use pr2_gazebo with PR2/pr2_simulator#147

Author: k-okada

obinata_research/obinata_pr2_73b2_cleanup/launch/obinata-pr2-73b2world.launch

@@ -11,8 +11,9 @@
     <!-- <node name="spawn_pr2_leave_from_door" pkg="gazebo_ros" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -parm robot_description -x $(arg pr2_init_x -model pr2" respawn="false" output="screen" /> -->
 
     <!-- bringup script -->
-    <include file="$(find obinata_pr2_73b2_cleanup)/launch/pr2_empty_world.launch">
+    <include file="$(find pr2_gazebo)/launch/pr2_empty_world.launch">
         <arg name="world_name" value="$(arg world_name)" />
+        <arg name="ROBOT_INITIAL_POSE" value="-x 0.75 -y 0 -z 0" />
     </include>
 
     <!-- put chairs -->

obinata_research/obinata_pr2_73b2_cleanup/launch/pr2.launch

@@ -1,11 +1,12 @@
 <launch>
   <arg name="KINECT1" default="$(optenv KINECT1 false)" />
   <arg name="KINECT2" default="$(optenv KINECT2 false)" />
+  <arg name="ROBOT_INITIAL_POSE" default="$(optenv ROBOT_INITIAL_POSE)" />
 
   <!-- Startup PR2 without any mechanism controllers -->
   <include file="$(find obinata_pr2_73b2_cleanup)/launch/pr2_no_controllers.launch" pass_all_args="true"/>
 
   <!-- Load and Start Default Controllers -->
   <include file="$(find pr2_controller_configuration_gazebo)/launch/pr2_default_controllers.launch" />
 
-</launch>
+</launch>

obinata_research/obinata_pr2_73b2_cleanup/launch/pr2_empty_world.launch

@@ -12,6 +12,7 @@
 
   <arg name="KINECT1" default="$(optenv KINECT1 false)" />
   <arg name="KINECT2" default="$(optenv KINECT2 false)" />
+  <arg name="ROBOT_INITIAL_POSE" default="$(optenv ROBOT_INITIAL_POSE)" />
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="gui" value="$(arg gui)" />
@@ -29,6 +30,7 @@
   <include file="$(find obinata_pr2_73b2_cleanup)/launch/pr2.launch">
     <arg name="KINECT1" value="$(arg KINECT1)" />
     <arg name="KINECT2" value="$(arg KINECT2)" />
+    <arg name="ROBOT_INITIAL_POSE" value="$(arg ROBOT_INITIAL_POSE)" />
   </include>
 
 </launch>

obinata_research/obinata_pr2_73b2_cleanup/launch/pr2_no_controllers.launch

@@ -1,13 +1,13 @@
 <launch>
   <arg name="KINECT1" default="$(optenv KINECT1 false)" />
   <arg name="KINECT2" default="$(optenv KINECT2 false)" />
-  <arg name="initial_pose" default="-x -1.5 -y 0 -z 0" />
+  <arg name="ROBOT_INITIAL_POSE" default="$(optenv ROBOT_INITIAL_POSE)" />
 
   <!-- send pr2 urdf to param server -->
   <include file="$(find pr2_description)/robots/upload_pr2.launch" pass_all_args="true" />
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
-  <node name="spawn_pr2_model" pkg="gazebo_ros" type="spawn_model" args="$(arg initial_pose) -unpause -urdf -param robot_description -model pr2" respawn="false" output="screen" />
+  <node name="spawn_pr2_model" pkg="gazebo_ros" type="spawn_model" args="$(arg ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model pr2" respawn="false" output="screen" />
 
   <!-- default bringup script -->
   <include file="$(find pr2_gazebo)/launch/pr2_bringup.launch" />

obinata_research/obinata_pr2_73b2_cleanup/package.xml

@@ -12,6 +12,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <run_depend>gazebo_ros</run_depend> <!-- for gazebo_ros_pose_publisher https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1098 -->
+  <run_depend>pr2_gazebo</run_depend> <!-- ROBOT_INITIAL_POSE argument https://github.com/PR2/pr2_simulator/pull/147, you can remove this line once it is released -->
   <run_depend>jsk_maps</run_depend>
   <run_depend>pr2eus</run_depend>
 

obinata_research/obinata_pr2_73b2_cleanup/pr2_73b2_cleanup.rosinstall

@@ -2,4 +2,9 @@
 - git:
     local-name: gazebo_ros_pkgs
     uri: https://github.com/k-okada/gazebo_ros_pkgs.git
-    version: add_gazebo_pose_publisher
+    version: add_gazebo_pose_publisher
+# ROBOT_INITIAL_POSE argument https://github.com/PR2/pr2_simulator/pull/147
+- git:
+    local-name: pr2_simulator
+    uri: https://github.com/k-okada/pr2_simulator.git
+    version: arg_robot_initial_pose