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[hironx client] Remove experimental dependency #470

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[hironx client] Remove experimental dependency #470

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@130s 130s commented Oct 12, 2016

See #469 (comment)

Confirmed simple tasks work on RViz simulation via ipython.

@130s 130s force-pushed the rm/experimental_dependency branch from 875a02c to f4fbb99 Compare October 27, 2016 17:09
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130s commented Oct 29, 2016

Only the backward check for 315.1.10 is failing:

[ROSTEST]-----------------------------------------------------------------------

[hironx_ros_bridge.rosunit-test_hironx_ros_bridge_controller/test_tf_and_controller][ERROR]
frame_name (RARM_JOINT5:WAIST) is not supported
  File "/usr/lib/python2.7/unittest/case.py", line 331, in run
    testMethod()
  File "/home/travis/catkin_ws/install_isolated/share/hironx_ros_bridge/test/test_hironx_ros_bridge_controller.py", line 19, in test_tf_and_controller
    pos_c = self.robot.getCurrentPosition('RARM_JOINT5','WAIST')
  File "/home/travis/catkin_ws/install_isolated/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 1261, in getCurrentPosition
    pose = self.getCurrentPose(lname, frame_name)
  File "/home/travis/catkin_ws/install_isolated/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 1233, in getCurrentPose
    raise RuntimeError('frame_name ('+lname+') is not supported')
--------------------------------------------------------------------------------


SUMMARY
�[1;31m * RESULT: FAIL�[0m
 * TESTS: 1
�[1;31m * ERRORS: 1�[0m
 * FAILURES: 0

@130s 130s force-pushed the rm/experimental_dependency branch from f4fbb99 to adc378e Compare October 29, 2016 21:14
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130s commented Oct 29, 2016 

[hironx_ros_bridge.rosunit-test_hironx_target/testGetterByFrame][ERROR]---------
unsupported operand type(s) for -: 'float' and 'NoneType'
  File "/usr/lib/python2.7/unittest/case.py", line 331, in run
    testMethod()
  File "/home/travis/catkin_ws/install_isolated/share/hironx_ros_bridge/test/test_hironx_target.py", line 189, in testGetterByFrame
    numpy.testing.assert_array_almost_equal(numpy.array(posel1), numpy.array(posel2), decimal=2)
  File "/usr/lib/python2.7/dist-packages/numpy/testing/utils.py", line 811, in assert_array_almost_equal
    header=('Arrays are not almost equal to %d decimals' % decimal))
  File "/usr/lib/python2.7/dist-packages/numpy/testing/utils.py", line 627, in assert_array_compare
    val = comparison(x, y)
  File "/usr/lib/python2.7/dist-packages/numpy/testing/utils.py", line 806, in compare
    z = abs(x-y)

unsupported operand type(s) for -: 'float' and 'NoneType'

This can happen when either compared arg is None and in this case posel2 returned by getCurrentPose is None. So the root cause is why does getCurrentPose return None while it's supposed not to.

I think not all temporary methods that I'm removing in this PR are available upstream in hrpsys-base. Will open a PR against.

@130s 130s mentioned this pull request Oct 29, 2016
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130s commented Oct 29, 2016

I think not all temporary methods that I'm removing in this PR are available upstream in hrpsys-base. Will open a PR against.

Done fkanehiro/hrpsys-base#1063. Once that PR gets merged then this hopefully PR will pass the test.

130s added a commit to 130s/rtmros_hironx that referenced this pull request Mar 11, 2017
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[hironx py] Let setTargetPose fail when invalid kinematic group name …
72cc907 
…passed.

**Background**
(Same commit message as fkanehiro/hrpsys-base#1113)
`setTargetPose` takes a kinematic group as its 1st arg. When invalid value passed, it still tries to solve IK and always fails with an IK solution failure message, which is ambiguous because it failed not because
the computation but because the target group name is simply invalid.

**Approach to fix**
With this change it first checks if the passed value is a registered kinematic group name and if not it fails with the reason accordingly.

**Additional note at rtmros_hironx**
Same change as fkanehiro/hrpsys-base#1113. This method should be removed as part of start-jsk#470, once fkanehiro/hrpsys-base#1063 resolves.
@130s 130s mentioned this pull request Mar 11, 2017
Merged
130s added a commit to 130s/rtmros_hironx that referenced this pull request Mar 11, 2017
@130s
[hironx py] Let setTargetPose fail when invalid kinematic group name …
6266340 
…passed.

**Background**
(Same commit message as fkanehiro/hrpsys-base#1113)
`setTargetPose` takes a kinematic group as its 1st arg. When invalid value passed, it still tries to solve IK and always fails with an IK solution failure message, which is ambiguous because it failed not because
the computation but because the target group name is simply invalid.

**Approach to fix**
With this change it first checks if the passed value is a registered kinematic group name and if not it fails with the reason accordingly.

**Additional note at rtmros_hironx**
Same change as fkanehiro/hrpsys-base#1113. This method should be removed as part of start-jsk#470, once fkanehiro/hrpsys-base#1063 resolves.
130s added a commit to 130s/rtmros_hironx that referenced this pull request Mar 11, 2017
@130s
[hironx py] Let setTargetPose fail when invalid kinematic group name …
74270a9 
…passed.

**Background**
(Same commit message as fkanehiro/hrpsys-base#1113)
`setTargetPose` takes a kinematic group as its 1st arg. When invalid value passed, it still tries to solve IK and always fails with an IK solution failure message, which is ambiguous because it failed not because
the computation but because the target group name is simply invalid.

**Approach to fix**
With this change it first checks if the passed value is a registered kinematic group name and if not it fails with the reason accordingly.

**Additional note at rtmros_hironx**
Same change as fkanehiro/hrpsys-base#1113. This method should be removed as part of start-jsk#470, once fkanehiro/hrpsys-base#1063 resolves.
@130s 130s mentioned this pull request Mar 16, 2017
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