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Add Subway demo #1397

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Add Subway demo #1397

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mqcmd196
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YutoUchimi and others added 30 commits November 28, 2023 11:59
@YutoUchimi
Set line_buffer_length
42f28d1
@YutoUchimi
Do not reset head pose in each look-button loop
abd96a7
@YutoUchimi
Loosen tolerance before turning left in elevator
a050f8c
@YutoUchimi
Draw rectangle not with matplotlib but with cv2 in match_template.py
cff7e69
@YutoUchimi
Do not show probability in debug image of match_template.py
e588cb1
@YutoUchimi
Move speak code to move-inside-elevator.l for check-elevator-open func
4d83f4e
@YutoUchimi
Look ahead as much as possible when moving base
9334140
@YutoUchimi
Change push depth: 30mm -> 20mm
5f156ae
@YutoUchimi
Reset *change-pc* at the beginning of each calling check-elevator-open
9e2f46c
@YutoUchimi
Look front before checking if elevator open
a445ae4
@YutoUchimi
Reduce unnecessary multiple angle-vector and subscribing
eebb0ba
@YutoUchimi
Wait for interpolation of look-forward-in-nav.l
21689d1
@YutoUchimi
Wait at most 6 min when receiving sandwich at subway
02fbad7
@YutoUchimi
Subscribe more to get stable point cloud
fe5616f
@YutoUchimi
Show quarter and throttled point cloud in rviz
f4b2627
@YutoUchimi
Fix typo: row-info -> ros-info
82a8c15
@YutoUchimi
Set after-stamp to (ros::time-now) while checking if forum door is open
e61bbe8
@YutoUchimi
Push forum door button only 10mm
edb459e
@YutoUchimi
Fix resetting pose before pushing forum door button
1135829
@YutoUchimi
Update text visualization
1476c1b
@YutoUchimi
Fix state name
a9db131
@YutoUchimi
Fix unbound variable timeout while checking if forum door open
cb5f326
@YutoUchimi
Fix too fast angle-vector
bf753d2
@YutoUchimi
Send angle-vector of looking at button only when PR2 is not looking a…
3f56b2e 
…t it
@YutoUchimi
Set after-stamp to 0.5sec later from request
04f6feb
@YutoUchimi
Remove duplicated ros-info at elevator-smach-initial
f7e625b
@YutoUchimi
Re-push elevator inside button when check-elevator-open failed
d87516c
@YutoUchimi
Refactor euslisp files
ff3c85c
@knorth55
fix tests
8a246a9
@YutoUchimi
Fix roseus-add-srvs for nav_msgs
55bf029
YutoUchimi and others added 19 commits November 28, 2023 11:59
@YutoUchimi
Disable look_at_human while taking elevator
0dbc076
@YutoUchimi
Refactor find_human_in_mirror.py
c96f2b6
@YutoUchimi
Look at human until order is finished
8e9ce84
@YutoUchimi
Disable tilt_scan observation before moving elevator front
4846c18
@YutoUchimi
Update pick-bag-pose
5bcdccf
@YutoUchimi
Launch demo from app_manager
40d0ba9
@YutoUchimi
Prepare for executing demo from dialogflow
7d2047d
@YutoUchimi
Update ordering saidwich for applying reduced comsumption tax
c650f57
@YutoUchimi
Lookup price from sandwich name
288b55a
@YutoUchimi
Fix for dialogflow
56e5a50
@YutoUchimi
Add mid-point while coming back to initial pose since previous point …
3bab186 
…is in the way of traffic
@YutoUchimi
Avoid buying 'nil'
6580e1d
@YutoUchimi
Add .rosinstall for elevator_move_base_pr2
eb25151
@knorth55
move look-at-human.l to node_scripts
e51a8ed
@knorth55
add launch_find_elevator_button arg
7a1b293
@knorth55
fix test-button-light test
dc4af37
@knorth55
fix test-modules-callpanel test
ed5670f
@knorth55
enable all tests
afa4445
@mqcmd196
[subway] fix urllib import for python3
f2e6dd6
@mqcmd196
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To test it in pr1040

Setup

  1. Clone the repository and build it in your workspace
  2. Setup SSH
ssh-keygen
ssh-keygen -p -m PEM -f ~/.ssh/id_rsa # Without it, pr2 cannot ssh c2 when launch

Run

  1. Set environment variables (It is not required when you launch in applications user and launched with app_manager)
source /var/lib/robot/config.bash
export ROS_ENV_LOADER=$HOME/ros/demo_ws/devel/env.sh
  1. Launch
roslaunch elevator_move_base_pr2 elevator_move_base_eng2.launch
roslaunch elevator_move_base_pr2 fetch_sandwich.launch

@tkmtnt7000
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tkmtnt7000 commented Dec 7, 2023 •
edited
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We may have faced the same problems as the following issue and pull request.
screen-point doesn't match with the target elevator button.
brightness

#1097
euslisp/jskeus#287 (comment)

@tkmtnt7000
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tkmtnt7000 commented Dec 7, 2023 •
edited
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In addition
jsk-ros-pkg/jsk_pr2eus#403
jsk-ros-pkg/jsk_pr2eus#426

@pazeshun pazeshun mentioned this pull request Dec 7, 2023
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@tkmtnt7000
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tkmtnt7000 commented Dec 7, 2023 •
edited
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We may have faced the same problems as the following issue and pull request. screen-point doesn't match with the target elevator button. brightness

#1097 euslisp/jskeus#287 (comment)

We almost have won that issue thanks to @pazeshun.
We need :pr1040 option #1321 (comment)

  • before
    Screenshot from 2023-12-07 18-19-35

  • after
    Screenshot from 2023-12-07 19-12-11

@tkmtnt7000 tkmtnt7000 mentioned this pull request Dec 7, 2023
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I also fixed python2 to python3 compatibility mqcmd196#4 .

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4 participants
@mqcmd196 @tkmtnt7000 @YutoUchimi @knorth55