Merge branch 'master' into use-go-pos-unsafe

README.md

@@ -1,9 +1,21 @@
-jsk_pr2eus [![Build Status](https://travis-ci.org/jsk-ros-pkg/jsk_pr2eus.png?branch=master)](https://travis-ci.org/jsk-ros-pkg/jsk_pr2eus)
+# jsk_pr2eus
+[![Build Status](https://travis-ci.org/jsk-ros-pkg/jsk_pr2eus.png?branch=master)](https://travis-ci.org/jsk-ros-pkg/jsk_pr2eus)
 
-==========
+[//]: # (!!DO NOT EDIT !!)
 
-| Package            | Indigo (Saucy)                                                                                                                                                                               | Indigo (Trusty)                                                                                                                                                                                | Jade (Trusty)                                                                                                                                                                                  | Jade (Vivid)                                                                                                                                                                                 | Kinetic (Wily)                                                                                                                                                                             | Kinetic (Xenial)                                                                                                                                                                                 |
-|:-------------------|:---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
-| jsk_pr2eus (armhf) | [![Build Status](http://build.ros.org/job/Ibin_arm_uShf__jsk_pr2eus__ubuntu_saucy_armhf__binary/badge/icon)](http://build.ros.org/job/Ibin_arm_uShf__jsk_pr2eus__ubuntu_saucy_armhf__binary) | [![Build Status](http://build.ros.org/job/Ibin_arm_uThf__jsk_pr2eus__ubuntu_trusty_armhf__binary/badge/icon)](http://build.ros.org/job/Ibin_arm_uThf__jsk_pr2eus__ubuntu_trusty_armhf__binary) | [![Build Status](http://build.ros.org/job/Jbin_arm_uThf__jsk_pr2eus__ubuntu_trusty_armhf__binary/badge/icon)](http://build.ros.org/job/Jbin_arm_uThf__jsk_pr2eus__ubuntu_trusty_armhf__binary) | [![Build Status](http://build.ros.org/job/Jbin_arm_uVhf__jsk_pr2eus__ubuntu_vivid_armhf__binary/badge/icon)](http://build.ros.org/job/Jbin_arm_uVhf__jsk_pr2eus__ubuntu_vivid_armhf__binary) | [![Build Status](http://build.ros.org/job/Kbin_arm_uWhf__jsk_pr2eus__ubuntu_wily_armhf__binary/badge/icon)](http://build.ros.org/job/Kbin_arm_uWhf__jsk_pr2eus__ubuntu_wily_armhf__binary) | [![Build Status](http://build.ros.org/job/Kbin_uxhf_uXhf__jsk_pr2eus__ubuntu_xenial_armhf__binary/badge/icon)](http://build.ros.org/job/Kbin_uxhf_uXhf__jsk_pr2eus__ubuntu_xenial_armhf__binary) |
-| jsk_pr2eus (i386)  | [![Build Status](http://build.ros.org/job/Ibin_uS32__jsk_pr2eus__ubuntu_saucy_i386__binary/badge/icon)](http://build.ros.org/job/Ibin_uS32__jsk_pr2eus__ubuntu_saucy_i386__binary)           | [![Build Status](http://build.ros.org/job/Ibin_uT32__jsk_pr2eus__ubuntu_trusty_i386__binary/badge/icon)](http://build.ros.org/job/Ibin_uT32__jsk_pr2eus__ubuntu_trusty_i386__binary)           | [![Build Status](http://build.ros.org/job/Jbin_uT32__jsk_pr2eus__ubuntu_trusty_i386__binary/badge/icon)](http://build.ros.org/job/Jbin_uT32__jsk_pr2eus__ubuntu_trusty_i386__binary)           | [![Build Status](http://build.ros.org/job/Jbin_uV32__jsk_pr2eus__ubuntu_vivid_i386__binary/badge/icon)](http://build.ros.org/job/Jbin_uV32__jsk_pr2eus__ubuntu_vivid_i386__binary)           | [![Build Status](http://build.ros.org/job/Kbin_uW32__jsk_pr2eus__ubuntu_wily_i386__binary/badge/icon)](http://build.ros.org/job/Kbin_uW32__jsk_pr2eus__ubuntu_wily_i386__binary)           | [![Build Status](http://build.ros.org/job/Kbin_uX32__jsk_pr2eus__ubuntu_xenial_i386__binary/badge/icon)](http://build.ros.org/job/Kbin_uX32__jsk_pr2eus__ubuntu_xenial_i386__binary)             |
