Remove pal packages dependencies

[mikaelarguedas]

As discussed in https://github.com/ros-naoqi/nao_virtual/issues/17 these dependencies are not used anymore.

As the README doesnt specify to install the dependencies of these packages, users fail to build when following the README (see https://answers.ros.org/question/281671).

@nlyubova @suryaambrose FYI

[nlyubova]

Hi @mikaelarguedas , we need these dependencies! I have checked it more carefully last time and I’ve added installation back to Readme. Without dependencies it will not start.

[mikaelarguedas]

I have checked it more carefully last time and I’ve added installation back to Readme. Without dependencies it will not start.

Can you please provide more details? For example: what plugin from these packages is being used? What is the error message when if fails to start?

I just tried this again today in a brand new Ubuntu14.04 virtual machine and I could successfully launch the gazebo world with nao without these dependencies. As pointed out in #17 the only plugins we use in the nao model are the one provided by roboticsgroup_gazebo_plugins (disable_link_plugin and mimic_joint_plugin). Do you have instructions I can follow to reproduce your issue ?

Here is what I did to test it

sudo apt update && sudo apt upgrade -y sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 sudo apt-get update sudo apt install git ros-indigo-ros-base ros-indigo-nao-gazebo-plugin mkdir test_nao_ws cd test_nao_ws/ sudo apt-get install ros-indigo-nao-meshes mkdir src cd src/ git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.git cd .. . /opt/ros/indigo/setup.bash catkin_make_isolated source devel_isolated/setup.bash roslaunch nao_gazebo_plugin nao_gazebo_plugin_H25.launch

[nlyubova]

Last time I could compile without dependencies but I had problems when running. Either the robot was falling or did not walk, therefore I’ve realized that we need these dependencies.

In you case, without installing dependencies on your PC, try to start Nao and move fingers (as they are mimic joints) and try to walk (as legs have mimic joint) and if both work then it is fine for me to merge it

[mikaelarguedas]

In you case, without installing dependencies on your PC, try to start Nao and move fingers (as they are mimic joints) and try to walk (as legs have mimic joint) and if both work then it is fine for me to merge it

So you think the issue is related to mimic joints ?

try to start Nao and move fingers

I tried spawning the moveit configi and send commands to the fingers, that seems to work fine.

try to walk (as legs have mimic joint)

Can you point me to what packages/commands you use to make nao walk in simulation ?

[mikaelarguedas]

@nlyubova: Can you provide me the steps to follow to test the walking with this change? or is the fact that the hand controllers work enough to merge this?

[nlyubova]

@mikaelarguedas try to grub Nao with your mouse and drop at a new place. And press “start”.

[nlyubova]

Please do not merge until we test legs.

[mikaelarguedas]

try to grub Nao with your mouse and drop at a new place. And press “start”.

I moved nao to a new place in the world and created trajectories for the hand and the arm. It seems to behave as expected.

Please do not merge until we test legs.

Can you please provide instructions on how to do so ? Happy to help testing it

[nlyubova]

Did Nao walk to a new position?

[nlyubova]

@mikaelarguedas please be a maintainer of these packages?

[mikaelarguedas]

I'm happy to give a hand maintaining and fixing bugs when I find a minute. That is what I'm trying to do in this PR, by trying to fix the installation instructions that are currently broken for users.

Unfortunately I cannot help much without more information, can you tell me what I should do differently to be able to test this ? I'm still looking for instructions to help test the walking, can you give more context on how to test this ? I don't find any reference to walking in the readme of this package.

[OlalekanIsola]

Hi, i am trying to install the Nao_gazebo plugging on kinetic. i get errors while trying to catkin_make the gitclone downloaded on the computer. I followed this link https://github.com/ros-naoqi/nao_virtual/blob/master/nao_gazebo_plugin/README.rst

here is the error i got while installing