper_button_layout.yaml b/resource/gripper_button_layout.yaml index 91267d8c..199331e2 100644 --- a/resource/gripper_button_layout.yaml +++ b/resource/gripper_button_layout.yaml @@ -1,36 +1,36 @@ - name: 'Reset larm' - service: '/eus_vive/larm/reset' + service: '/eus_teleop/larm/reset' column: 0 - name: 'Reset rarm' - service: '/eus_vive/rarm/reset' + service: '/eus_teleop/rarm/reset' column: 0 - name: 'Enable larm' - service: '/eus_vive/larm/enable' + service: '/eus_teleop/larm/enable' column: 1 - name: 'Enable rarm' - service: '/eus_vive/rarm/enable' + service: '/eus_teleop/rarm/enable' column: 1 - name: 'Disable larm' - service: '/eus_vive/larm/disable' + service: '/eus_teleop/larm/disable' column: 2 - name: 'Disable rarm' - service: '/eus_vive/rarm/disable' + service: '/eus_teleop/rarm/disable' column: 2 - name: 'Start grasp lgripper' - service: '/eus_vive/larm/start_grasp' + service: '/eus_teleop/larm/start_grasp' column: 3 - name: 'Start grasp rgripper' - service: '/eus_vive/rarm/start_grasp' + service: '/eus_teleop/rarm/start_grasp' column: 3 - name: 'Stop grasp lgripper' - service: '/eus_vive/larm/stop_grasp' + service: '/eus_teleop/larm/stop_grasp' column: 4 - name: 'Stop grasp rgripper' - service: '/eus_vive/rarm/stop_grasp' + service: '/eus_teleop/rarm/stop_grasp' column: 4 - name: 'Toggle grasp mode' - service: '/eus_vive/toggle_grasp' + service: '/eus_teleop/toggle_grasp' column: 5 - name: 'Hold grasp mode' - service: '/eus_vive/hold_grasp' + service: '/eus_teleop/hold_grasp' column: 5 diff --git a/resource/remote_tabbed_layout.yaml b/resource/remote_tabbed_layout.yaml index 131982a6..d7528102 100644 --- a/resource/remote_tabbed_layout.yaml +++ b/resource/remote_tabbed_layout.yaml @@ -4,9 +4,9 @@ tabbed_layout: name: 'Reset' namespace: push type: push - yaml_file: 'package://eus_vive/resource/reset_button_layout.yaml' + yaml_file: 'package://eus_teleop/resource/reset_button_layout.yaml' gripper: name: 'Gripper' namespace: push type: push - yaml_file: 'package://eus_vive/resource/gripper_button_layout.yaml' + yaml_file: 'package://eus_teleop/resource/gripper_button_layout.yaml' diff --git a/resource/reset_button.perspective b/resource/reset_button.perspective index 5d26e4c8..50fbae68 100644 --- a/resource/reset_button.perspective +++ b/resource/reset_button.perspective @@ -33,7 +33,7 @@ "keys": { "layout_param": { "type": "repr", - "repr": "u'package://eus_vive/resource/reset_button_layout.yaml'" + "repr": "u'package://eus_teleop/resource/reset_button_layout.yaml'" } }, "groups": {} diff --git a/resource/reset_button_layout.yaml b/resource/reset_button_layout.yaml index f2a4fe27..93f55fe1 100644 --- a/resource/reset_button_layout.yaml +++ b/resource/reset_button_layout.yaml @@ -1,15 +1,15 @@ - name: 'Reset' - service: '/eus_vive/reset' + service: '/eus_teleop/reset' column: 0 - name: 'Enable' - service: '/eus_vive/enable' + service: '/eus_teleop/enable' column: 1 - name: 'Disable' - service: '/eus_vive/disable' + service: '/eus_teleop/disable' column: 2 - name: 'Calibrate larm' - service: '/eus_vive/larm/calibrate' + service: '/eus_teleop/larm/calibrate' column: 3 - name: 'Calibrate rarm' - service: '/eus_vive/rarm/calibrate' + service: '/eus_teleop/rarm/calibrate' column: 