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ROS EusLisp Client

Home Page: http://wiki.ros.org/roseus/Tutorials

CMake 4.17% Shell 3.58% C 0.91% Python 2.31% C++ 18.79% Common Lisp 70.24%

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jsk_roseus's Issues

When execute pr2' /tmp/irtmodel-ik faiuler file, I get error "error: unbound variable l_gripper_tool_frame"

When I execute the below code (which is the program that is removed the "additionals"),

$ cat pr2-sensor-robot-2014-07-12-17-44-47-failure.l
;; ik success log at Sat Jul 12 17:44:47 2014 on (9.00 inagaki Sat Apr 12 18:33:24 JST 2014 fcc6e04 0140229)
;;
;; link-list (#<bodyset-link #Xe19d058 l_shoulder_pan_link  3081.927 1401.466 840.675 / 2.89 -2.300e-17 9.861e-17> #<bodyset-link #Xe1fe180 l_shoulder_lift_link  2985.078 1426.373 840.675 / 2.89 -0.353 1.249e-16> #<bodyset-link #Xe048400 l_upper_arm_roll_link  2985.078 1426.373 840.675 / 2.89 -0.353 1.266> #<bodyset-link #Xe1161d0 l_elbow_flex_link  2621.631 1519.842 979.13 / 0.856 -0.135 2.015> #<bodyset-link #Xdaf5cd0 l_forearm_roll_link  2621.631 1519.842 979.13 / 0.856 -0.135 -1.724> #<bodyset-link #Xde01bc0 l_wrist_flex_link  2830.219 1760.003 1022.2 / 1.571 2.940e-07 -1.774> #<bodyset-link #Xdef57b0 l_wrist_roll_link  2830.219 1760.003 1022.2 / 1.571 2.940e-07 -1.779e-09>)
;; move-target #<cascaded-coords #Xe7f8570 :larm-end-coords  2830.219 1940.003 1022.2 / 1.571 2.940e-07 -1.779e-09>
;; rotatoin-axis t, translation-axis t
;; thre 10, rthre 0.087266, stop 300
(setq c0 '(#s(coordinates plist nil rot #2f((-2.829885e-08 -1.0 -1.779092e-09) (1.0 -2.829885e-08 2.940477e-07) (-2.940477e-07 -1.779084e-09 1.0)) pos #f(2830.22 1840.0 1022.2))))
(setq av0 #f(50.0 75.5776 -20.2513 72.5163 -111.664 145.774 -41.5684 101.667 -60.0 74.0 -70.0 -120.0 -20.0 -30.0 180.0 38.3634 28.5049))
(defun pr2-sensor-robot-2014-07-12-17-44-47-setup () (let ((r (instance pr2-sensor-robot :init))) (setq *robot* r) (progn (send r :newcoords (make-coords :4x4 #2f((6.106227e-16 -1.0 4.683753e-17 3269.93) (1.0 6.106227e-16 8.977194e-17 1451.47) (-8.977194e-17 4.683753e-17 1.0 0.0) (0.0 0.0 0.0 1.0)))) (mapc #'(lambda (j a) (send* j :joint-angle a nil)) (list (send r :torso_lift_joint) (send r :l_shoulder_pan_joint) (send r :l_shoulder_lift_joint) (send r :l_upper_arm_roll_joint) (send r :l_elbow_flex_joint) (send r :l_forearm_roll_joint) (send r :l_wrist_flex_joint) (send r :l_wrist_roll_joint) (send r :r_shoulder_pan_joint) (send r :r_shoulder_lift_joint) (send r :r_upper_arm_roll_joint) (send r :r_elbow_flex_joint) (send r :r_forearm_roll_joint) (send r :r_wrist_flex_joint) (send r :r_wrist_roll_joint) (send r :head_pan_joint) (send r :head_tilt_joint)) '(50.0 75.5776 -20.2513 72.5163 -111.664 145.774 -41.5684 101.667 -60.0 74.0 -70.0 -120.0 -20.0 -30.0 180.0 38.3634 28.5049)) (objects (list r))) (objects (list *robot*))))
(defun pr2-sensor-robot-2014-07-12-17-44-47-check () (let ((r *robot*)) (send* r :inverse-kinematics (list (make-coords :pos #f(2830.22 1840.0 1022.2) :rot #2f((-2.829885e-08 -1.0 -1.779092e-09) (1.0 -2.829885e-08 2.940477e-07) (-2.940477e-07 -1.779084e-09 1.0))) :dump-command nil :debug-view t :move-target (let* ((p (send r l_gripper_tool_frame)) (c (make-cascoords :coords (send (send p :copy-worldcoords) :transform (make-cascoords :4x4 #2f((1.0 0.0 0.0 0.0) (0.0 1.0 0.0 0.0) (0.0 0.0 1.0 0.0) (0.0 0.0 0.0 1.0)))) :parent p))) c) :link-list (list (send r l_shoulder_pan_link) (send r l_shoulder_lift_link) (send r l_upper_arm_roll_link) (send r l_elbow_flex_link) (send r l_forearm_roll_link) (send r l_wrist_flex_link) (send r l_wrist_roll_link)) :rthre 0.087266 :thre 10 :stop 300 :link-list (list (send r l_shoulder_pan_link) (send r l_shoulder_lift_link) (send r l_upper_arm_roll_link) (send r l_elbow_flex_link) (send r l_forearm_roll_link) (send r l_wrist_flex_link) (send r l_wrist_roll_link)) :move-target (let* ((p (send r l_gripper_tool_frame)) (c (make-cascoords :coords (send (send p :copy-worldcoords) :transform (make-cascoords :4x4 #2f((1.0 0.0 0.0 0.0) (0.0 1.0 0.0 0.0) (0.0 0.0 1.0 0.0) (0.0 0.0 0.0 1.0)))) :parent p))) c) :move-target (let* ((p (send r l_gripper_tool_frame)) (c (make-cascoords :coords (send (send p :copy-worldcoords) :transform (make-cascoords :4x4 #2f((1.0 0.0 0.0 0.0) (0.0 1.0 0.0 0.0) (0.0 0.0 1.0 0.0) (0.0 0.0 0.0 1.0)))) :parent p))) c) :collision-avoidance-link-pair nil :link-list (list (send r l_shoulder_pan_link) (send r l_shoulder_lift_link) (send r l_upper_arm_roll_link) (send r l_elbow_flex_link) (send r l_forearm_roll_link) (send r l_wrist_flex_link) (send r l_wrist_roll_link))))))
(defun ik-setup () (pr2-sensor-robot-2014-07-12-17-44-47-setup))
(defun ik-check () (pr2-sensor-robot-2014-07-12-17-44-47-check))
(setq ik-failed '((:dif-pos . (#f(-7.99891 -9.70584 -7.17859))) (:dif-rot . (#f(0.004874 0.0015 -0.006467))
)))

