Catkinize pr2_simulator

[ahendrix]

Catkinize pr2_simulator. Depends on catkinizing and releasing:

• [x] gazebo_ros_pkgs (formerly gazebo_tools and gazebo_worlds)
• [ ] opende/ode (may need to become a third-party package)

[frederikhegger]

Are there any updates on how far the catkinization process is?

[ahendrix]

Sorry; there is no progress and no plan for anyone inside of Willow Garage to work on this as far as I'm aware. (I no longer work for WG)

If you (or anyone else) are interested in working on it, I can review your pull requests or grant you push access to the repository.

You may also want to post on the pr2-users mailing list to get a discussion going about the status of PR2 on Hydro.

[hsu]

• Catkinized in hydro-devel branch,
• Need this pr in pr2_mechanism.
• After that, controllers appear to be working, pr2 starts controlled:

  roslaunching pr2_gazebo pr2_empty_world.launch
  

• projector transform is wrong, see issue in pr2_common, might need a fix in parser_urdf.cc where poseKey should be aggregated to _reductionTransform, something like below is needed:

diff -r 200288dae730 src/parser_urdf.cc
--- a/src/parser_urdf.cc    Sat Nov 16 00:44:08 2013 +0100
+++ b/src/parser_urdf.cc    Thu Nov 21 19:18:25 2013 -0800
@@ -2772,7 +2772,21 @@
     // read pose and save it

     // remove the tag for now
-    if (poseKey) (*_blobIt)->RemoveChild(poseKey);
+    sdf::Pose localTransform;
+    if (poseKey)
+    {
+      // create transform from existing pose
+      // \TODO: FIXME: fill below with values from poseKey
+      localTransform.pos = sdf::Vector3(0, 0, 0);
+      localTransform.rot = sdf::Quaternion(0, 0, 0);
+
+      // remove posse element
+      (*_blobIt)->RemoveChild(poseKey);
+    }
+
+    // update _reductionTransform with original pose element
+    // specified in projector
+    _reductionTransform = localTransform + _reductionTransform;

     // convert reductionTransform to values
     urdf::Vector3 reductionXyz(_reductionTransform.pos.x,

[ahendrix]

The only thing still blocking this is the projector transform problem

[TheDash]

Any updates on the projector transform?