diff --git a/.rosinstall.noetic b/.rosinstall.noetic index 510a556e..d58e37b2 100644 --- a/.rosinstall.noetic +++ b/.rosinstall.noetic @@ -6,15 +6,19 @@ uri: https://github.com/jsk-enshu/dynamixel_urdf.git - git: local-name: dynamixel_motor - uri: https://github.com/arebgun/dynamixel_motor.git + # uri: https://github.com/arebgun/dynamixel_motor.git + uri: https://github.com/kindsenior/dynamixel_motor.git + version: noetic-support-python3 # need until https://github.com/arebgun/dynamixel_motor/pull/104 wil be merged - git: local-name: kobuki uri: https://github.com/yujinrobot/kobuki.git version: melodic - git: local-name: kobuki_desktop - uri: https://github.com/yujinrobot/kobuki_desktop.git - version: melodic + # uri: https://github.com/yujinrobot/kobuki_desktop.git + # version: melodic + uri: https://github.com/kindsenior/kobuki_desktop.git + version: remove-repeated-tf-publication # need until https://github.com/yujinrobot/kobuki_desktop/pull/69 wil be merged - git: local-name: turtlebot uri: https://github.com/turtlebot/turtlebot.git @@ -37,8 +41,10 @@ version: indigo - git: local-name: yujin_ocs - uri: https://github.com/yujinrobot/yujin_ocs.git - version: devel # add CATKIN_IGNORE in packages except for cmd_vel_mux, controllers, math_toolkit, velocity_smoother, and virtual_sensor + # uri: https://github.com/yujinrobot/yujin_ocs.git + # version: devel # add CATKIN_IGNORE in packages except for cmd_vel_mux, controllers, math_toolkit, velocity_smoother, and virtual_sensor + uri: https://github.com/kindsenior/yujin_ocs.git + version: noetic-enshu2023 # for ignoring those packages - git: local-name: ar_track_alvar_msgs uri: https://github.com/ros-gbp/ar_track_alvar-release.git @@ -63,3 +69,8 @@ # local-name: jsk_pr2eus # uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git # version: master # add CATKIN_IGNORE in packages except for pr2eus +- git: + local-name: jsk_roseus # for disabling warning of tf dupulications + # uri: https://github.com/jsk-ros-pkg/jsk_roseus.git + uri: https://github.com/k-okada/jsk_roseus.git + version: set-log-level-to-error diff --git a/dxl_armed_turtlebot/euslisp/arm-move-sample.l b/dxl_armed_turtlebot/euslisp/arm-move-sample.l index 87521fd0..77525b8b 100644 --- a/dxl_armed_turtlebot/euslisp/arm-move-sample.l +++ b/dxl_armed_turtlebot/euslisp/arm-move-sample.l @@ -64,7 +64,7 @@ ;;gripper (send *dxl-armed-turtlebot* :gripper :arm :angle-vector #f(50)) (send *irtviewer* :draw-objects) - (send *ri* :angle-vector (send *dxl-armed-turtlebot* :angle-vector) 1000 :gripper-controller) + (send *ri* :move-gripper (send *dxl-armed-turtlebot* :gripper :arm :joint-angle) :tm 1000 :wait t) (warn ";;~%") (warn ";; The gripper was moved. Are real robot and model same? Check it, then press enter~%") (warn ";;~%") @@ -74,12 +74,12 @@ (if (y-or-n-p) (progn (send *dxl-armed-turtlebot* :gripper :arm :angle-vector #f(0)) - (send *ri* :angle-vector (send *dxl-armed-turtlebot* :angle-vector) 1000 :gripper-controller) + (send *ri* :move-gripper (send *dxl-armed-turtlebot* :gripper :arm :joint-angle) :tm 1000 :wait t) (send *irtviewer* :draw-objects)) (progn (warn ";; fix gripper direction!!!~%") (send *dxl-armed-turtlebot* :gripper :arm :angle-vector #f(0)) - (send *ri* :angle-vector (send *dxl-armed-turtlebot* :angle-vector) 1000 :gripper-controller) + (send *ri* :move-gripper (send *dxl-armed-turtlebot* :gripper :arm :joint-angle) :tm 1000 :wait t) (send *irtviewer* :draw-objects) (return-from dxl-arm-check))) ;; diff --git a/dynamixel_7dof_arm/scripts/reset_torque.py b/dynamixel_7dof_arm/scripts/reset_torque.py index 03e56055..1dde50cd 100755 --- a/dynamixel_7dof_arm/scripts/reset_torque.py +++ b/dynamixel_7dof_arm/scripts/reset_torque.py @@ -32,10 +32,10 @@ try: dxl_io = dynamixel_io.DynamixelIO(port, baudrate) - except dynamixel_io.SerialOpenError, soe: - print 'ERROR:', soe + except dynamixel_io.SerialOpenError as soe: + print('ERROR:', soe) else: - print 'Turning torque %s for motor %d' % (torque_on, motor_id) + print('Turning torque %s for motor %d' % (torque_on, motor_id)) ret = dxl_io.ping(motor_id) if ret: from dynamixel_driver import dynamixel_const @@ -44,23 +44,23 @@ elif torque_on.lower() == 'on': if not ret[4] & dynamixel_const.DXL_OVERHEATING_ERROR == 0: dxl_io.set_torque_limit(motor_id, 1023) - print "OVERHEATING -> Reset Torque" + print("OVERHEATING -> Reset Torque") if not ret[4] & dynamixel_const.DXL_OVERLOAD_ERROR == 0: dxl_io.set_torque_limit(motor_id, 1023) - print "OVERLOAD -> Reset Torque" + print("OVERLOAD -> Reset Torque") torque_on = True else: parser.print_help() exit(1) ret = dxl_io.set_torque_enabled(motor_id, torque_on) if not ret[4] & dynamixel_const.DXL_OVERHEATING_ERROR == 0: - print "OVERHEATING" + print("OVERHEATING") exit (1) if not ret[4] & dynamixel_const.DXL_OVERLOAD_ERROR == 0: - print "OVERLOAD" + print("OVERLOAD") exit (1) - print "done." + print("done.") else: - print 'ERROR: motor %d did not respond. Make sure to specify the correct baudrate.' % motor_id + print('ERROR: motor %d did not respond. Make sure to specify the correct baudrate.' % motor_id) exit (1) diff --git a/dynamixel_7dof_arm/scripts/scan_ids.py b/dynamixel_7dof_arm/scripts/scan_ids.py index 892adba2..db4ec4ae 100755 --- a/dynamixel_7dof_arm/scripts/scan_ids.py +++ b/dynamixel_7dof_arm/scripts/scan_ids.py @@ -31,12 +31,12 @@ try: dxl_io = dynamixel_io.DynamixelIO(port, baudrate) - except dynamixel_io.SerialOpenError, soe: - print 'ERROR:', soe + except dynamixel_io.SerialOpenError as soe: + print('ERROR:', soe) else: - for idx in map(lambda x : x + options.from_id , range(options.to_id - options.from_id + 1)): - print 'Scanning %d...' %(idx), + for idx in [x + options.from_id for x in range(options.to_id - options.from_id + 1)]: + print('Scanning %d...' %(idx), end=' ') if dxl_io.ping(idx): - print 'The motor %d respond to a ping' %(idx) + print('The motor %d respond to a ping' %(idx)) else: - print 'ERROR: The specified motor did not respond to id %d.' % idx + print('ERROR: The specified motor did not respond to id %d.' % idx)