Merge pull request #138 from fmessmer/melodic_checks

[Melodic] add melodic checks
ipa320 · Dec 4, 2019 · 0475586 · 0475586
2 parents 7136e0c + 528e10e
commit 0475586
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Showing 11 changed files with 98 additions and 12 deletions.
diff --git a/.travis.rosinstall b/.travis.rosinstall
@@ -1,12 +1,33 @@
+- git:
+    local-name: cob_calibration_data
+    uri: https://github.com/ipa320/cob_calibration_data.git
+    version: indigo_dev
+- git:
+    local-name: cob_command_tools
+    uri: https://github.com/ipa320/cob_command_tools.git
+    version: indigo_dev
+- git:
+    local-name: cob_common
+    uri: https://github.com/ipa320/cob_common.git
+    version: kinetic_dev
 - git:
     local-name: cob_control
     uri: https://github.com/ipa320/cob_control.git
     version: kinetic_dev
 - git:
-    local-name: cob_substitute
-    uri: https://github.com/ipa320/cob_substitute.git
-    version: indigo_dev
+    local-name: cob_driver
+    uri: https://github.com/ipa320/cob_driver.git
+    version: kinetic_dev
+- git:
+    local-name: cob_robots
+    uri: https://github.com/ipa320/cob_robots.git
+    version: kinetic_dev
 - git:
     local-name: cob_supported_robots
     uri: https://github.com/ipa320/cob_supported_robots.git
     version: indigo_dev
+
+- git:
+    local-name: realsense2_substitute
+    uri: https://github.com/ipa320/realsense.git
+    version: realsense2_substitute
diff --git a/.travis.rosinstall.melodic b/.travis.rosinstall.melodic
@@ -0,0 +1,38 @@
+- git:
+    local-name: cob_calibration_data
+    uri: https://github.com/ipa320/cob_calibration_data.git
+    version: indigo_dev
+- git:
+    local-name: cob_command_tools
+    uri: https://github.com/ipa320/cob_command_tools.git
+    version: indigo_dev
+- git:
+    local-name: cob_common
+    uri: https://github.com/ipa320/cob_common.git
+    version: kinetic_dev
+- git:
+    local-name: cob_control
+    uri: https://github.com/ipa320/cob_control.git
+    version: melodic_dev
+- git:
+    local-name: cob_driver
+    uri: https://github.com/ipa320/cob_driver.git
+    version: kinetic_dev
+- git:
+    local-name: cob_robots
+    uri: https://github.com/ipa320/cob_robots.git
+    version: kinetic_dev
+- git:
+    local-name: cob_supported_robots
+    uri: https://github.com/ipa320/cob_supported_robots.git
+    version: indigo_dev
+
+
+- git:
+    local-name: realsense_substitute
+    uri: https://github.com/ipa320/realsense.git
+    version: realsense_substitute
+- git:
+    local-name: realsense2_substitute
+    uri: https://github.com/ipa320/realsense.git
+    version: realsense2_substitute
diff --git a/.travis.yml b/.travis.yml
@@ -11,11 +11,10 @@ env:
     - ROS_REPO=ros
     - NOT_TEST_INSTALL=true
   matrix:
-    - ROS_DISTRO=kinetic UPSTREAM_WORKSPACE=file
-    - ROS_DISTRO=kinetic UPSTREAM_WORKSPACE=debian
-matrix:
-  allow_failures:
-    - env: ROS_DISTRO=kinetic UPSTREAM_WORKSPACE=debian
+    - ROS_DISTRO=kinetic UPSTREAM_WORKSPACE=file BEFORE_SCRIPT='wget -O - https://raw.githubusercontent.com/mojin-robotics/realsense/realsense_substitute/realsense_camera/patch/patch_docker.sh | bash'
+    - ROS_DISTRO=kinetic UPSTREAM_WORKSPACE=debian BEFORE_SCRIPT='wget -O - https://raw.githubusercontent.com/mojin-robotics/realsense/realsense_substitute/realsense_camera/patch/patch_docker.sh | bash'
+    - ROS_DISTRO=melodic UPSTREAM_WORKSPACE=file
+    - ROS_DISTRO=melodic UPSTREAM_WORKSPACE=debian
 install:
   - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
 script:

diff --git a/cob_collision_monitor/package.xml b/cob_collision_monitor/package.xml
@@ -17,6 +17,7 @@
   <depend>pluginlib</depend>
   <depend>std_msgs</depend>
   <depend>tf</depend>
+  <depend>tf2_ros</depend>
 
   <exec_depend>cob_moveit_config</exec_depend>
 

diff --git a/cob_collision_monitor/src/collision_monitor_node.cpp b/cob_collision_monitor/src/collision_monitor_node.cpp
@@ -14,6 +14,13 @@
  * limitations under the License.
  */
 
+#include <ros/ros.h>
+
+#if ROS_VERSION_MINIMUM(1,14,0) // melodic
+#include <tf2_ros/transform_listener.h>
+#else
+#include <tf/transform_listener.h>
+#endif
 
