[eusurdf] use package://eusurdf instead of model://

[furushchev]

to keep compatibility with ros system (ros node cannot resolve mesh path from model:// directive.)

[mmurooka]

Is this work in gazebo? As far as I remember, it does not.

[furushchev]

@mmurooka Yes, at least in indigo. 2017年1月9日(月) 20:36 Masaki Murooka notifications@github.com:

Is this work in gazebo? As far as I remember, it does not.

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[mmurooka]

I see. Should hydro be supported? If so, we need check.

If you use package:// instead of model://, https://github.com/jsk-ros-pkg/jsk_model_tools/blob/master/eusurdf/package.xml#L30-L31 is no longer necessary?

[furushchev]

@mmurooka

Should hydro be supported?

I think no one use gazebo in hydro...

https://github.com/jsk-ros-pkg/jsk_model_tools/blob/master/eusurdf/package.xml#L30-L31 is no longer necessary?

This is now not necessary for spawning model to gazebo from command line, but it will be necessary when we spawn models via gzclient.

[mmurooka]

spawn models via gzclient

Sorry, but cloud you explain detail? Do you mean GUI in Gazebo window?

And one more question, in my understanding, you have textured models in textured_model directory, and when include object model, first search in textured model and then (not textured) model. How do you do this with using package://?

[furushchev]

@mmurooka

Sorry, but cloud you explain detail? Do you mean GUI in Gazebo window?

Yes. GUI in Gazebo Window I mean.

And one more question, in my understanding, you have textured models in textured_model directory, and when include object model, first search in textured model and then (not textured) model. How do you do this with using package://?

I found the critical problem after reading this question. I misunderstand that gazebo in indigo supports package:// directive but it is converted to absolute path by gazebo_ros plugin and gazebo itself does not support this. (so spawning model files with world file always fails).

We now support spawning room model without world file (https://github.com/jsk-ros-pkg/jsk_model_tools/pull/193) though, it could be problem.

Just question: if you move to use launch file to spawn room model instead of world file, will it be easy?

[mmurooka]

Just question: if you move to use launch file to spawn room model instead of world file, will it be easy?

We need to modify some files under start-jsk/rtmros_gazebo and rtmros_tutorials

This is launch file for simulate HRP2 on gazebo: https://github.com/start-jsk/rtmros_tutorials/blob/master/hrpsys_gazebo_tutorials/launch/gazebo_hrp2jsk_no_controllers.launch https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_gazebo_general/launch/gazebo_robot_no_controllers.launch

It use world file as world and robot_description for robot. If world file is not supported, these files become not working.

[mmurooka]

Talking @furushchev offline, and I agree that using object urdf as marker in Rviz is useful, and replace model:// with package:// is necessary for that.

I'm happly if @furushchev updates HRP2/JAXON/SampleRobot gazebo environment to work with this PR.

[mmurooka]

I think no one use gazebo in hydro...

I don't use gazebo in hydro, and don't know other members who use gazebo in hydro. But you need to be careful about that. e.g. https://github.com/jsk-ros-pkg/jsk_pr2eus/issues/274#issuecomment-269140105

[furushchev]

@mmurooka Thank you for listing up possible problems and many insights. I now updated pull request. Points are:

• Let urdf / world files be without any change
• Replace model:// to package:// on conversion from URDF to xacro files
• Hence, if we spawn room model from launch file, we can resolve path, otherwise (from world file) not resolvable as before.
• Note that difference among ros distro is no more critical

@mmurooka Is this reasonable for you?

[mmurooka]

@mmurooka Is this reasonable for you?

Yes. If you check both of world-type and spawn-type is working, it is OK. (and please check world-type + HRP2 if you can)

[furushchev]

@mmurooka

roslaunch gazebo_ros empty_world.launch
roslaunch eusurdf gazebo_spawn_scene.launch scene:=room73b2

and

roslaunch gazebo_ros empty_world.launch world_name:= `rospack find eusurdf`/worlds/room73b2.world

Both are working fine.

Also

roslaunch hrpsys_gazebo_tutorials gazebo_hrp2jsknt_no_controllers.launch WORLD:=`rospack find eusurdf`/worlds/room73b2.world

successfully spawned robot and scene, but robot collides with door. Is this expected?

[mmurooka]

successfully spawned robot and scene, but robot collides with door. Is this expected?

Yes, it is expected, (and need to be fixed).

Now this PR is ok for me.

[k-okada]

Do you think we can drop hydro support on this repository???

2017年1月10日(火) 16:24 Masaki Murooka notifications@github.com:

successfully spawned robot and scene, but robot collides with door. Is this expected?

Yes, it is expected, (and need to be fixed).

Now this PR is ok for me.

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[mmurooka]

This repo contains some essential packages for robot model conversion and some robots still use hydro, so I think it is preferable to keep support for hydro if possible.

as @furushchev mentions in https://github.com/jsk-ros-pkg/jsk_model_tools/pull/195#issuecomment-271465974 , there is no difference between indigo and hydro as for object insertion to gazebo. So this package can keep both support for hydro and indigo after merge this PR.