release ready?

[marc-hanheide]

This looks pretty solid for a first release? Shall I at least include it in jenkins for devel build to see if it works? If so, please reply and assign to me.

I want to sort out the problem that currently calibrate_chest is duplictated in https://github.com/strands-project/scitos_common/tree/hydro-devel/calibrate_chest and we need an orchestrated action to resolve this.

[nilsbore]

So, are we OK to have scitos_common depend on strands_movebase via this include: https://github.com/strands-project/scitos_common/blob/hydro-devel/scitos_description/launch/scitos_state_publisher.launch ? I don't see any way around it if we want an up to date transform of the chest camera every time the robot starts.

I'll create a pull request to remove the calibrate_chest package.

[hawesie]

I think that dependency is the wrong way around. Scitos stuff can't depend on strands although the other way around is fine. =

[nilsbore]

Ok, so how should we do this? I don't see any problem with having the package in a more general repo since it's not specific to strands_movebase.

[nilsbore]

Or should we simply launch the chest_calibration_publisher together with the 3d obstacle avoidance?

[nilsbore]

What do you guys say, @marc-hanheide @hawesie ?

[hawesie]

I'm not 100% clear on what's going on. Can you summarise the issue?

[nilsbore]

The problem is that chest_calibration_publisher was previously run at robot startup, in scitos_state_publisher.launch. As discussed in https://github.com/strands-project/scitos_2d_navigation/issues/43, we decided to move it to this repository and launch it at startup. However, since scitos_description can't depend on strands_movebase/calibrate_chest I don't know where to put it. My suggestion was to launch it in movebase.launch, together with the other movebase things since we are only using the chest camera here atm. However, it would be nicer to launch it earlier on since someone might want to use the point cloud eventually.

[hawesie]

I think our decision was the the chest cam was strands not scitos therefore we should launch scitos_state_publisher.launch without the chest cam at all (but publishing all the other bits), and run the the calibrate chest separately, e.g. from here. Alternatively we only launch one launch file, the one from strands_movebase but this should include scitos_state_publisher.launch and add in the cam stuff. Either way we need two separate launch files.

[nilsbore]

Ok, I will have to investigate if it's possible to have multiple state publishers since the chest camera is part of the big urdf atm. Maybe it would make more sense with a strands_common repo or similar with strands_description and strands_state_publisher.launch including scitos_state_publisher.launch but also a state publisher for the chest camera frames. Maybe calibrate_chest could go in that repo.

Either way I will try to implement a separate description for the chest camera frames then.

[hawesie]

Great, thanks.

[nilsbore]

Ok, I have 2 pulls that should resolve this: https://github.com/strands-project/strands_movebase/pull/3 and https://github.com/strands-project/scitos_common/pull/40. I'll try them out tomorrow but just publishing the transforms like this seems to be working.

[marc-hanheide]

I just found there's a dependency into the deprecated scitos_2d_navigation Is that by accident?

[nilsbore]

No it's not by accident, basically it works the same way as before, if you provide with_camera:=false tp movebase.launch you will get scitos_2d_nav.launch instead of the 3d obstacle avoidance in strands_movebase. Also, we use the amcl.launch in scitos_2d_navigation.

[nilsbore]

I didn't think that it would be deprecated?

[marc-hanheide]

ah, my bad then. You are right. I shall release it then, so we can make further progress.

[marc-hanheide]

scitos_2d_navigation is released, both hydro and indigo. So, now we can work towards this one

[hawesie]

Good stuff.

[marc-hanheide]

I put this repo on jenkins as well, it builds nicely, so I'd say, ready for release?

https://lcas.lincoln.ac.uk/jenkins/job/devel-hydro-strands_movebase/

https://lcas.lincoln.ac.uk/jenkins/job/devel-indigo-strands_movebase/

[marc-hanheide]

released! build is running! I'll close this for now

[nilsbore]

Cool!