 #include "valid_state_publisher.h"
 
@@ -24,8 +31,13 @@ int main(int argc, char **argv)
 
     ros::NodeHandle nh("~");
 
+#if ROS_VERSION_MINIMUM(1,14,0) // melodic
+    std::shared_ptr<tf2_ros::Buffer> tf(new tf2_ros::Buffer(ros::Duration(nh.param("max_cache_time", 2.0))));
+    planning_scene_monitor::PlanningSceneMonitorPtr psm(new planning_scene_monitor::PlanningSceneMonitor("robot_description", tf, ""));
+#else
     boost::shared_ptr<tf::TransformListener> tf(new tf::TransformListener(ros::Duration(nh.param("max_cache_time", 2.0))));
     planning_scene_monitor::PlanningSceneMonitorPtr psm(new planning_scene_monitor::PlanningSceneMonitor("robot_description", tf));
+#endif
 
     double state_update_frequency;
     if(nh.getParam("state_update_frequency", state_update_frequency))

diff --git a/cob_manipulation/package.xml b/cob_manipulation/package.xml
@@ -19,7 +19,7 @@
   <exec_depend>cob_moveit_bringup</exec_depend>
   <exec_depend>cob_moveit_interface</exec_depend>
   <exec_depend>cob_obstacle_distance_moveit</exec_depend>
-  <exec_depend>cob_pick_place_action</exec_depend>
+  <!--exec_depend>cob_pick_place_action</exec_depend-->
 
  <export>
   <metapackage/>

diff --git a/cob_moveit_bringup/launch/move_group.launch b/cob_moveit_bringup/launch/move_group.launch
@@ -62,7 +62,7 @@
 
     <!-- MoveGroup capabilities to load -->
     <param name="capabilities" value="move_group/MoveGroupCartesianPathService
-                                      move_group/MoveGroupExecuteService
+                                      move_group/MoveGroupExecuteTrajectoryAction
                                       move_group/MoveGroupKinematicsService
                                       move_group/MoveGroupMoveAction
                                       move_group/MoveGroupPickPlaceAction

diff --git a/cob_obstacle_distance_moveit/package.xml b/cob_obstacle_distance_moveit/package.xml
@@ -27,6 +27,7 @@
     <depend>roscpp</depend>
     <depend>tf</depend>
     <depend>tf_conversions</depend>
+    <depend>tf2_ros</depend>
 
     <exec_depend>rospy</exec_depend>
 

diff --git a/cob_obstacle_distance_moveit/src/cob_obstacle_distance_moveit/obstacle_distance_moveit.cpp b/cob_obstacle_distance_moveit/src/cob_obstacle_distance_moveit/obstacle_distance_moveit.cpp
@@ -13,7 +13,14 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-
+
+#include <ros/ros.h>
+
+#if ROS_VERSION_MINIMUM(1,14,0) // melodic
+#include <tf2_ros/transform_listener.h>
+#else
+#include <tf/transform_listener.h>
+#endif
 
 #include <cob_obstacle_distance_moveit/obstacle_distance_moveit.h>
 
@@ -370,8 +377,13 @@ ObstacleDistanceMoveit::ObstacleDistanceMoveit()
     acm_ = pss.getAllowedCollisionMatrix();
 
     //Initialize planning scene monitor
+#if ROS_VERSION_MINIMUM(1,14,0) // melodic
+    std::shared_ptr<tf2_ros::Buffer> tf(new tf2_ros::Buffer(ros::Duration(2.0)));
+    planning_scene_monitor::PlanningSceneMonitorPtr psm(new planning_scene_monitor::PlanningSceneMonitor(robot_description, tf, ""));
+#else
     boost::shared_ptr<tf::TransformListener> tf_listener_(new tf::TransformListener(ros::Duration(2.0)));
     planning_scene_monitor_ = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>(robot_description, tf_listener_);
+#endif
 
     planning_scene_monitor_->setStateUpdateFrequency(update_frequency);
     planning_scene_monitor_->startSceneMonitor(planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_TOPIC);

diff --git a/cob_obstacle_distance_moveit/src/visualize_obstacle_distance_node.cpp b/cob_obstacle_distance_moveit/src/visualize_obstacle_distance_node.cpp
@@ -87,7 +87,9 @@ ros::Subscriber obstacle_distances_sub_;
             marker_distance.ns = "distances";
             marker_distance.id = 2*i+1;
             marker_distance.header.frame_id = info.header.frame_id;
-            marker_distance.text = boost::lexical_cast<std::string>(boost::format("%.3f") % info.distance);
+            std::stringstream sstream;
+            sstream << std::setprecision(3) << info.distance;
+            marker_distance.text = sstream.str();
 
             marker_distance.scale.x = 0.1;
             marker_distance.scale.y = 0.1;

diff --git a/cob_pick_place_action/CATKIN_IGNORE b/cob_pick_place_action/CATKIN_IGNORE