When I do below step

roseus pr2-sensor-robot-2014-07-12-17-44-47-failure.l
(load "package://pr2eus/pr2-interface.l")
(ik-setup)
(ik-check) ;;FAIL HERE

I get below lines

1.irteusgl$ load "package://pr2eus/pr2-interface.l"
t
2.irteusgl$ ik-setup
;; (make-irtviewer) executed
(#<pr2-sensor-robot #X73af670 pr2  3269.93 1451.47 0.0 / 1.571 8.977e-17 4.684e-17>)
3.irteusgl$ ik-check
/home/inagaki/ros/hydro/src/jsk-ros-pkg/jsk_roseus/euslisp/jskeus/eus/Linux64/bin/irteusgl 0 error: unbound variable l_gripper_tool_frame in (send r l_gripper_tool_frame)

What should I do?

speed up message generation

on microscopium (4CPU cores, SSD)

$ time ./generate-all-msg-srv.sh --all  
1254.27s user 385.36s system 84% cpu 32:20.68 total

installed bashrc.eus has wrong filename

reported by @inabajsk

euslispをapt-getでインストールして
/opt/ros/hydro/share/euslisp/jskeus/bashrc.eus
が下のようになっていて，これを.bashrcの中でロードして
EUSDIRが/tmpの下になっているというのは
うまくゆかない気がするのだけども
どうなんだろうか．

#
# bashrc.eus : environment variable for euslisp 
#
export EUSDIR=/tmp/buildd/ros-hydro-euslisp-1.1.25-0precise-20141027-2139/jskeus/eus 
export ARCHDIR=Linux64 
export PATH=$EUSDIR/$ARCHDIR/bin:$EUSDIR/$ARCHDIR/lib:$PATH 
export LD_LIBRARY_PATH=$EUSDIR/$ARCHDIR/bin:$LD_LIBRARY_PATH

roseus documentation

roseus need documentation..
http://answers.ros.org/question/198780/about-roseus-how-can-i-know-about-member-functions-and-keyword-arguments/

fatal error: eus.h: No such file or directory

In running catkin build on this package I am getting

[roseus] ==> '/home/dave/ros/ws_jsk/build/roseus/build_env.sh /usr/bin/make -j8 -l8' in '/home/dave/ros/ws_jsk/build/roseus'
[  0%] Building CXX object CMakeFiles/eustf.dir/eustf.cpp.o
/home/dave/ros/ws_jsk/src/jsk-ros-pkg/jsk_roseus/roseus/eustf.cpp:83:17: fatal error: eus.h: No such file or directory
compilation terminated.
make[2]: *** [CMakeFiles/eustf.dir/eustf.cpp.o] Error 1
make[1]: *** [CMakeFiles/eustf.dir/all] Error 2
make: *** [all] Error 2
make: INTERNAL: Exiting with 9 jobserver tokens available; should be 8!
[roseus] <== '/home/dave/ros/ws_jsk/build/roseus/build_env.sh /usr/bin/make -j8 -l8' failed with return code '2'

Thanks for any help!

/tmp/irtmodel-ik failuer file will become segmentation fault when I execute with roseus

When I try to execute kind of below code with roseus command, it become segmentation fault. Ths success one doesn't fail.

Is it because of my environment?(it failed ,though I tried in other robot environment too)