4 diff --git a/rvizconfig/baxter/baxter_front_visualization.rviz b/rvizconfig/baxter/baxter_front_visualization.rviz index 87d60b1d..bb0d1372 100644 --- a/rvizconfig/baxter/baxter_front_visualization.rviz +++ b/rvizconfig/baxter/baxter_front_visualization.rviz @@ -558,7 +558,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/left/target_pose_stamped + Topic: /eus_teleop/left/target_pose_stamped Unreliable: false Value: true - Alpha: 1 @@ -573,7 +573,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/right/target_pose_stamped + Topic: /eus_teleop/right/target_pose_stamped Unreliable: false Value: true - Align Bottom: false diff --git a/rvizconfig/baxter/baxter_vr_display_visualization.rviz b/rvizconfig/baxter/baxter_teleop_display_visualization.rviz similarity index 98% rename from rvizconfig/baxter/baxter_vr_display_visualization.rviz rename to rvizconfig/baxter/baxter_teleop_display_visualization.rviz index c7f50857..709171db 100644 --- a/rvizconfig/baxter/baxter_vr_display_visualization.rviz +++ b/rvizconfig/baxter/baxter_teleop_display_visualization.rviz @@ -179,7 +179,7 @@ Visualization Manager: - Class: jsk_rviz_plugin/PieChart Enabled: true Name: LeftHand - Topic: /eus_vive/left/hand_open_rate + Topic: /eus_teleop/left/hand_open_rate Value: true auto color change: true background color: 0; 0; 0 @@ -199,7 +199,7 @@ Visualization Manager: - Class: jsk_rviz_plugin/PieChart Enabled: true Name: RightHand - Topic: /eus_vive/right/hand_open_rate + Topic: /eus_teleop/right/hand_open_rate Value: true auto color change: true background color: 0; 0; 0 @@ -246,7 +246,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/left/target_pose_stamped + Topic: /eus_teleop/left/target_pose_stamped Unreliable: false Value: false - Alpha: 1 @@ -261,7 +261,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/right/target_pose_stamped + Topic: /eus_teleop/right/target_pose_stamped Unreliable: false Value: false - Alpha: 0.5 diff --git a/rvizconfig/baxter/baxter_vr_hmd_left_visualization.rviz b/rvizconfig/baxter/baxter_teleop_hmd_left_visualization.rviz similarity index 99% rename from rvizconfig/baxter/baxter_vr_hmd_left_visualization.rviz rename to rvizconfig/baxter/baxter_teleop_hmd_left_visualization.rviz index 9644acf3..18d25e2f 100644 --- a/rvizconfig/baxter/baxter_vr_hmd_left_visualization.rviz +++ b/rvizconfig/baxter/baxter_teleop_hmd_left_visualization.rviz @@ -423,7 +423,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/left/target_pose_stamped + Topic: /eus_teleop/left/target_pose_stamped Unreliable: false Value: true - Alpha: 1 @@ -438,7 +438,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/right/target_pose_stamped + Topic: /eus_teleop/right/target_pose_stamped Unreliable: false Value: true - Alpha: 0.5 diff --git a/rvizconfig/baxter/baxter_vr_hmd_right_visualization.rviz b/rvizconfig/baxter/baxter_teleop_hmd_right_visualization.rviz similarity index 99% rename from rvizconfig/baxter/baxter_vr_hmd_right_visualization.rviz rename to rvizconfig/baxter/baxter_teleop_hmd_right_visualization.rviz index 80c91fcb..ffa99cf5 100644 --- a/rvizconfig/baxter/baxter_vr_hmd_right_visualization.rviz +++ b/rvizconfig/baxter/baxter_teleop_hmd_right_visualization.rviz @@ -652,7 +652,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/left/target_pose_stamped + Topic: /eus_teleop/left/target_pose_stamped Unreliable: false Value: true - Alpha: 1 @@ -667,7 +667,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/right/target_pose_stamped + Topic: /eus_teleop/right/target_pose_stamped Unreliable: false Value: true - Alpha: 0.5 diff --git a/rvizconfig/baxter/baxter_vr_hmd_visualization.rviz b/rvizconfig/baxter/baxter_teleop_hmd_visualization.rviz similarity index 99% rename from rvizconfig/baxter/baxter_vr_hmd_visualization.rviz rename to rvizconfig/baxter/baxter_teleop_hmd_visualization.rviz index 90d753d9..f313000f 100644 --- a/rvizconfig/baxter/baxter_vr_hmd_visualization.rviz +++ b/rvizconfig/baxter/baxter_teleop_hmd_visualization.rviz @@ -651,7 +651,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/left/target_pose_stamped + Topic: /eus_teleop/left/target_pose_stamped Unreliable: false Value: true - Alpha: 1 @@ -666,7 +666,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/right/target_pose_stamped + Topic: /eus_teleop/right/target_pose_stamped Unreliable: false Value: true - Alpha: 0.5 diff --git a/rvizconfig/baxter/baxter_vr_mirror_visualization.rviz b/rvizconfig/baxter/baxter_teleop_mirror_visualization.rviz similarity index 99% rename from rvizconfig/baxter/baxter_vr_mirror_visualization.rviz rename to rvizconfig/baxter/baxter_teleop_mirror_visualization.rviz index b2abc634..62f738c1 100644 --- a/rvizconfig/baxter/baxter_vr_mirror_visualization.rviz +++ b/rvizconfig/baxter/baxter_teleop_mirror_visualization.rviz @@ -352,7 +352,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/left/target_pose_stamped + Topic: /eus_teleop/left/target_pose_stamped Unreliable: false Value: true - Alpha: 1 @@ -367,7 +367,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/right/target_pose_stamped + Topic: /eus_teleop/right/target_pose_stamped Unreliable: false Value: true - Attached Body Color: 150; 50; 150 diff --git a/rvizconfig/baxter/baxter_vr_remote_display_visualization.rviz b/rvizconfig/baxter/baxter_teleop_remote_display_visualization.rviz similarity index 98% rename from rvizconfig/baxter/baxter_vr_remote_display_visualization.rviz rename to rvizconfig/baxter/baxter_teleop_remote_display_visualization.rviz index ebe02aba..6e58d67b 100644 --- a/rvizconfig/baxter/baxter_vr_remote_display_visualization.rviz +++ b/rvizconfig/baxter/baxter_teleop_remote_display_visualization.rviz @@ -219,7 +219,7 @@ Visualization Manager: - Class: jsk_rviz_plugin/PieChart Enabled: true Name: LeftHand - Topic: /eus_vive/left/hand_open_rate + Topic: /eus_teleop/left/hand_open_rate Value: true auto color change: true background color: 0; 0; 0 @@ -239,7 +239,7 @@ Visualization Manager: - Class: jsk_rviz_plugin/PieChart Enabled: true Name: RightHand - Topic: /eus_vive/right/hand_open_rate + Topic: /eus_teleop/right/hand_open_rate Value: true auto color change: true background color: 0; 0; 0 @@ -286,7 +286,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/left/target_pose_stamped + Topic: /eus_teleop/left/target_pose_stamped Unreliable: false Value: false - Alpha: 1 @@ -301,7 +301,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/right/target_pose_stamped + Topic: /eus_teleop/right/target_pose_stamped Unreliable: false Value: false - Alpha: 0.5 diff --git a/rvizconfig/baxter/baxter_vr_remote_hmd_left_visualization.rviz b/rvizconfig/baxter/baxter_teleop_remote_hmd_left_visualization.rviz similarity index 99% rename from rvizconfig/baxter/baxter_vr_remote_hmd_left_visualization.rviz rename to rvizconfig/baxter/baxter_teleop_remote_hmd_left_visualization.rviz index 4b2913f7..adb8b162 100644 --- a/rvizconfig/baxter/baxter_vr_remote_hmd_left_visualization.rviz +++ b/rvizconfig/baxter/baxter_teleop_remote_hmd_left_visualization.rviz @@ -423,7 +423,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/left/target_pose_stamped + Topic: /eus_teleop/left/target_pose_stamped Unreliable: false Value: true - Alpha: 1 @@ -438,7 +438,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/right/target_pose_stamped + Topic: /eus_teleop/right/target_pose_stamped Unreliable: false Value: true - Alpha: 0.5 diff --git a/rvizconfig/baxter/baxter_vr_remote_hmd_right_visualization.rviz b/rvizconfig/baxter/baxter_teleop_remote_hmd_right_visualization.rviz similarity index 99% rename from rvizconfig/baxter/baxter_vr_remote_hmd_right_visualization.rviz rename to rvizconfig/baxter/baxter_teleop_remote_hmd_right_visualization.rviz index b4d55851..9d08b038 100644 --- a/rvizconfig/baxter/baxter_vr_remote_hmd_right_visualization.rviz +++ b/rvizconfig/baxter/baxter_teleop_remote_hmd_right_visualization.rviz @@ -652,7 +652,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/left/target_pose_stamped + Topic: /eus_teleop/left/target_pose_stamped Unreliable: false Value: true - Alpha: 1 @@ -667,7 +667,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/right/target_pose_stamped + Topic: /eus_teleop/right/target_pose_stamped Unreliable: false Value: true - Alpha: 0.5 diff --git a/rvizconfig/baxter/baxter_vr_remote_hmd_visualization.rviz b/rvizconfig/baxter/baxter_teleop_remote_hmd_visualization.rviz similarity index 99% rename from rvizconfig/baxter/baxter_vr_remote_hmd_visualization.rviz rename to rvizconfig/baxter/baxter_teleop_remote_hmd_visualization.rviz index 5fa47d4f..b3408ca6 100644 --- a/rvizconfig/baxter/baxter_vr_remote_hmd_visualization.rviz +++ b/rvizconfig/baxter/baxter_teleop_remote_hmd_visualization.rviz @@ -651,7 +651,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/left/target_pose_stamped + Topic: /eus_teleop/left/target_pose_stamped Unreliable: false Value: true - Alpha: 1 @@ -666,7 +666,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/right/target_pose_stamped + Topic: /eus_teleop/right/target_pose_stamped Unreliable: false Value: true - Alpha: 0.5 diff --git a/rvizconfig/baxter/baxter_top_visualization.rviz b/rvizconfig/baxter/baxter_top_visualization.rviz index 3687fbf2..e3d85b34 100644 --- a/rvizconfig/baxter/baxter_top_visualization.rviz +++ b/rvizconfig/baxter/baxter_top_visualization.rviz @@ -569,7 +569,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/left/target_pose_stamped + Topic: /eus_teleop/left/target_pose_stamped Unreliable: false Value: true - Alpha: 1 @@ -584,7 +584,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/right/target_pose_stamped + Topic: /eus_teleop/right/target_pose_stamped