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start-jsk / rtmros_gazebo

gazebo simulation for rtmros robots
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Enable samplebot sample on melodic #250

Closed Naoki-Hiraoka closed 4 years ago

Naoki-Hiraoka commented 4 years ago

This PR includes https://github.com/start-jsk/rtmros_gazebo/pull/246, https://github.com/start-jsk/rtmros_gazebo/pull/249. Samplerobot walked in melodic

The video is 10x fast because my PC (ThinkPad T440s) is not so fast and simulation is slow. video

Naoki-Hiraoka commented 4 years ago

TRAVIS PASSED!!!

Naoki-Hiraoka commented 4 years ago

Could you also test this on kinetic?

I have tested this PR on my kinetic PC now. SampleRobot sample successfully worked.

Naoki-Hiraoka commented 4 years ago

@pazeshun @k-okada It was reported that this PR worked without problems in a b4 environment. I would like to merge this PR and https://github.com/start-jsk/rtmros_gazebo/pull/251. Is there something I need to fix?

(After this PR is merged, we will be able to test start-jsk/rtmros_tutorials and then test start-jsk/rtmros_hrp2 start-jsk/rtmros_choreonoid for melodic)

pazeshun commented 4 years ago

@Naoki-Hiraoka @k-okada We stopped at https://github.com/start-jsk/rtmros_gazebo/pull/250#discussion_r407815805

knorth55 commented 4 years ago

I checked with my melodic robot, and it successfully walked!

Naoki-Hiraoka commented 4 years ago

On melodic, /opt/ros/melodic/share/hrpsys/srcis not installed with ros-melodic-hrpsys, so hrpsys_gazebo_general/iob needs to be built with hrpsys source.

k-okada commented 4 years ago

On melodic, /opt/ros/melodic/share/hrpsys/srcis not installed with ros-melodic-hrpsys, so hrpsys_gazebo_general/iob needs to be built with hrpsys source.

if we release hrpsys on meloidc, can we remove them from .rosinstall? if so we can remove https://github.com/start-jsk/rtmros_gazebo/blob/c8421d863e399995db9cb2a2e0720ee9aa8cfeb9/.travis.rosinstall.kinetic#L12-L14 Or, do we need latest version of hrpsys to let SampleRobot walk?

Naoki-Hiraoka commented 4 years ago

On melodic, /opt/ros/melodic/share/hrpsys/srcis not installed with ros-melodic-hrpsys, so hrpsys_gazebo_general/iob needs to be built with hrpsys source.

if we release hrpsys on meloidc, can we remove them from .rosinstall? if so we can remove

https://github.com/start-jsk/rtmros_gazebo/blob/c8421d863e399995db9cb2a2e0720ee9aa8cfeb9/.travis.rosinstall.kinetic#L12-L14 Or, do we need latest version of hrpsys to let SampleRobot walk?

We do not need latest version of hrpsys to let SampleRobot walk.

I'm wondering what .rosinstall should be. As you said, we can remove .rosinstall and small .rosinstall is better. On the other hand, it is better to test both with and without latest version of hrpsys because many researchers use latest version of hrpsys. We can test both situation by setting USE_DEB=true(without latest version of hrpsys) or USE_DEB=false(with latest version of hrpsys) respectively.

Could you tell me what kind of policy we should take? This decision will affect .rosinstall of rtmros_gazebo, rtmros_tutorials, rtmros_hrp2, rtmros_choreonoid, ....

pazeshun commented 4 years ago

@k-okada @Naoki-Hiraoka

We can test both situation by setting USE_DEB=true(without latest version of hrpsys) or USE_DEB=false(with latest version of hrpsys) respectively.

I think we sometimes have three situations about travis testing of a package as follows:

Can we separate the second and the third situations? I know USE_DEB=false and USE_DEB=source exist, but I don't know which to use for each situation.

In @Naoki-Hiraoka 's case, hrpsys exists for the third situation.

Naoki-Hiraoka commented 4 years ago

I opened new PR https://github.com/start-jsk/rtmros_gazebo/pull/255 .