-| jsk_pr2eus (amd64) | [![Build Status](http://build.ros.org/job/Ibin_uS64__jsk_pr2eus__ubuntu_saucy_amd64__binary/badge/icon)](http://build.ros.org/job/Ibin_uS64__jsk_pr2eus__ubuntu_saucy_amd64__binary)         | [![Build Status](http://build.ros.org/job/Ibin_uT64__jsk_pr2eus__ubuntu_trusty_amd64__binary/badge/icon)](http://build.ros.org/job/Ibin_uT64__jsk_pr2eus__ubuntu_trusty_amd64__binary)         | [![Build Status](http://build.ros.org/job/Jbin_uT64__jsk_pr2eus__ubuntu_trusty_amd64__binary/badge/icon)](http://build.ros.org/job/Jbin_uT64__jsk_pr2eus__ubuntu_trusty_amd64__binary)         | [![Build Status](http://build.ros.org/job/Jbin_uV64__jsk_pr2eus__ubuntu_vivid_amd64__binary/badge/icon)](http://build.ros.org/job/Jbin_uV64__jsk_pr2eus__ubuntu_vivid_amd64__binary)         | [![Build Status](http://build.ros.org/job/Kbin_uW64__jsk_pr2eus__ubuntu_wily_amd64__binary/badge/icon)](http://build.ros.org/job/Kbin_uW64__jsk_pr2eus__ubuntu_wily_amd64__binary)         | [![Build Status](http://build.ros.org/job/Kbin_uX64__jsk_pr2eus__ubuntu_xenial_amd64__binary/badge/icon)](http://build.ros.org/job/Kbin_uX64__jsk_pr2eus__ubuntu_xenial_amd64__binary)           |
+[//]: # (THIS SECTION IS AUTOMATICALLY GENERATED BY)
+
+[//]: # (rosrun jsk_tools generate_deb_status_table.py jsk_pr2eus)
+
+
+| Package            | Kinetic (Xenial)                                                                                                                                                                                 | Melodic (Bionic)                                                                                                                                                                                 |
+|:-------------------|:-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|:-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| jsk_pr2eus (arm64) | [![Build Status](http://build.ros.org/job/Kbin_uxv8_uXv8__jsk_pr2eus__ubuntu_xenial_arm64__binary/badge/icon)](http://build.ros.org/job/Kbin_uxv8_uXv8__jsk_pr2eus__ubuntu_xenial_arm64__binary) | [![Build Status](http://build.ros.org/job/Mbin_ubv8_uBv8__jsk_pr2eus__ubuntu_bionic_arm64__binary/badge/icon)](http://build.ros.org/job/Mbin_ubv8_uBv8__jsk_pr2eus__ubuntu_bionic_arm64__binary) |
+| jsk_pr2eus (armhf) | [![Build Status](http://build.ros.org/job/Kbin_uxhf_uXhf__jsk_pr2eus__ubuntu_xenial_armhf__binary/badge/icon)](http://build.ros.org/job/Kbin_uxhf_uXhf__jsk_pr2eus__ubuntu_xenial_armhf__binary) | [![Build Status](http://build.ros.org/job/Mbin_ubhf_uBhf__jsk_pr2eus__ubuntu_bionic_armhf__binary/badge/icon)](http://build.ros.org/job/Mbin_ubhf_uBhf__jsk_pr2eus__ubuntu_bionic_armhf__binary) |
+| jsk_pr2eus (i386)  | [![Build Status](http://build.ros.org/job/Kbin_uX32__jsk_pr2eus__ubuntu_xenial_i386__binary/badge/icon)](http://build.ros.org/job/Kbin_uX32__jsk_pr2eus__ubuntu_xenial_i386__binary)             | ---                                                                                                                                                                                              |
+| jsk_pr2eus (amd64) | [![Build Status](http://build.ros.org/job/Kbin_uX64__jsk_pr2eus__ubuntu_xenial_amd64__binary/badge/icon)](http://build.ros.org/job/Kbin_uX64__jsk_pr2eus__ubuntu_xenial_amd64__binary)           | [![Build Status](http://build.ros.org/job/Mbin_uB64__jsk_pr2eus__ubuntu_bionic_amd64__binary/badge/icon)](http://build.ros.org/job/Mbin_uB64__jsk_pr2eus__ubuntu_bionic_amd64__binary)           |
+
+[//]: #
+
+
+[PR2_joints.pdf](./PR2_joints.pdf) shows the joint names and joint limits for PR2.