failuer sample

$ cat pr2-sensor-robot-2014-07-12-17-44-47-failure.l 
;; ik success log at Sat Jul 12 17:44:47 2014 on (9.00 inagaki Sat Apr 12 18:33:24 JST 2014 fcc6e04 0140229)
;;
;; link-list (#<bodyset-link #Xe19d058 l_shoulder_pan_link  3081.927 1401.466 840.675 / 2.89 -2.300e-17 9.861e-17> #<bodyset-link #Xe1fe180 l_shoulder_lift_link  2985.078 1426.373 840.675 / 2.89 -0.353 1.249e-16> #<bodyset-link #Xe048400 l_upper_arm_roll_link  2985.078 1426.373 840.675 / 2.89 -0.353 1.266> #<bodyset-link #Xe1161d0 l_elbow_flex_link  2621.631 1519.842 979.13 / 0.856 -0.135 2.015> #<bodyset-link #Xdaf5cd0 l_forearm_roll_link  2621.631 1519.842 979.13 / 0.856 -0.135 -1.724> #<bodyset-link #Xde01bc0 l_wrist_flex_link  2830.219 1760.003 1022.2 / 1.571 2.940e-07 -1.774> #<bodyset-link #Xdef57b0 l_wrist_roll_link  2830.219 1760.003 1022.2 / 1.571 2.940e-07 -1.779e-09>)
;; move-target #<cascaded-coords #Xe7f8570 :larm-end-coords  2830.219 1940.003 1022.2 / 1.571 2.940e-07 -1.779e-09>
;; rotatoin-axis t, translation-axis t
;; thre 10, rthre 0.087266, stop 300
(setq c0 '(#s(coordinates plist nil rot #2f((-2.829885e-08 -1.0 -1.779092e-09) (1.0 -2.829885e-08 2.940477e-07) (-2.940477e-07 -1.779084e-09 1.0)) pos #f(2830.22 1840.0 1022.2))))
(setq av0 #f(50.0 75.5776 -20.2513 72.5163 -111.664 145.774 -41.5684 101.667 -60.0 74.0 -70.0 -120.0 -20.0 -30.0 180.0 38.3634 28.5049))
(defun pr2-sensor-robot-2014-07-12-17-44-47-setup () (let ((r (instance pr2-sensor-robot :init))) (setq *robot* r) (progn (send r :newcoords (make-coords :4x4 #2f((6.106227e-16 -1.0 4.683753e-17 3269.93) (1.0 6.106227e-16 8.977194e-17 1451.47) (-8.977194e-17 4.683753e-17 1.0 0.0) (0.0 0.0 0.0 1.0)))) (mapc #'(lambda (j a) (send* j :joint-angle a nil)) (list (send r :torso_lift_joint) (send r :l_shoulder_pan_joint) (send r :l_shoulder_lift_joint) (send r :l_upper_arm_roll_joint) (send r :l_elbow_flex_joint) (send r :l_forearm_roll_joint) (send r :l_wrist_flex_joint) (send r :l_wrist_roll_joint) (send r :r_shoulder_pan_joint) (send r :r_shoulder_lift_joint) (send r :r_upper_arm_roll_joint) (send r :r_elbow_flex_joint) (send r :r_forearm_roll_joint) (send r :r_wrist_flex_joint) (send r :r_wrist_roll_joint) (send r :head_pan_joint) (send r :head_tilt_joint)) '(50.0 75.5776 -20.2513 72.5163 -111.664 145.774 -41.5684 101.667 -60.0 74.0 -70.0 -120.0 -20.0 -30.0 180.0 38.3634 28.5049)) (objects (list r))) (objects (list *robot*))))
(defun pr2-sensor-robot-2014-07-12-17-44-47-check () (let ((r *robot*)) (send* r :inverse-kinematics (list (make-coords :pos #f(2830.22 1840.0 1022.2) :rot #2f((-2.829885e-08 -1.0 -1.779092e-09) (1.0 -2.829885e-08 2.940477e-07) (-2.940477e-07 -1.779084e-09 1.0))) :dump-command nil :debug-view t :move-target (let* ((p (send r l_gripper_tool_frame)) (c (make-cascoords :coords (send (send p :copy-worldcoords) :transform (make-cascoords :4x4 #2f((1.0 0.0 0.0 0.0) (0.0 1.0 0.0 0.0) (0.0 0.0 1.0 0.0) (0.0 0.0 0.0 1.0)))) :parent p))) c) :link-list (list (send r l_shoulder_pan_link) (send r l_shoulder_lift_link) (send r l_upper_arm_roll_link) (send r l_elbow_flex_link) (send r l_forearm_roll_link) (send r l_wrist_flex_link) (send r l_wrist_roll_link)) :rthre 0.087266 :thre 10 :stop 300 :additional-weight-list ((#<bodyset-link #Xe6e4df0 torso_lift_link  3269.927 1401.466 840.675 / 1.571 8.977e-17 4.684e-17> 0.005)) :link-list (list (send r l_shoulder_pan_link) (send r l_shoulder_lift_link) (send r l_upper_arm_roll_link) (send r l_elbow_flex_link) (send r l_forearm_roll_link) (send r l_wrist_flex_link) (send r l_wrist_roll_link)) :move-target (let* ((p (send r l_gripper_tool_frame)) (c (make-cascoords :coords (send (send p :copy-worldcoords) :transform (make-cascoords :4x4 #2f((1.0 0.0 0.0 0.0) (0.0 1.0 0.0 0.0) (0.0 0.0 1.0 0.0) (0.0 0.0 0.0 1.0)))) :parent p))) c) :move-target (let* ((p (send r l_gripper_tool_frame)) (c (make-cascoords :coords (send (send p :copy-worldcoords) :transform (make-cascoords :4x4 #2f((1.0 0.0 0.0 0.0) (0.0 1.0 0.0 0.0) (0.0 0.0 1.0 0.0) (0.0 0.0 0.0 1.0)))) :parent p))) c) :collision-avoidance-link-pair nil :link-list (list (send r l_shoulder_pan_link) (send r l_shoulder_lift_link) (send r l_upper_arm_roll_link) (send r l_elbow_flex_link) (send r l_forearm_roll_link) (send r l_wrist_flex_link) (send r l_wrist_roll_link))))))
(defun ik-setup () (pr2-sensor-robot-2014-07-12-17-44-47-setup))
(defun ik-check () (pr2-sensor-robot-2014-07-12-17-44-47-check))
(setq ik-failed '((:dif-pos . (#f(-7.99891 -9.70584 -7.17859))) (:dif-rot . (#f(0.004874 0.0015 -0.006467))
)))