Unreliable: false Value: true - Align Bottom: false diff --git a/rvizconfig/baxter/baxter_visualization.rviz b/rvizconfig/baxter/baxter_visualization.rviz index f658ff7e..4c175aba 100644 --- a/rvizconfig/baxter/baxter_visualization.rviz +++ b/rvizconfig/baxter/baxter_visualization.rviz @@ -557,7 +557,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/left/target_pose_stamped + Topic: /eus_teleop/left/target_pose_stamped Unreliable: false Value: true - Alpha: 1 @@ -572,7 +572,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/right/target_pose_stamped + Topic: /eus_teleop/right/target_pose_stamped Unreliable: false Value: true - Align Bottom: false diff --git a/rvizconfig/pr2/pr2_vr_visualization.rviz b/rvizconfig/pr2/pr2_teleop_visualization.rviz similarity index 99% rename from rvizconfig/pr2/pr2_vr_visualization.rviz rename to rvizconfig/pr2/pr2_teleop_visualization.rviz index a89a7f1d..d777f03b 100644 --- a/rvizconfig/pr2/pr2_vr_visualization.rviz +++ b/rvizconfig/pr2/pr2_teleop_visualization.rviz @@ -820,7 +820,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/left/target_pose_stamped + Topic: /eus_teleop/left/target_pose_stamped Unreliable: false Value: true - Alpha: 1 @@ -835,7 +835,7 @@ Visualization Manager: Shaft Length: 0.10000000149011612 Shaft Radius: 0.05000000074505806 Shape: Axes - Topic: /eus_vive/right/target_pose_stamped + Topic: /eus_teleop/right/target_pose_stamped Unreliable: false Value: true - Background Color: 255; 255; 255 diff --git a/rvizconfig/pr2/pr2_vr_visualization_with_kinfu.rviz b/rvizconfig/pr2/pr2_teleop_visualization_with_kinfu.rviz similarity index 99% rename from rvizconfig/pr2/pr2_vr_visualization_with_kinfu.rviz rename to rvizconfig/pr2/pr2_teleop_visualization_with_kinfu.rviz index 93a4362e..8bb9404e 100644 --- a/rvizconfig/pr2/pr2_vr_visualization_with_kinfu.rviz +++ b/rvizconfig/pr2/pr2_teleop_visualization_with_kinfu.rviz @@ -544,7 +544,7 @@ Visualization Manager: Shaft Length: 0.100000001 Shaft Radius: 0.0500000007 Shape: Axes - Topic: /eus_vive/left/target_pose_stamped + Topic: /eus_teleop/left/target_pose_stamped Unreliable: false Value: true - Alpha: 1 @@ -559,7 +559,7 @@ Visualization Manager: Shaft Length: 0.100000001 Shaft Radius: 0.0500000007 Shape: Axes - Topic: /eus_vive/right/target_pose_stamped + Topic: /eus_teleop/right/target_pose_stamped Unreliable: false Value: true - Background Color: 255; 255; 255 diff --git a/sample/common/baxter_display_remote.launch b/sample/common/baxter_display_remote.launch index a9413479..781b8555 100644 --- a/sample/common/baxter_display_remote.launch +++ b/sample/common/baxter_display_remote.launch @@ -13,7 +13,7 @@ - + diff --git a/sample/common/baxter_moveit_remote.launch b/sample/common/baxter_moveit_remote.launch index 7052b8f8..36ce3cce 100644 --- a/sample/common/baxter_moveit_remote.launch +++ b/sample/common/baxter_moveit_remote.launch @@ -28,7 +28,7 @@ - + @@ -56,6 +56,6 @@ + args="-d $(find eus_teleop)/rvizconfig/baxter/baxter_moveit.rviz"/> diff --git a/sample/common/baxter_remote.launch b/sample/common/baxter_remote.launch index 5903a2fc..8825fd3f 100644 --- a/sample/common/baxter_remote.launch +++ b/sample/common/baxter_remote.launch @@ -25,7 +25,7 @@ - + diff --git