Add and_scale_ros package #119

pazeshun · 2017-08-14T03:27:24Z

Depends on jsk-ros-pkg/jsk_recognition#2193

This PR adds ROS interface for A&D scales (only supports EK-i/EW-i series currently).

Based on https://github.com/start-jsk/jsk_apc/blob/master/jsk_arc2017_common/node_scripts/ekew_i_driver.py

k-okada

Thanks , added comments

and_scale_ros/package.xml

k-okada · 2017-08-14T15:50:39Z

and_scale_ros/package.xml

+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <run_depend>jsk_recognition_msgs</run_depend>


Please check whole dependency graph, may be jsk_recognition depend on jsk_3rdparty , so this makes circular dependencies

I think jsk_recognition_msgs doesn't depend on jsk_3rdparty nor jsk_recognition, does it?

I found no circular dependencies:

if one of packages in jsk_recognition repository depends on some of the jsk_3rdparty package, then we'll have trouble on releasing, specially when we move to new distro.
for example, when you update jsk_3rdparty and travis need binary version of jsk_recognition, we have to release jsk_recognition before that, I do not think that's going to happen.

So what should I do?
weight_candidates_refiner in jsk-ros-pkg/jsk_recognition#2193 have to receive weight message from ekew_i_driver

I think it is time to move jsk_recognition_msgs to jsk_common_msgs.
What do you think?

+1 to @wkentaro

k-okada · 2017-08-14T15:51:02Z

and_scale_ros/scripts/ekew_i_driver.py

@@ -0,0 +1,77 @@
+#!/usr/bin/env python
+


Add license here

k-okada · 2017-08-14T15:55:00Z

and_scale_ros/scripts/ekew_i_driver.py

+            # unstable
+            rospy.logdebug('Scale value is unstable')
+            msg.weight.stable = False
+


Add else and logdebug to show read data

Sorry for confusing condition branches.
Please see latest source code.

k-okada · 2017-08-14T15:57:21Z

and_scale_ros/scripts/ekew_i_driver.py

+        stamp = rospy.Time.now()
+        if len(data) != 17:
+            rospy.logerr('Serial read timeout')
+            rospy.signal_shutdown('Serial read timeout')


If I understand correctly, this node expect to run as set respawn true, anyway add launch file to explain how to use this

Default value of timeout is None, so this shutdown never happens in default.
Anyway, I'll add launch file.

k-okada · 2017-08-14T15:58:03Z

and_scale_ros/README.md

+and_scale_ros
+=============
+
+ROS Interface for A&D scales


Add link to product page

k-okada · 2017-08-16T00:33:05Z

1. Our message file in this package 2. Find necessary package in common_mags or a package commonly used . 2017年8月15日(火) 17:18 Shun Hasegawa <notifications@github.com>:

***@***.**** commented on this pull request. ------------------------------ In and_scale_ros/package.xml <#119 (comment)> : > @@ -0,0 +1,17 @@ +<?xml version="1.0"?> +<package> + <name>and_scale_ros</name> + <version>0.0.0</version> + <description>The and_scale_ros package</description> + + <maintainer ***@***.***">Shun Hasegawa</maintainer> + <author ***@***.***">Shun Hasegawa</author> + <license>BSD</license> + + <buildtool_depend>catkin</buildtool_depend> + <run_depend>jsk_recognition_msgs</run_depend> So what should I do? weight_candidates_refiner in jsk_recognition have to receive weight message from ekew_i_driver — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#119 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AAeG3BR55e3-cML6QZBRc1Rv-9MhBztLks5sYjVVgaJpZM4O16DG> .

-- -- ◉ Kei Okada

pazeshun · 2017-08-16T01:16:45Z

Our message file in this package

I'll do this. Then jsk_perception depends on and_scale_ros.

Find necessary package in common_mags or a package commonly used .

Currently, I can't find suitable one.

pazeshun · 2017-08-17T01:52:33Z

Our message file in this package

Now I think this is strange because Weight.msg shouldn't depend on A&D scale itself.
I think #119 (comment) is smartest way.
@k-okada What do you think?

k-okada · 2017-08-18T05:14:06Z

Now I think this is strange because Weight.msg shouldn't depend on A&D scale itself.

This true, but

I think #119 (comment) is smartest way.

I think it is time to move jsk_recognition_msgs to jsk_common_msgs.

will require us to wait new release of jsk_common_msgs when some node in jsk_recognition needs new messages. I'm afraid someone may complain this situation.

@k-okada What do you think?

So for me, best way for now is to add Weight.msg to this layer, even if that does not make sense.

Best idea is to add Weight.msg to common_msgs, but that's will be very hard.
ros/common_msgs#86 (comment)
ros/common_msgs#49
May be create unit_msgs that support all international standard unit (https://en.wikipedia.org/wiki/International_System_of_Units) is one idea.

Another way is to use Wrench.msg
http://docs.ros.org/api/geometry_msgs/html/msg/Wrench.html

wkentaro · 2017-08-18T14:02:15Z

Now I think this is strange because Weight.msg shouldn't depend on A&D scale itself.
This true, but

I think #119 (comment) is smartest way.

I think it is time to move jsk_recognition_msgs to jsk_common_msgs.
will require us to wait new release of jsk_common_msgs when some node in jsk_recognition needs new messages. I'm afraid someone may complain this situation.

Already jsk_recognition depends on jsk_common, and we need to wait release of packages for 3 month, for example when jsk_pcl_ros requires latest jsk_topic_tools.
Also, it is unlikely that we change construction of msg so frequently, so moving msg to jsk_common_msgs must not be a big problem.

If you really concern about the above problems, possible solution is:

~~synchronization of the release of different repositories of (jsk_common, jsk_common_msgs, jsk_recognition, jsk_visualization, jsk_3rdparty)~~
allow master branch to use from source of depending packages and synchronization of the release of different repositories
allow master branch to use shadow-fixed apt target for depending packages

In my opinion, the 3 is the simplest solution.

pazeshun · 2017-08-19T04:30:15Z

I made #120 and jsk-ros-pkg/jsk_recognition#2198 which follow #119 (comment).
We can select
#120 + jsk-ros-pkg/jsk_recognition#2198
or
#119 + jsk-ros-pkg/jsk_recognition#2193 + Another PR to move jsk_recognition_msgs into jsk_common_msgs

Add and_scale_ros package

68e2142

pazeshun force-pushed the and-scale-ros branch from 9179ef7 to 68e2142 Compare August 14, 2017 03:29

pazeshun mentioned this pull request Aug 14, 2017

Detect ungrasp by scale start-jsk/jsk_apc#2571

Merged

k-okada reviewed Aug 14, 2017

View reviewed changes

pazeshun added 5 commits August 15, 2017 09:05

Fix version and maintainer of and_scale_ros

239d1c6

Add license to ekew_i_driver.py

83c5599

Make analysis of scale data precise

f8279c5

Add link to product page in README

b5633aa

Add launch of ekew_i_driver

b1866f5

This was referenced Aug 19, 2017

Add and_scale_ros package with new messages #120

Open

[jsk_perception] add weight_candidates_refiner node with no new message jsk-ros-pkg/jsk_recognition#2198

Open

k-okada added the wontfix label Nov 20, 2017

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Add and_scale_ros package #119

Add and_scale_ros package #119

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pazeshun commented Aug 19, 2017

Add and_scale_ros package #119

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Add and_scale_ros package #119

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