[WIP] add eus model for Sciurus17

jsk_sciurus17_robot/.gitignore

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+.DS_Store
+.idea
+*.log
+tmp/
+./sciurus17eus/sciurus17.l

jsk_sciurus17_robot/jsk_sciurus17_bringup/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(jsk_sciurus17_bringup)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES jsk_sciurus_bringup
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/jsk_sciurus_bringup.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/jsk_sciurus_bringup_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_jsk_sciurus_bringup.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

jsk_sciurus17_robot/jsk_sciurus17_bringup/README.md

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+# jsk\_sciurus17\_bringup
+
+The `jsk_sciurus17_bringup` package.
+
+## System Requirements
+
+This package has been tested on the following environments:
+
+- ROS Melodic
+  - OS: Ubuntu 18.04 LTS
+- ROS Noetic
+  - OS: Ubuntu 20.04 LTS
+
+## Installation
+
+### Required Packages
+
+This package depends on the following packages:
+
+- [sciurus17_ros](https://github.com/rt-net/sciurus17_ros)
+- [sciurus17_description](https://github.com/rt-net/sciurus17_description) (RT Corporation's non-commercial license applies)
+- sciurus17eus (for EusLisp interface)
+
+### Installation from Source
+
+Install the required dependencies:
+
+```bash
+cd ~/catkin_ws/src
+
+# Clone sciurus17_ros
+git clone https://github.com/rt-net/sciurus17_ros.git
+
+# Clone sciurus17_description
+git clone https://github.com/rt-net/sciurus17_description.git
+
+# Install dependencies
+rosdep install -r -y --from-paths . --ignore-src
+
+# Build
+cd ~/catkin_ws && catkin_make
+source ~/catkin_ws/devel/setup.bash
+```
+
+### Communication Device Setup
+
+Configure the USB serial device name for `sciurus17_control` to communicate with the real robot:
+
+```bash
+roscd sciurus17_tools/scripts/
+./create_udev_rules
+```
+
+After executing the script, reboot the system and connect Sciurus17. The device `/dev/sciurus17spine` will be created.
+
+### RealSense Camera Setup
+
+For stable operation of the head camera (RealSense D415), reset the camera before use:
+
+```bash
+rosrun sciurus17_tools realsense_hwreset
+```
+
+## ROS launch and euslisp
+
+### Default launch
+
+Launch for Sciurus17 with MoveIt, head camera, and chest camera
+
+```bash
+roslaunch jsk_sciurus17_bringup sciurus17_bringup.launch
+```
+
+#### Launch options
+
+- `use_rviz`: Launch with RViz visualization (default: true)
+- `use_head_camera`: Enable RealSense head camera (default: true)
+- `use_chest_camera`: Enable chest camera (default: true)
+
+Example with custom options:
+
+```bash
+roslaunch jsk_sciurus17_bringup sciurus17_bringup.launch use_rviz:=false use_head_camera:=false
+```
+
+### EusLisp interface
+
+Launch and euslisp program for Sciurus17
+
+```bash
+roslaunch jsk_sciurus17_bringup sciurus17_bringup.launch
+```
+
+```bash
+roscd sciurus17eus
+roseus sciurus17-interface.l
+;; euslisp interpreter
+(sciurus17-init)
+```
+
+## Camera configuration
+
+### Head camera (RealSense)
+
+The head camera uses RealSense D415.
+Camera topics are published under `/sciurus17/` namespace.
+
+### Chest camera
+
+The chest camera is launched separately and provides additional viewing angles for manipulation tasks.

jsk_sciurus17_robot/jsk_sciurus17_bringup/launch/sciurus17_bringup.launch

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+<launch>
+    <arg name="use_rviz" default="true" />
+    <arg name="use_head_camera" default="true" />
+    <arg name="use_chest_camera" default="true" />
+
+    <include file="$(find sciurus17_moveit_config)/launch/demo.launch" if="$(arg use_rviz)"/>
+    <include file="$(find sciurus17_moveit_config)/launch/sciurus17_planning.launch" unless="$(arg use_rviz)">
+      <arg name="use_gazebo" value="false"/>
+      <arg name="use_rviz" value="$(arg use_rviz)"/>
+    </include>
+
+    <include ns="sciurus17" file="$(find sciurus17_vision)/launch/realsense.launch" if="$(arg use_head_camera)">
+      <arg name="color_fps" value="30"/>
+      <arg name="color_width" value="640"/>
+      <arg name="color_height" value="480"/>
+      <rosparam>
+	/sciurus17/aligned_depth_to_color/image_raw/compressedDepth/png_level: 9
+	/sciurus17/camera/color/image_raw/compressed/png_level: 9
+      </rosparam>
+    </include>
+
+    <include ns="sciurus17" file="$(find sciurus17_vision)/launch/chest_camera.launch" if="$(arg use_chest_camera)"/>
+</launch>

jsk_sciurus17_robot/jsk_sciurus17_bringup/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>jsk_sciurus17_bringup</name>
+  <version>0.0.0</version>
+  <description>The jsk_sciurus17_bringup package</description>
+
+  <maintainer email="s-kim-lab@todo.todo">s-kim-lab</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>sciurus17</exec_depend>
+
+  <export>
+  </export>
+</package>