a/sample/oculus/baxter/baxter_oculus.launch b/sample/oculus/baxter/baxter_oculus.launch index dfd1aa08..671ac71f 100644 --- a/sample/oculus/baxter/baxter_oculus.launch +++ b/sample/oculus/baxter/baxter_oculus.launch @@ -10,7 +10,7 @@ - + diff --git a/sample/oculus/baxter/baxter_oculus_gazebo.launch b/sample/oculus/baxter/baxter_oculus_gazebo.launch index ec9db113..90dbc9c4 100644 --- a/sample/oculus/baxter/baxter_oculus_gazebo.launch +++ b/sample/oculus/baxter/baxter_oculus_gazebo.launch @@ -3,7 +3,7 @@ - + diff --git a/sample/oculus/pr2/pr2_oculus.launch b/sample/oculus/pr2/pr2_oculus.launch index 7c73b655..399c3165 100644 --- a/sample/oculus/pr2/pr2_oculus.launch +++ b/sample/oculus/pr2/pr2_oculus.launch @@ -4,7 +4,7 @@ - + diff --git a/sample/oculus/pr2/pr2_oculus_gazebo.launch b/sample/oculus/pr2/pr2_oculus_gazebo.launch index cedb9241..3c3aa2b4 100644 --- a/sample/oculus/pr2/pr2_oculus_gazebo.launch +++ b/sample/oculus/pr2/pr2_oculus_gazebo.launch @@ -3,7 +3,7 @@ - + diff --git a/sample/other/baxter/baxter_moveit.launch b/sample/other/baxter/baxter_moveit.launch index 13e95515..362037ff 100644 --- a/sample/other/baxter/baxter_moveit.launch +++ b/sample/other/baxter/baxter_moveit.launch @@ -10,7 +10,7 @@ - + @@ -23,6 +23,6 @@ + args="-d $(find eus_teleop)/rvizconfig/baxter/baxter_moveit.rviz"/> diff --git a/sample/spacenav/baxter/baxter_spacenav.launch b/sample/spacenav/baxter/baxter_spacenav.launch index 3a7883da..5a479c17 100644 --- a/sample/spacenav/baxter/baxter_spacenav.launch +++ b/sample/spacenav/baxter/baxter_spacenav.launch @@ -12,7 +12,7 @@ - + diff --git a/sample/spacenav/baxter/baxter_spacenav_gazebo.launch b/sample/spacenav/baxter/baxter_spacenav_gazebo.launch index dbfd77a6..885c3337 100644 --- a/sample/spacenav/baxter/baxter_spacenav_gazebo.launch +++ b/sample/spacenav/baxter/baxter_spacenav_gazebo.launch @@ -3,7 +3,7 @@ - + diff --git a/sample/spacenav/dragon/dragon_spacenav.launch b/sample/spacenav/dragon/dragon_spacenav.launch index 751056dd..7f303cf3 100644 --- a/sample/spacenav/dragon/dragon_spacenav.launch +++ b/sample/spacenav/dragon/dragon_spacenav.launch @@ -3,7 +3,7 @@ - + diff --git a/sample/spacenav/dragon/dragon_spacenav_gazebo.launch b/sample/spacenav/dragon/dragon_spacenav_gazebo.launch index c2d630c9..f6071dbe 100644 --- a/sample/spacenav/dragon/dragon_spacenav_gazebo.launch +++ b/sample/spacenav/dragon/dragon_spacenav_gazebo.launch @@ -3,7 +3,7 @@ - + diff --git a/sample/spacenav/jaxon/jaxon_spacenav.launch b/sample/spacenav/jaxon/jaxon_spacenav.launch index 3e29dc97..5da4036d 100644 --- a/sample/spacenav/jaxon/jaxon_spacenav.launch +++ b/sample/spacenav/jaxon/jaxon_spacenav.launch @@ -3,7 +3,7 @@ - + diff --git a/sample/spacenav/jaxon/jaxon_spacenav_choreonoid.launch b/sample/spacenav/jaxon/jaxon_spacenav_choreonoid.launch index ea51f465..8b713e66 100644 --- a/sample/spacenav/jaxon/jaxon_spacenav_choreonoid.launch +++ b/sample/spacenav/jaxon/jaxon_spacenav_choreonoid.launch @@ -3,7 +3,7 @@ - + diff --git a/sample/spacenav/pr2/pr2_spacenav.launch b/sample/spacenav/pr2/pr2_spacenav.launch index 6f41bfc8..521a049d 100644 --- a/sample/spacenav/pr2/pr2_spacenav.launch +++ b/sample/spacenav/pr2/pr2_spacenav.launch @@ -5,7 +5,7 @@ - + diff --git