Support Noetic in Nov

.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

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)))
     ;;

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)
 

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)