[CMakeLists.txt, pepper.yaml] generate pepper model from pepper_description

Author: kochigami

jsk_pepper_robot/peppereus/CMakeLists.txt

@@ -1,7 +1,31 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(peppereus)
 
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED naoqi_driver naoqi_sensors nao_pose pr2eus diagnostic_aggregator naoqi_msgs roseus pepper_description euscollada)
 
 catkin_package()
 
+###
+### pepper.l generation
+###
+if(EXISTS ${pepper_description_PREFIX}/share/pepper_description/urdf/pepper1.0_generated_urdf/pepper.urdf)
+  set(pepper_urdf ${pepper_description_PREFIX}/share/pepper_description/urdf/pepper1.0_generated_urdf/pepper.urdf)
+elseif(EXISTS ${pepper_description_SOURCE_PREFIX}/urdf/pepper1.0_generated_urdf/pepper.urdf)
+  set(pepper_urdf ${pepper_description_SOURCE_PREFIX}/urdf/pepper1.0_generated_urdf/pepper.urdf)
+else()
+  message(FATAL_ERROR "Could not found pepper.urdf in ${pepper_description_PREFIX}/share/pepper_description/urdf/pepper1.0_generated_urdf/pepper.urdf and ${pepper_description_SOURCE_PREFIX}/urdf/pepper1.0_generated_urdf/pepper.urdf")
+endif()
+message(STATUS "Found pepper.urdf at ${pepper_urdf}")
+
+add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/pepper.l
+  COMMAND rosrun euscollada collada2eus pepper.dae pepper.yaml pepper.l
+  COMMAND sed -i 's@julietteY20MP@pepper@g' pepper.l
+  COMMAND sed -i 's@juliettey20mp@pepper@g' pepper.l
+  WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
+  DEPENDS pepper.dae)
+add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/pepper.dae
+  COMMAND rosrun collada_urdf urdf_to_collada ${pepper_urdf} pepper.dae || echo "ok?" # urdf_to_collada fail to exit program, but generated dae is ok.
+  WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
+  DEPENDS ${pepper_urdf})
+
+add_custom_target(generate_pepper_lisp ALL DEPENDS ${PROJECT_SOURCE_DIR}/pepper.l)

jsk_pepper_robot/peppereus/pepper.yaml

@@ -0,0 +1,28 @@
+##
+## - collada_joint_name : euslisp_joint_name (start with :)
+##
+rleg:
+  - KneePitch        : knee-p
+  - HipRoll          : hip-r
+  - HipPitch         : hip-p
+larm:
+  - LShoulderPitch   : larm-shoulder-p
+  - LShoulderRoll    : larm-shoulder-r
+  - LElbowYaw        : larm-elbow-y
+  - LElbowRoll       : larm-elbow-p
+  - LWristYaw        : larm-wrist-y
+rarm:
+  - RShoulderPitch   : rarm-shoulder-p
+  - RShoulderRoll    : rarm-shoulder-r
+  - RElbowYaw        : rarm-elbow-y
+  - RElbowRoll       : rarm-elbow-p
+  - RWristYaw        : rarm-wrist-y
+head:
+  - HeadYaw   : head-neck-y
+  - HeadPitch : head-neck-p
+
+angle-vector:
+  reset-pose: [2, -2, -5, 85, 10, -70, -20, -40, 85, -10,  70,  20,  40, 0, -0]
+
+## TODO: end-coords tokuni base
+## FIXME: base_linkが浮いてる