When I execute roseus

connected to Xserver DISPLAY=:0.0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x61ba9a0[16374] --> 0x661f390[32748] top=3767
irtgl irtviewer 
EusLisp 9.00(fcc6e04 0140229) for Linux64 created on inagaki(Sat Apr 12 18:33:24 JST 2014)
roseus ;; loading roseus("f8bf8b3") on euslisp((9.00 inagaki Sat Apr 12 18:33:24 JST 2014 fcc6e04 0140229))
eustf roseus_c_util ;; Segmentation Fault.
;; in #<compiled-code #X61db528>
;; You are still in a signal handler.
;;Try reset or throw to upper level as soon as possible.
;; code=-636959504 x=da08c3c0 addr=11b
Fatal:

euslisp fails to build on ARM

Full build log: http://packages.namniart.com:8080/view/IbinT/job/ros-indigo-euslisp_binarydeb_trusty_armhf/1/console

It looks like the build files for euslisp are including x86 compile flags that aren't valid on ARM:

(cd /tmp/buildd/ros-indigo-euslisp-1.1.21-0trusty-20140806-1350/jskeus/eus; test -e include || ln -sf lisp/c include)
(cd c; \
     cc -c -o /tmp/buildd/ros-indigo-euslisp-1.1.21-0trusty-20140806-1350/jskeus/eus/Linux/obj/fcall.o  -Di486 -DLinux -D_REENTRANT -DVERSION=\"9.00\" -DLIB6 -falign-functions=4  -march=i486 -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -I/usr/include -I/usr/X11R6/include -I/tmp/buildd/ros-indigo-euslisp-1.1.21-0trusty-20140806-1350/jskeus/eus/include fcall.c)
cc: error: unrecognized argument in option '-march=i486'
cc: note: valid arguments to '-march=' are: armv2 armv2a armv3 armv3m armv4 armv4t armv5 armv5e armv5t armv5te armv6 armv6-m armv6j armv6k armv6s-m armv6t2 armv6z armv6zk armv7 armv7-a armv7-m armv7-r armv7e-m armv8-a armv8-a+crc iwmmxt iwmmxt2 native
make[4]: *** [/tmp/buildd/ros-indigo-euslisp-1.1.21-0trusty-20140806-1350/jskeus/eus/Linux/obj/fcall.o] Error 1
make[4]: Leaving directory `/tmp/buildd/ros-indigo-euslisp-1.1.21-0trusty-20140806-1350/jskeus/eus/lisp'
make[3]: *** [eus-installed] Error 2
make[2]: *** [installed] Error 2
make[3]: Leaving directory `/tmp/buildd/ros-indigo-euslisp-1.1.21-0trusty-20140806-1350/jskeus'
make[2]: Leaving directory `/tmp/buildd/ros-indigo-euslisp-1.1.21-0trusty-20140806-1350'
CMake Error at catkin.cmake:11 (message):
  Build of euslisp failed
Call Stack (most recent call first):
  CMakeLists.txt:2 (include)


-- Configuring incomplete, errors occurred!

conflicting targets in roseus.cmake

https://github.com/jsk-ros-pkg/jsk_roseus/blob/master/roseus/cmake/roseus.cmake#L64

CMake Error at /opt/ros/hydro/share/roseus/cmake/roseus.cmake:64 (add_custom_target):
  add_custom_target cannot create target "actionlib_generate_messages_roseus"
  because another target with the same name already exists.  The existing
  target is a custom target created in source directory
  "/home/travis/ros/ws_jsk_demos/src/jsk-ros-pkg/jsk_planning/task_compiler".
  See documentation for policy CMP0002 for more details.
Call Stack (most recent call first):
  /opt/ros/hydro/share/roseus/cmake/roseus.cmake:83 (generate_all_roseus_messages)
  /opt/ros/hydro/share/roseus/cmake/roseusConfig.cmake:190 (include)
  /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package)
  jsk-ros-pkg/jsk_smart_apps/jsk_smart_gui/catkin.cmake:3 (find_package)
  jsk-ros-pkg/jsk_smart_apps/jsk_smart_gui/CMakeLists.txt:2 (include)

ros::coords/pos/rot tf conversions function names

When we do apropos with "->tf", there are lot of functions of converting methods.
But , for example, tf doesn't have pose message, so maybe ros::coords->tf-pose should be ros::coords->pose.
And also , why do these have tf- prefix? I think we can remove the prefix.(But e need to all the code using this function)

irteusgl$ apropos "->tf"
;; ros::coords->tf-pose-stamped  Function
;; ros::pos->tf-translation  Function
;; ros::pos->tf-point  Function
;; ros::rot->tf-quaternion  Function
;; ros::coords->tf-transform  Function
;; ros::coords->tf-transform-stamped  Function
;; ros::coords->tf-pose  Function
nil

delete関数でリストの最初の要素を削除できない

リストの要素を破壊的に削除する関数"delete"ですが、これでリストの最初に入っている要素を削除しようとするとうまくいきません。
最初の要素を指定すると非破壊的（remove関数と同じ）挙動になります。

1.irteusgl$ (setq l (list 5 6 7 8 9))
(5 6 7 8 9)
2.irteusgl$ l
(5 6 7 8 9)
3.irteusgl$ (delete 7 l)
(5 6 8 9)
4.irteusgl$ l
(5 6 8 9)
5.irteusgl$ (delete 5 l)
(6 8 9)
6.irteusgl$ l
(5 6 8 9)

release jsk_roseus

if you can create CHANGELOG.rst, such as
https://github.com/start-jsk/hrpsys/blob/master/CHANGELOG.rst.