pr2eus/robot-interface.l

@@ -377,7 +377,7 @@
 - tm : (time to goal in [msec])
    if designated tm is faster than fastest speed, use fastest speed
    if not specified, it will use 1/scale of the fastest speed .
-   if :fastest is specified use fastest speed calculated from max speed
+   if :fast is specified use fastest speed calculated from max speed
 - ctype : controller method name
 - start-time : time to start moving
 - scale : if tm is not specified, it will use 1/scale of the fastest speed
@@ -402,7 +402,7 @@
       ((numberp tm)
        (if (< tm fastest-tm)
            (setq tm fastest-tm)))
-      ;;Safe Mode (Speed will be 5 * fastest-time)
+      ;;Safe Mode (Speed will be 5 * fastest-tm)
       ((null tm)
        (setq tm (* 5 fastest-tm)))
       ;;Error Not Good Input
@@ -434,7 +434,7 @@
    if tms is atom, then use (list (make-list (length avs) :initial-element tms))) for tms
    if designated each tmn is faster than fastest speed, use fastest speed
    if tmn is nil, then it will use 1/scale of the fastest speed .
-   if :fastest is specified, use fastest speed calculated from max speed
+   if :fast is specified, use fastest speed calculated from max speed
 - ctype : controller method name
 - start-time : time to start moving
 - scale : if tms is not specified, it will use 1/scale of the fastest speed

pr2eus_moveit/CMakeLists.txt

@@ -28,7 +28,8 @@ install(DIRECTORY euslisp tutorials
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   find_package(pr2_gazebo QUIET)
-  if(pr2_gazebo_FOUND)
+  find_package(pr2_moveit_config QUIET)
+  if(pr2_gazebo_FOUND AND pr2_moveit_config_FOUND)
     add_rostest(test/test-pr2eus-moveit.test)
   else()
     message(WARNING "pr2_gazebo is not found. Skipping pr2eus_moveit tests")

pr2eus_moveit/euslisp/robot-moveit.l

@@ -555,6 +555,19 @@
    (av &rest args &key (ctype controller-type) (start-offset-time 0) (total-time)
        (move-arm :larm) (reset-total-time 5000.0) (use-send-angle-vector) (scale 1.0)
        &allow-other-keys)
+   "Plan collision-free trajectory and send it to robot, this method returns immediately, so use :wait-interpolation to block until the motion stops.
+- av : joint angle vector (float-vector) [deg] or sequence of joint angle vector (list av0 av1 ... avn)
+- ctype : controller method name
+- start-offset-time : time to start moving, the same as start-time in :angle-vector
+- total-time : time to execute the whole motion in [msec]
+   if designated total-time is shorter than the planned time, use the planned time
+   if not specified, use the planned time
+   if :fast is specified, use 'scale' times of the planned time
+- move-arm : arm symbol (e.g., :larm, :rarm, :arms) you want to move
+- reset-total-time : if planned time is too short, planned trajectory is scaled so that this value becomes its execution time
+- use-send-angle-vector : whether to use :angle-vector in robot-interface for sending trajectory
+- scale : if :fast is specified as total-time, it will use 'scale' times of the planned time
+"
    (let (traj ret orig-total-time sent-controllers other-joints)
      (setq ctype (or ctype controller-type))
      (unless (gethash ctype controller-table)