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jsk-ros-pkg / jsk_pr2eus

PR2 euslisp packages
https://github.com/jsk-ros-pkg/jsk_pr2eus
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[pr2eus_tutorials] fix pr2_tabletop.launch for remote PC #459

Closed shmpwk closed 3 years ago

shmpwk commented 3 years ago

This PR is intended to reduce the bandwidth. It compresses prosilica image, rgb image, depth image and point cloud in the pr2eus_tutorials.

shmpwk commented 3 years ago

Thank you for your advice! So like this? I'm not sure the grammer "unless" and "if".

708yamaguchi commented 3 years ago

Yes, nice. You can see the overview of if and unless attributes here. https://answers.ros.org/question/208696/conditional-remap/

I think we can use <group> tag for following lines.

<group if=$(arg remote)>
 ...
</group>

https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/459/files#diff-36099b04ef7b0fe95ec8ace80185317d01dfa265f637614eb64819bb0f7baa57R51-R66

As another point, I found that we may need to prepare pr2_tabletop.rviz and pr2_tabletop_remote.rviz because image and pointcloud names are different if we use remote arg.

shmpwk commented 3 years ago

Thank you for your comment. I add <group> tag and rviz for remote PC. I don't confirm it works until end of this week, sorry.

708yamaguchi commented 3 years ago

OK, at last, please update README.md and remove pr2_tabletop_remote.launch

shmpwk commented 3 years ago

OK done.

708yamaguchi commented 3 years ago

Could you also write your remote usage here?

If you try using compressed topic from the real PR2,
\```
# on local machine
roslaunch pr2eus_tutorials pr2_tabletop.launch remote:=true
\```

https://github.com/jsk-ros-pkg/jsk_pr2eus/tree/master/pr2eus_tutorials#using-a-real-robot

Then, I think this PR is perfect.

I will check this PR today.

shmpwk commented 3 years ago

Thank you for thorough review @708yamaguchi -san, I fixed code you mentioned. I will confirm it works with real PR2 this week end. Please wait for a while.

shmpwk commented 3 years ago

I confirmed it works with real PR2 both via ssh and on remote PC. Following the pr2eus_tutorials, I also confirmed that by clicking object on rviz or on image_view2, PR2 tries to pick up an object.

708yamaguchi commented 3 years ago

I left 1 comment, but this PR works nicely with ssh mode and remote mode.

Thank you for your work!

shmpwk commented 3 years ago

Again I confirmed it works with gazebo mode, ssh mode and remote mode.

shmpwk commented 3 years ago

Thank you for the thorough revise @knorth55. By https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/459/commits/812bf411b4e5212eaa9377ba11c440fec85fa1ca , args have first been classified in detail. I confirmed the revised program works well with gazebo mode, ssh mode and remote mode.