We could not use catkinzie_generate_changelog, since important changes is within upstream package. I used git log --online to create CHANGELOG.rst of hrpsys.

failed to catkin_make_isolated

catkin_make_isolated failed on compiling euslisp

CMake Error at cmake_install.cmake:125 (file):
  file RPATH_CHANGE could not write new RPATH:

    /home/lueda/ros/hydro_latest_pcl/install_isolated/share/euslisp/jskeus/eus/Linux64/lib

  to the file:

    //home/lueda/ros/hydro_latest_pcl/install_isolated/share/euslisp/jskeus/eus/Linux64/bin/irteusgl

  The replacement path is too long for the RPATH entry.


make: *** [install] Error 1
<== Failed to process package 'euslisp': 
  Command '/home/lueda/ros/hydro_latest_pcl/install_isolated/env.sh make install' returned non-zero exit status 2

Reproduce this error by running:
==> cd /home/lueda/ros/hydro_latest_pcl/build_isolated/euslisp && /home/lueda/ros/hydro_latest_pcl/install_isolated/env.sh make install

Command failed, exiting.

proposal for putting roseus message under devel/share/roseus/...

this proposal is to put roseus generated messages under /share/roseus as roslisp has it's own message under /opt/ros/hydro/share/common-lisp/ros/.
Pros. of this approach is that we're able to create deb package that contains generted roseus message.
Cons: we have to generate roseus message for every workspace...

object->marker-msgでobjectのcoordsが反映されない

(load "models/room73b2-broom-object.l")
(setq broom (room73b2-broom))
(send broom :locate #f(1000 0 0) :world)
(setq m (object->marker-msg broom
                                 (instance std_msgs::header :init
                                           :stamp (ros::time-now)
                                           :frame_id "/map")
                                 :lifetime 300)))
(ros::publish "/marker" m)

としてもeusのcoordsが反映されず"/map"の位置にmarkerが出力される。
参考にcubeのmarkerを返すcube->marker-msgではeusのcoordsは正しく出力される。

(setq cube (make-cube 10 10 10))
(send cube :locate #f(1000 0 0) :world)
(ros::publish "/marker" (cube->marker-msg diff-c
                                                      (instance std_msgs::header :init
                                                                :stamp (ros::time-now)
                                                                :frame_id "/map")))

(load "models/room73b2-broom-object.l")
(setq broom (room73b2-broom))
(send broom :locate #f(1000 0 0) :world)
(setq m (object->marker-msg broom
                                 (instance std_msgs::header :init
                                           :stamp (ros::time-now)
                                           :frame_id "/map")
                                 :lifetime 300)))
(send m :pose (ros::coords->tf-pose broom))
(ros::publish "/marker" m)

とするとうまく位置が反映されて表示されました。
どちらが正しいかはともかく揃えるべきかなと思います。

catkinize roseus_tutorials

ik を目標位置を優先して解きたい

ik を解くときに，
位置は目標位置に合っていて，
姿勢は目標姿勢にできるだけ近づくようなものが欲しいです．

:rotation-axis t :rthre 3.14 とした時にこのような挙動になることを期待したのですが，
:rthre は終了条件としての判定として使われているらしく， rthre が小さい場合と同じように解かれてしまい上手くいきませんでした．

サンプルコードを載せます．
始めの ik では姿勢が近い解が出て，
2番目のik では姿勢も合った解が出ると嬉しいです．

(load "package://pr2eus/pr2-interface.l")
(pr2-init)
(objects (list *pr2*))
(send *pr2* :reset-pose)
(send (car (send *pr2* :torso :joint-list)) :joint-angle 325)
(do-until-key
 (send *pr2* :inverse-kinematics (make-coords :pos #f(400 -600 400) :move-arm :rarm) :rthre 30000000 :use-torso nil :rotation-axis t :thre 10 :debug-view :no-message)
 (send *irtviewer* :draw-objects))

(do-until-key
 (send *pr2* :inverse-kinematics (make-coords :pos #f(400 -600 600) :move-arm :rarm) :rthre 30000000 :use-torso nil :rotation-axis t :thre 10 :debug-view :no-message)
 (send *irtviewer* :draw-objects))

warning: ignoring #pragma init [-Wunknown-pragmas]

I'm getting the warning when building on Hydro with catkin-tools's catkin build:

/home/dave/ros/ws_hrp2/src/jsk_roseus/roseus/roseus_c_util.c:1:0: warning: ignoring #pragma init  [-Wunknown-pragmas]

Any thoughts what this does?

リストの中のひらがなを連結したい

一文字ずつ取得したひらがなを、まとめてstringデータに変えたいです。
今はひらがなを一度リストに代入し、その後型をstringデータにしようと考えています。
例えば、
(うさぎ) -> "うさぎ"　のようにしたいです。
しかし、
(coerce (list 'う 'さ 'ぎ) string)
とやると、
/home/kochigami/ros/groovy/jsk-ros-pkg/jsk_roseus/euslisp/jskeus/eus/Linux64/bi
n/irteusgl 0 error: integer expected in (coerce (list 'う 'さ 'ぎ) string)
アルファベットでも同じ結果になります。

逆に、
(coerce "humanoids" cons) を行うと、
(104 117 109 97 110 111 105 100 115)　と数字になってしまいます。

リストに入れた文字をそのまま連結することはできないのでしょうか。
解決策をご存知の方がいらっしゃればご教示ください。

roseus does not installed in global bin directory

this should be fixed in https://github.com/jsk-ros-pkg/jsk_roseus/blob/master/roseus/catkin.cmake#L118, need to look into

cmake failed at jsk_roseus in jsk.rosbuild

jsk-ros-pkg/jsk_visualization#5
と同様にクリーンインストールしたubuntu 12.04 32bit環境で
jsk_roseusが以下のエラーで止まります.
ros-hydro-roslang
をaptからインストールする必要がありそうです.

