Use latest hrpsys when hrpsys is built on kinetic, in case libpcl-dev and libopenni2-dev exist

[pazeshun]

Includes #1092

We want to use source of released hrpsys, but building it fails on kinetic when libpcl-dev and libopenni2-dev exist.
Until fkanehiro/hrpsys-base#1242 is released on kinetic, we have to use latest hrpsys on kinetic.
Details: #1090 (comment)

Also, I found some typos in README which I overlooked at #1090 , so this PR fixes them and format README.
Sorry for overlooking.

[Naoki-Hiraoka]

I checked this PR works with source of openhrp3 and hrpsys on kinetic in my laptop.
Thank you!

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
wstool init .
wstool set rtmros_common https://github.com/start-jsk/rtmros_common --git -y
wstool merge https://raw.githubusercontent.com/start-jsk/rtmros_common/master/.travis.rosinstall -y
wstool merge https://raw.githubusercontent.com/start-jsk/rtmros_common/900c79e005a77a1544716eabb5f921aacca2a9ed/.travis.rosinstall.kinetic -y
wstool update 
cd ..
source /opt/ros/kinetic/setup.bash
rosdep install -r --from-paths src --ignore-src -y
catkin build
source devel/setup.bash
rtmlaunch hrpsys_ros_bridge samplerobot.launch 

[pazeshun]

There is some misunderstanding (about libpcl-dev), so I updated #1092 and this PR.

[pazeshun]

Travis test with USE_DEB=false failed on kinetic:

[Testcase: testhrpsys_tool_config_interactive] ... FAILURE!



                                                                                
FAILURE: Test Fixture Nodes ['hrpsys'] failed to launch


                                                                                
  File "/usr/lib/python2.7/unittest/case.py", line 329, in run



                                                                                
    testMethod()


                                                                                
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rostest/runner.py", line 121, in fn


                                                                                
    self.assert_(not failed, "Test Fixture Nodes %s failed to launch"%failed)


                                                                                
  File "/usr/lib/python2.7/unittest/case.py", line 422, in assertTrue


                                                                                
    raise self.failureException(msg)

[Testcase: testhztest_tf] ... FAILURE!


                                                                                
FAILURE: Test Fixture Nodes ['hrpsys'] failed to launch



                                                                                
  File "/usr/lib/python2.7/unittest/case.py", line 329, in run


                                                                                
    testMethod()


                                                                                
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rostest/runner.py", line 121, in fn


                                                                                
    self.assert_(not failed, "Test Fixture Nodes %s failed to launch"%failed)


                                                                                
  File "/usr/lib/python2.7/unittest/case.py", line 422, in assertTrue


                                                                                
    raise self.failureException(msg)


                                                                                
--------------------------------------------------------------------------------


                                                                                
[Testcase: testpa10] ... FAILURE!


                                                                                
FAILURE: Test Fixture Nodes ['hrpsys'] failed to launch


                                                                                
  File "/usr/lib/python2.7/unittest/case.py", line 329, in run


                                                                                
    testMethod()


                                                                                
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rostest/runner.py", line 121, in fn


                                                                                
    self.assert_(not failed, "Test Fixture Nodes %s failed to launch"%failed)


                                                                                
  File "/usr/lib/python2.7/unittest/case.py", line 422, in assertTrue


                                                                                
    raise self.failureException(msg)

and so on.
@Naoki-Hiraoka Please be careful, this PR may not be complete.
Now I'm debugging.

[pazeshun]

I understand what is happening.

Issue Summary

The reason why travis test with USE_DEB=false failed on kinetic is that hrpsys-simulator is not compiled.
This is caused by racking of libopencv-dev.

Issue Details

The error message says the node hrpsys doesn't exist.
This node is hrpsys-simulator in hrpsys package (declared here).
hrpsys-simulator is compiled only when OpenCV was found by pkg_check_modules (see here and here, note that we are using linux, not APPLE).
To install OpenCV by rosdep, dependency to cv_bridge is written in package.xml of hrpsys-base (see here)

However, on kinetic, cv_bridge depends on opencv3 (ros-kinetic-opencv3) (see here), while it depends on libopencv-dev on indigo and melodic.
So rosdep installs opencv3 on kinetic.
As described here, find_package(OpenCV) can find opencv3, but we use pkg_check_modules(OpenCV opencv) which cannot find opencv3 (I'm not sure its reason, but the behavior implies that).
This causes skipping of compiling hrpsys-simulator.

This is already known issue, so hrpsys for releasing on kinetic depends on libopencv-dev directly instead of cv_bridge (see here).
So far, we doesn't face the issue thanks to using this released hrpsys, but this PR changes it to original hrpsys and the issue emerges again.

Why @Naoki-Hiraoka doesn't face that issue is that libopencv-dev is already installed in his PC. When you have installed ros-kinetic-hrpsys, libopencv-dev has been automatically installed and you can skip that issue.

[pazeshun]

Solution

Though I'm not sure why the fixing commit is not in any pull requests to original hrpsys, I think merging that commit to original hrpsys is straight and easy fix, because changing pkg_check_modules to find_package is drastic and we have to check in many platforms.

Merging to original hrpsys may take long time, so we need some temporary fix.
I think we should install libopencv-dev explicitly on travis using EXTRA_DEBS and add instruction to install libopencv-dev manually in README.
Another solution is to add libopencv-dev to dependency of hrpsys_tools, but it seems strange.

Now I understood that ros-hydro-opencv2, which cv_bridge depends in hydro era, can be found by pkg_check_modules.
This means ros-kinetic-opencv3 should be an exception.
In general, we should use cv_bridge for OpenCV dependency (recommendation can be found here and here), so we should keep using cv_bridge for forward compatibility based on the assumption that ros-kinetic-opencv3 is an exception.

Therefore, on kinetic, we need some makeshift fixes.
I think we should install libopencv-dev explicitly on travis using EXTRA_DEB and add instruction to install libopencv-dev manually in README.
Another solution is replacing cv_bridge to libopencv-dev only on kinetic travis test using sed like https://github.com/jsk-ros-pkg/jsk_travis/blob/0.5.9/travis.sh#L303.
But I don't like this because this leaves diff after README.

[pazeshun]

@Naoki-Hiraoka I solved the issue and travis passed.
Maybe your current environment already includes libopencv-dev, so there is no problem, but be careful when you change your environment.

[Naoki-Hiraoka]

I understand. Thank you !