a/sample/spacenav/pr2/pr2_spacenav_gazebo.launch b/sample/spacenav/pr2/pr2_spacenav_gazebo.launch index 4a06a856..f61442c0 100644 --- a/sample/spacenav/pr2/pr2_spacenav_gazebo.launch +++ b/sample/spacenav/pr2/pr2_spacenav_gazebo.launch @@ -4,7 +4,7 @@ - + diff --git a/sample/tablis/baxter/baxter_tablis.launch b/sample/tablis/baxter/baxter_tablis.launch index f73bc7fd..9ea9dfa8 100644 --- a/sample/tablis/baxter/baxter_tablis.launch +++ b/sample/tablis/baxter/baxter_tablis.launch @@ -13,7 +13,7 @@ - + @@ -41,7 +41,7 @@ - - + + diff --git a/sample/tablis/baxter/baxter_tablis_gazebo.launch b/sample/tablis/baxter/baxter_tablis_gazebo.launch index a127e1e9..ff500134 100644 --- a/sample/tablis/baxter/baxter_tablis_gazebo.launch +++ b/sample/tablis/baxter/baxter_tablis_gazebo.launch @@ -7,7 +7,7 @@ - + @@ -18,7 +18,7 @@ - - + + diff --git a/sample/tablis/baxter/baxter_tablis_remote.launch b/sample/tablis/baxter/baxter_tablis_remote.launch index ccee354b..6e95ef55 100644 --- a/sample/tablis/baxter/baxter_tablis_remote.launch +++ b/sample/tablis/baxter/baxter_tablis_remote.launch @@ -8,7 +8,7 @@ - + @@ -28,7 +28,7 @@ - - + + diff --git a/sample/tablis/jaxon/jaxon_tablis.launch b/sample/tablis/jaxon/jaxon_tablis.launch index 373fd25f..9eb134c9 100644 --- a/sample/tablis/jaxon/jaxon_tablis.launch +++ b/sample/tablis/jaxon/jaxon_tablis.launch @@ -2,7 +2,7 @@ - + diff --git a/sample/tablis/jaxon/jaxon_tablis_choreonoid.launch b/sample/tablis/jaxon/jaxon_tablis_choreonoid.launch index 7b8128f1..6353dd99 100644 --- a/sample/tablis/jaxon/jaxon_tablis_choreonoid.launch +++ b/sample/tablis/jaxon/jaxon_tablis_choreonoid.launch @@ -2,7 +2,7 @@ - + diff --git a/sample/tablis/pr2/pr2_tablis.launch b/sample/tablis/pr2/pr2_tablis.launch index a2320850..439df85b 100644 --- a/sample/tablis/pr2/pr2_tablis.launch +++ b/sample/tablis/pr2/pr2_tablis.launch @@ -8,7 +8,7 @@ - + @@ -22,7 +22,7 @@ - - + + diff --git a/sample/tablis/pr2/pr2_tablis_gazebo.launch b/sample/tablis/pr2/pr2_tablis_gazebo.launch index b6875227..e09bb4dc 100644 --- a/sample/tablis/pr2/pr2_tablis_gazebo.launch +++ b/sample/tablis/pr2/pr2_tablis_gazebo.launch @@ -7,7 +7,7 @@ - + @@ -18,7 +18,7 @@ - - + + diff --git a/sample/vive/baxter/baxter_vive.launch b/sample/vive/baxter/baxter_vive.launch index 5cecbbed..58d86e5d 100644 --- a/sample/vive/baxter/baxter_vive.launch +++ b/sample/vive/baxter/baxter_vive.launch @@ -13,7 +13,7 @@ - + @@ -40,7 +40,7 @@ - - + + diff --git a/sample/vive/baxter/baxter_vive_gazebo.launch b/sample/vive/baxter/baxter_vive_gazebo.launch index 5c61021d..f48f7748 100644 --- a/sample/vive/baxter/baxter_vive_gazebo.launch +++ b/sample/vive/baxter/baxter_vive_gazebo.launch @@ -7,7 +7,7 @@ - + @@ -17,7 +17,7 @@ - - + + diff --git a/sample/vive/baxter/baxter_vive_mirror.launch b/sample/vive/baxter/baxter_vive_mirror.launch index d363071c..ec3fab73 100644 --- a/sample/vive/baxter/baxter_vive_mirror.launch +++ b/sample/vive/baxter/baxter_vive_mirror.launch @@ -12,7 +12,7 @@ - + @@ -39,7 +39,7 @@ - - + + diff --git a/sample/vive/baxter/baxter_vive_remote.launch b/sample/vive/baxter/baxter_vive_remote.launch index eaf20100..f933191b 100644 --- a/sample/vive/baxter/baxter_vive_remote.launch +++ b/sample/vive/baxter/baxter_vive_remote.launch @@ -8,7 +8,7 @@ - + @@ -27,7 +27,7 @@ - - + + diff --git a/sample/vive/pr2/pr2_vive.launch b/sample/vive/pr2/pr2_vive.launch index ab5dbb0d..29a649d6 100644 --- a/sample/vive/pr2/pr2_vive.launch +++ b/sample/vive/pr2/pr2_vive.launch @@ -7,7 +7,7 @@ - + @@ -20,7 +20,7 @@ - - + + diff --git a/sample/vive/pr2/pr2_vive_gazebo.launch b/sample/vive/pr2/pr2_vive_gazebo.launch index 20096e22..a94a4370 100644 --- a/sample/vive/pr2/pr2_vive_gazebo.launch +++ b/sample/vive/pr2/pr2_vive_gazebo.launch @@ -5,7 +5,7 @@ - + @@ -15,7 +15,7 @@ - - + + diff --git a/scripts/env.sh b/scripts/env.sh index 51e66c92..0a22cc5e 100755 --- a/scripts/env.sh +++ b/scripts/env.sh @@ -4,7 +4,7 @@ if [ -e "$HOME/ros/baxter_ws/" ]; then source "$HOME/ros/baxter_ws/devel/setup.bash" fi -if [ -e "$HOME/ros/vive_ws/" ]; then - source "$HOME/ros/vive_ws/devel/setup.bash" +if [ -e "$HOME/ros/teleop_ws/" ]; then + source "$HOME/ros/teleop_ws/devel/setup.bash" fi exec "$@" diff --git a/scripts/jaxon/start-jaxon-eus-vive-sim.sh b/scripts/jaxon/start-jaxon-eus-teleop-sim.sh similarity index 71% rename from scripts/jaxon/start-jaxon-eus-vive-sim.sh rename to scripts/jaxon/start-jaxon-eus-teleop-sim.sh index 4f9db61e..59461830 100755 --- a/scripts/jaxon/start-jaxon-eus-vive-sim.sh +++ b/scripts/jaxon/start-jaxon-eus-teleop-sim.sh @@ -14,7 +14,7 @@ TABLIS_MASTER="rossetlocal 11312" JAXON_MASTER="rossetlocal" #JAXON_MASTER="rossetjaxon_red" -new-window connect_leader "${SOURCE_SCRIPT} && ${TABLIS_MASTER} && roslaunch eus_vive tablis_bridge_leader.launch filtered:=true" -new-window connect_follower "${SOURCE_SCRIPT} && ${JAXON_MASTER} && roslaunch eus_vive tablis_bridge_follower.launch" +new-window connect_leader "${SOURCE_SCRIPT} && ${TABLIS_MASTER} && roslaunch eus_teleop tablis_bridge_leader.launch filtered:=true" +new-window connect_follower "${SOURCE_SCRIPT} && ${JAXON_MASTER} && roslaunch eus_teleop tablis_bridge_follower.launch" new-window wbms "${SOURCE_SCRIPT} && ${JAXON_MASTER} && roslaunch biped_wbms_jaxon wbms.launch" -new-window eus_vive "${SOURCE_SCRIPT} && ${JAXON_MASTER} && roslaunch eus_vive jaxon_tablis_choreonoid.launch" +new-window eus_teleop "${SOURCE_SCRIPT} && ${JAXON_MASTER} && roslaunch eus_teleop jaxon_tablis_choreonoid.launch" diff --git a/scripts/tablis/start-bridge-sim.sh b/scripts/tablis/start-bridge-sim.sh index 136a7e9c..4678caaf 100755 --- a/scripts/tablis/start-bridge-sim.sh +++ b/scripts/tablis/start-bridge-sim.sh @@ -15,5 +15,5 @@ JAXON_MASTER="rossetlocal" #JAXON_MASTER="rossetjaxon_red" -new-window connect_leader "${SOURCE_SCRIPT} && ${TABLIS_MASTER} && roslaunch eus_vive tablis_bridge_leader.launch filtered:=false" -new-window connect_follower "${SOURCE_SCRIPT} && ${JAXON_MASTER} && roslaunch eus_vive tablis_bridge_follower.launch" +new-window connect_leader "${SOURCE_SCRIPT} && ${TABLIS_MASTER} && roslaunch eus_teleop tablis_bridge_leader.launch filtered:=false" +new-window connect_follower "${SOURCE_SCRIPT} && ${JAXON_MASTER} && roslaunch eus_teleop tablis_bridge_follower.launch" diff --git a/urdf/baxter.urdf.xacro b/urdf/baxter.urdf.xacro index 563e5695..7af11236 100644 --- a/urdf/baxter.urdf.xacro +++ b/urdf/baxter.urdf.xacro @@ -21,14 +21,14 @@ - + - +