-- ==> add_subdirectory(rwt_ros/ros3djs)
-- +++ processing catkin package: 'roseus'
-- ==> add_subdirectory(jsk-ros-pkg/jsk_roseus/roseus)
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package roslang.

Set roslang_DIR to the directory containing a CMake configuration file for
roslang. The file will have one of the following names:

roslangConfig.cmake
roslang-config.cmake

Call Stack (most recent call first):
jsk-ros-pkg/jsk_roseus/roseus/catkin.cmake:7 (find_package)
jsk-ros-pkg/jsk_roseus/roseus/CMakeLists.txt:2 (include)

-- tf2_ros version: 0.4.10
-- Build svn revision: exported
-- Set euslisp_INCLUDE_DIRS to /home/leus/ros/hydro/src/jsk-ros-pkg/jsk_roseus/euslisp/jskeus/eus/include
-- roseus: 2 messages, 2 services
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkin_package.cmake:156 (messGeneralage):
catkin_package() DEPENDS on 'roslang' which must be find_package()-ed
before. If it is a catkin package it can be declared as CATKIN_DEPENDS
instead without find_package()-ing it.
Call Stack (most recent call first):
/opt/ros/hydro/share/catkin/cmake/catkin_package.cmake:98 (_catkin_package)
jsk-ros-pkg/jsk_roseus/roseus/catkin.cmake:105 (catkin_package)
jsk-ros-pkg/jsk_roseus/roseus/CMakeLists.txt:2 (include)

roseusをグローバルbinにインストールしてほしい

今は、rosrun roseus roseusで立ち上げていますが、roseusだけでも立ち上がるようにしたいです。

jsk_interactive_marker and jsk_pcl_ros dependency problem?

When I tried to ros::load-ros-manifest jsk_interactive or drc_task_common,
I got the below errors.

1.irteusgl$ ros::load-ros-manifest "drc_task_common"
/home/inagaki/ros/hydro/src/jsk-ros-pkg/jsk_roseus/euslisp/jskeus/eus/Linux64/bin/irteusgl 0 error: no such package JSK_PCL_ROS in (apply #'load-org-for-ros fullname args)

This seems to be come from in each manifest.l, jsk_interactive_marker is in front of jsk_pcl_ros
In manifest.l

(ros::load-ros-package "jsk_interactive_marker")

(ros::load-ros-package "urdfdom_headers")
(ros::load-ros-package "jsk_hark_msgs")
(ros::load-ros-package "topic_tools")
(ros::load-ros-package "rostest")
(ros::load-ros-package "cpp_common")
(ros::load-ros-package "nodelet")
(ros::load-ros-package "dynamic_reconfigure")
(ros::load-ros-package "genpy")

(ros::load-ros-package "jsk_pcl_ros")

But according to rospack depends jsk_interactive_marker, they have the dependency to jsk_pcl_ros.
And, Indeed dependency to jsk_pcl_ros is written in package.xml in jsk_interactive_marker

What is the problem? and what should I do?

create test code that confirm message generation works

in order to catch #24, better to create test code.

we may use same strategy that we have in hrpsys_ros_bridge IDL/ROS message generation.

https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/test/test-compile-robot.sh

groovy下にactionlib_tutorialsが無い

groovy下でroseus_smach/sampleにあるstate-machine-ros-sample.lをloadするとエラーが生じます。
;;(smach-simple)
;;(smach-nested)
;;(smach-userdata)
;; can not find /home/h-kamada/.ros/roseus/groovy/actionlib_tutorials/msg/ directory for [actionlib_tutorials] packages
[ INFO] [1402467331.231339743]: cell* ROSEUS_EXIT(context_, int, cell_*)
[ INFO] [1402467331.231400083]: exiting roses 1
apptitude search actionlib_tutorialsとするとros-hydro-actionlib-tutorialsは存在しますが、groovyのactionlib_tutorialsは存在しないようです。
groovy下でactionlib_tutorialsを動かす方法は存在しないのでしょうか？

location of eus.exe

currently there are two eus executables in install space, may by ``rospack find euslisp/jskeus/eus/Linux/bin will be better for people who uses EUSDIR.

../../install/share/euslisp/jskeus/eus/Linux64/bin/eus2
../../install/bin/eus2

assertion failed when receive service call

when i use service call to roseus node, caught assertion failed and process ends;

#!/usr/bin/env roseus
;; service-test.l

(ros::roseus-add-srvs "std_srvs")
(ros::roseus "hoge")
(defun hoge ()
  (print "hoge"))
(ros::advertise-service "/test_service" std_srvs::Empty #'(lambda (s)
                                                            (hoge)))
(ros::rate 10)
(while (ros::ok)
  (ros::spin-once)
  (ros::sleep))

shell1 $ roscore
shell2 $ roseus service-test.l
shell3 $ rosservice call /test_service "{}"

catkinize roseus_tutorials

hard to recognize when file is not found

(require :samplerobot "package://hrpsys_ros_bridge_tutorials/models/samplerobot.l")

outputs

eustf roseus_c_util ;; counldn't find pacakge [hrpsys_ros_bridge_tutorials]
1.irteusgl$ (samplerobot-init)

but actually it failed to load samplerobot.l, but hard to recognize that. we need to output error message in this situation.

