add single panda

[yuki-asano]

単腕のpandaを追加したものです。

[yuki-asano]

@pazeshun Thank you for your detail review at first. I'll check your comments.

[yuki-asano]

@pazeshun chould you approve changes?

[pazeshun]

@pazeshun chould you approve changes?

I should not approve until CI passes (https://github.com/jsk-ros-pkg/jsk_robot/pull/1208#issuecomment-1135488176). And currently, CI seems to fail due to apt server problem:

  + sudo apt-get install -y --force-yes -q -qq python-rosdep python-wstool python-catkin-tools
  W: --force-yes is deprecated, use one of the options starting with --allow instead.
  E: Package 'python-rosdep' has no installation candidate
  E: Package 'python-wstool' has no installation candidate
  E: Package 'python-catkin-tools' has no installation candidate

https://github.com/jsk-ros-pkg/jsk_robot/actions/runs/5150618620/jobs/9276407913?pr=1799 In this situation, we should wait for some time while sometimes restarting CI (too frequent restarting has a negative influence, though). I'll take care about CI, so please wait.

[yuki-asano]

OK. I missed the failed CI in the last. It is hidden and appears by scroling..

[pazeshun]

@k-okada Kindly ping

[k-okada]

@pazeshun sorry for being late,

However, we already have some demo codes depending on dual_panda's end-coords, so it is not easy to change it.

which demo uses this feature? I think we want to change the end coords near future(1-3 years), so how about add warning message to source code too,

(:end-coords (&rest args)
  (warning-message 2?3? (yeallow) "the endo coords of dual_pand is differnet from single panda and might be change in near future.)
  (send-super* :end-coords args))

in https://github.com/jsk-ros-pkg/jsk_robot/pull/1799/files#diff-da9673f8d3480112a7dbd60e430a179c2df50bf7f12437ae7419bd9777e0f357 if this is not so difficult.

[pazeshun]

which demo uses this feature?

For example, https://github.com/jsk-ros-pkg/jsk_demos/pull/1363/files#diff-e69875d71091c4531bb74bf07af5b703bc585828d41f8fea5aa8fbde9f4ef1e0R22. Also I used end-coords directly in my previous demo: https://gitlab.jsk.imi.i.u-tokyo.ac.jp/hasegawa/hasegawa_moonshot/-/blob/7b71edf5a7cb1c6ada46214f5aafb8d03f9d6cfa/hasegawa_moonshot/euslisp/lib/drilling-interface.l#L64-L66. Perhaps @haraduka may also use end-coords directly.

I think we want to change the end coords near future(1-3 years)

If you might allow this, then I think we should change end-coords right now, otherwise we will break too many demos because the number of demos will increase. But just now, we do not have enough time to test previous demos with the new end-coords. Do you OK to keep this PR open until testing finishes? Or should we just add a warning message and merge this PR? (But I'm afraid too many warning messages may be shown because :end-coords may be called everywhere. Also I may forget to fix end-coords...)

[yuki-asano]

I prefer to this if this is allowed.

Or should we just add a warning message and merge this PR?

[k-okada]

@pazeshun LGTM, as for https://github.com/yuki-asano/jsk_robot/pull/1#discussion_r1212576855, can we fix by https://github.com/jsk-ros-pkg/jsk_roseus/pull/746 ??

[pazeshun]

@k-okada Thank you, I confirmed https://github.com/jsk-ros-pkg/jsk_roseus/pull/746 fixes https://github.com/yuki-asano/jsk_robot/pull/1#discussion_r1212576855 even when :wait nil:

3.irteusgl$ send *ri* :get-start-grasp-result :rarm :wait nil
[ERROR] [1698643393.384314525]: [/franka_gripper/grasp] :get-result called without sending goal, returns null result
nil

Can we merge this PR as it is and consider https://github.com/jsk-ros-pkg/jsk_roseus/pull/746 as further improvement?

[yuki-asano]

Thank you!! @pazeshun @k-okada