rpath of installed eusgl

catkin_make install --only-pkg-with-deps euslisp; ldd //home/k-okada/catkin_ws/ws_jsk-ros-pkg/install/share/euslisp/jskeus/eus/Linux64/bin/eusgl

results in

    libeusgl.so => /home/k-okada/catkin_ws/ws_jsk-ros-pkg/install/share/euslisp/jskeus/eus/Linux64/lib/libeusgl.so (0x00007ff182a83000)

for the first time, but in the second time it said

    libeusgl.so => /home/k-okada/catkin_ws/ws_jsk-ros-pkg/src/jsk_roseus/euslisp/jskeus/eus/Linux64/lib/libeusgl.so (0x00007f8d42ff9000)

roseus message generator make catkin_LIBRARIES empty on groovy

It's a critical bug. This bug only related with groovy/catkin.

as mentioned in here jsk-ros-pkg/jsk_common#331, all the package which will be compiled after roseus will have empty ${catkin_LIBRARIES}.

Actually, in configuration time, ${catkin_LIBRARIES} is set correctly but in compilation time, target_link_libraries tries to link with no-library.

catkinでのroseusのメッセージの生成

catkinでroseusを使うときに、メッセージ生成はどのようにするのでしょうか?

generate-all-msg-srv.shを直接使っているのですが、catkin_makeで生成されるのでしょうか?

Indigo fails to build

The latest release of Indigo introduced an abstract function bool ros::SubscriptionCallbackHelper::hasHeader. Your subclass does not yet implement that interface and therefore the job fails to compile: http://jenkins.ros.org/view/IbinT64/job/ros-indigo-roseus_binarydeb_trusty_amd64/9/console

rosbuildもtravisで確認する．

https://github.com/start-jsk/rtmros_common/blob/master/.travis.yml を参考に．

compile roseus start failing on groovy/rosbuild

Compiling roseus start failing on groovy, I restarted 1.1.2 which passed few days ago but fails today. It said that rosnode is missing so may be we just add rosnode do depends may solves the problem, but not sure if that is the correct way.

https://travis-ci.org/jsk-ros-pkg/jsk_roseus/jobs/22447616

�[36m;; writing to /home/travis/.ros/roseus/groovy/roseus/srv/AddTwoInts.l
�[0mset ARCHDIR to Linux64
use the location of executables to set EUSDIR
set EUSDIR to /home/travis/build/jsk-ros-pkg/jsk_roseus/euslisp/jskeus/eus
Traceback (most recent call last):
  File "/opt/ros/groovy/share/rospy/rosbuild/scripts/genutil.py", line 131, in genmain
    retcode = generate_messages(rospack, package, msg_file, subdir)
  File "/opt/ros/groovy/share/rospy/rosbuild/scripts/genutil.py", line 90, in generate_messages
    for d in rospack.get_depends(package):
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 227, in get_depends
    s.update(self.get_depends(p, implicit))
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 227, in get_depends
    s.update(self.get_depends(p, implicit))
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 221, in get_depends
    names = [p.name for p in self.get_manifest(name).depends]
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 159, in get_manifest
    return self._load_manifest(name)
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 198, in _load_manifest
    retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name)
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 190, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: rosnode
ROS path [0]=/opt/ros/groovy/share/ros
ROS path [1]=/home/travis/ros/ws_jsk_roseus/src/jsk_roseus
ROS path [2]=/opt/ros/groovy/share
ROS path [3]=/opt/ros/groovy/stacks
ERROR: rosnode
ROS path [0]=/opt/ros/groovy/share/ros
ROS path [1]=/home/travis/ros/ws_jsk_roseus/src/jsk_roseus
ROS path [2]=/opt/ros/groovy/share
ROS path [3]=/opt/ros/groovy/stacks
[ 79%] Generating /home/travis/.ros/roseus/groovy/std_msgs/msg/Char.l, /home/travis/.ros/roseus/groovy/std_msgs/msg
make[3]: Entering directory `/home/travis/build/jsk-ros-pkg/jsk_roseus/roseus/build'
make[3]: *** [../src/roseus/msg/_StringStamped.py] Error 3
make[3]: *** Waiting for unfinished jobs....

roseusがROSのバージョンによらず一時ファイルを.ros/roseusに作る

~/.ros/roseusにメッセージをLISPにコンパイルしたファイルを置くので、groovy/hydroとかを切り替えるとメッセージの型が違うとおこられてしまう

cannot execute roseus

cannot run roseus

$ rosrun roseus roseus
[rospack] Error: stack/package euslisp not found

I installed euslisp/jskeus/roseus by setup.sh
I executed catkin build roseus
successfully compiled
source devel/setup.bash
cannot find euslisp packae
environment variables are:

$ echo $PATH
/home/leus/ros/hydro/devel/share/euslisp/jskeus/eus//Linux64/bin:/home/leus/ros/hydro/devel/bin:/opt/ros/hydro/bin:/home/leus/ros/hydro/devel/share/euslisp/jskeus/eus//Linux64/bin:/home/leus/ros/hydro/devel/lib/rtshell:/home/leus/ros/hydro/src/jsk-ros-pkg/jsk_roseus/euslisp/jskeus/eus/Linux64/bin:/home/leus/ros/hydro/src/jsk-ros-pkg/jsk_roseus/euslisp/jskeus/eus/Linux64/lib:/usr/lib/lightdm/lightdm:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/home/leus/ros/hydro/src/jsk-ros-pkg/jsk_roseus/roseus/bin:/home/leus/android-sdk-linux/tools:/home/leus/android-sdk-linux/platform-tools
$ echo $ROS_PACKAGE_PATH
/home/leus/ros/hydro/src/jsk-ros-pkg/jsk_roseus/geneus:/home/leus/ros/hydro/src/jsk-ros-pkg/jsk_roseus/roseus:/opt/ros/hydro/share:/opt/ros/hydro/stacks

simply executing irteusgl works

Unable to complie

I'm getting an error when building on Hydro with catkin-tools's catkin build:

/home/dave/ros/ws_hrp2/src/jsk_roseus/roseus/roseus.cpp:79:17: fatal error: eus.h: No such file or directory
compilation terminated.
/home/dave/ros/ws_hrp2/src/jsk_roseus/roseus/eustf.cpp:83:17: fatal error: eus.h: No such file or directory
compilation terminated.

roseus

roseusのmessage生成が遅い

以下のようなメッセージが出る部分がとても遅くなっています

[roseus.cmake] add custom target ROSBUILD_gensrv_roseus_shape_msgs

特にtravisの上だと顕著で(I/Oが遅いせいか?)、制限時間以内にコンパイルが終わらなくなってしまっています

https://code.google.com/p/rtm-ros-robotics/source/browse/tags/latest/rtmros_common/hrpsys_ros_bridge/scripts/rtm-ros-robot-interface.l?r=1856

あたりからはじめたらいい感じですが．．．

Project 'roseus_msgs' tried to find library 'moveit_setup_assistant_tools'.

Also in building I am getting the error:

[roseus_msgs] compile messages moveit_setup_assistant
CMake Error at /home/dave/ros/ws_moveit_other/devel/share/moveit_setup_assistant/cmake/moveit_setup_assistantConfig.cmake:141 (message):
  Project 'roseus_msgs' tried to find library 'moveit_setup_assistant_tools'.
  The library is neither a target nor built/installed properly.  Did you
  compile project 'moveit_setup_assistant'? Did you find_package() it before
  the subdirectory containing its code is included?
Call Stack (most recent call first):
  CMakeLists.txt:24 (find_package)
-- Configuring incomplete, errors occurred!

roseusメッセジ生成がまだうまくいかない状況がある

#14 にもかかわらず，

以下のようにエラーになる状況があるようです．

�[36m;; generate message for baxter_maintenance_msgs/UpdateSource
�[0m�[36m;; parsing /ros/hydro/src/RethinkRobotics/baxter_common/baxter_maintenance_msgs/msg/UpdateSource.msg
�[0m�[36m;; writing to //.ros/roseus/hydro/nav_msgs/msg/Odometry.l
�[0mCannot locate [nao_msgs/BodyPoseActionResult]
Cannot load type 'actionlib_msgs/GoalStatus'.  Perhaps the package is missing a dependency.
�[36m;; writing to //.ros/roseus/hydro/baxter_maintenance_msgs/msg/UpdateSource.l
�[0mCannot locate [nao_msgs/BodyPoseActionResult]
Traceback (most recent call last):
  File "<string>", line 1, in <module>
ImportError: No module named msg
�[31m[ERROR] Could not get md5sum for nao_msgs BodyPoseActionResult //ros/hydro/devel/share/nao_msgs/msg/BodyPoseActionResult.msg
 PYTHONPATH=/ros/hydro/devel/lib/python2.7/dist-packages:/opt/ros/hydro/lib/python2.7/dist-packages
 ROS_PACKAGE_PATH=/ros/hydro/src/jsk-ros-pkg/jsk_roseus/euslisp:/ros/hydro/src/jsk-ros-pkg/jsk_roseus/geneus:/ros/hydro/src:/ros/hydro/src/jsk-ros-pkg/jsk_common/jsk_ros_patch/multi_map_server/../map_server:/opt/ros/hydro/share:/opt/ros/hydro/stacks
�[0mmake[2]: *** [//.ros/roseus/hydro/nao_msgs/msg/BodyPoseActionResult.l] Error 255
make[1]: *** [jsk-ros-pkg/jsk_roseus/roseus/CMakeFiles/roseus_generate_messages_eus.dir/all] Error 2

http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jsk.rosbuild/53/DEBIAN_REPOSITORY=ros-shadow-fixed,FULL_SOURCE=full_source,ROS_DISTRO=hydro,slave=ec2/consoleFull

Some questions about roseus on answers.ros

http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:roseus/page:1/

roseus.rosunit-eustf/test-tf2-lookup sometimes fail

It sometimes fail as

�[0m�[32mwait-for-transform at #<ros::time #X7a9d9b8 1396120488.161> returns t
�[0m�[31m[ERROR] [1396120490.319323044]: The LookupTransform goal sent to the BufferServer did not come back in the specified time. Something is likely wrong with the server.�[0m
�[31m[ERROR] test (and c (eps= (norm (send c :difference-position c2)) 0) (eps= (norm (send c :difference-rotation c2)) 0)) failed ... (tf2: lookup-transform failed nil #<coordinates #X4c14320  2000.0 2000.0 3000.0 / 0.1 0.2 0.3> �[0mmwait-for-transform at #&lt;ros::time #X7a9d9b8 1396120488.161&gt; returns t
 /PARENT exists with parent NO_PARENT.

55:04 UTC 201).�[0m

On travis, it mostly ok,
https://s3.amazonaws.com/archive.travis-ci.org/jobs/21838753/log.txt

but it always fails on http://jenkins.ros.org/job/devel-hydro-jsk_roseus/, until we applied https://github.com/jsk-ros-pkg/jsk_roseus/pull/27/files.

roseusでservice callするときにpersistent=trueにしたい

serviceを高速に呼び出すために、persistent=trueにしてservice callしたい

http://wiki.ros.org/roscpp/Overview/Services#Persistent_Connections

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