start-jsk/rtmros_hironx — pull request #257 by 130s (2014-10-01 15:38:50+00:00)
Title: (hironx_ros_bridge) Trying to remove dependency on pr2 components.

DO NOT MERGE YET.

Trying to replace `pr2_controllers_msgs` with `control_msgs`, which is available even on Groovy.
However this PReq didin't work out of the box -- In order to remove the dependency on `pr2_controllers_msgs`, we first need to do so in the upstream, i.e. `hrpsys_ros_bridge`.

```
$ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch
:
[ERROR] [1412177051.938004616, 163.504999999]: Client [/hrpsys_py] wants topic /torso_controller/joint_trajectory_action/feedback to have datatype/md5sum [control_msgs/FollowJointTrajectoryActionFeedback/d8920dc4eae9fc107e00999cce4be641], but our version has [pr2_controllers_msgs/JointTrajectoryActionFeedback/aae20e09065c3809e8a8e87c4c8953fd]. Dropping connection.
[ERROR] [1412177051.942261574, 163.509999999]: Client [/hironx_ros_client] wants topic /torso_controller/joint_trajectory_action/feedback to have datatype/md5sum [control_msgs/FollowJointTrajectoryActionFeedback/d8920dc4eae9fc107e00999cce4be641], but our version has [pr2_controllers_msgs/JointTrajectoryActionFeedback/aae20e09065c3809e8a8e87c4c8953fd]. Dropping connection.
[ERROR] [1412177051.965842171, 163.524999999]: Client [/hironx_ros_client] wants topic /torso_controller/joint_trajectory_action/result to have datatype/md5sum [control_msgs/FollowJointTrajectoryActionResult/bce83d50f7bb28226801436caf0e2043], but our version has [pr2_controllers_msgs/JointTrajectoryActionResult/1eb06eeff08fa7ea874431638cb52332]. Dropping connection.
[ERROR] [1412177051.966107624, 163.524999999]: Client [/hrpsys_py] wants topic /torso_controller/joint_trajectory_action/result to have datatype/md5sum [control_msgs/FollowJointTrajectoryActionResult/bce83d50f7bb28226801436caf0e2043], but our version has [pr2_controllers_msgs/JointTrajectoryActionResult/1eb06eeff08fa7ea874431638cb52332]. Dropping connection.
```

```
$ ipython -i `rospack find hironx_ros_bridge`/scripts/acceptancetest_hironx.py
:
[WARN] [WallTime: 1412177019.515932] [133.715000] Could not process inbound connection: topic types do not match: [pr2_controllers_msgs/JointTrajectoryActionGoal] vs. [control_msgs/FollowJointTrajectoryActionGoal]{'topic': '/larm_controller/joint_trajectory_action/goal', 'tcp_nodelay': '0', 'md5sum': 'a99e83ef6185f9fdd7693efe99623a86', 'type': 'pr2_controllers_msgs/JointTrajectoryActionGoal', 'callerid': '/HrpsysJointTrajectoryBridge'}
[WARN] [WallTime: 1412177019.633108] [133.860000] Could not process inbound connection: topic types do not match: [pr2_controllers_msgs/JointTrajectoryActionGoal] vs. [control_msgs/FollowJointTrajectoryActionGoal]{'topic': '/rarm_controller/joint_trajectory_action/goal', 'tcp_nodelay': '0', 'md5sum': 'a99e83ef6185f9fdd7693efe99623a86', 'type': 'pr2_controllers_msgs/JointTrajectoryActionGoal', 'callerid': '/HrpsysJointTrajectoryBridge'}
```
Also, `ros_client.cpp` doesn't build with this.

```
$ catkin_make
:
/home/rosmacaroni/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/include/ros_client.cpp:232:35: error: no matching function for call to ‘actionlib::SimpleActionClient > >::sendGoal(control_msgs::JointTrajectoryGoal&)’
/home/rosmacaroni/cws_hiro_nxo/src/start-jsk/rtmros_hironx/hironx_ros_bridge/include/ros_client.cpp:232:35: note: candidate is:
/opt/ros/hydro/include/actionlib/client/simple_action_client.h:313:6: note: void actionlib::SimpleActionClient::sendGoal(const Goal&, actionlib::SimpleActionClient::SimpleDoneCallback, actionlib::SimpleActionClient::SimpleActiveCallback, actionlib::SimpleActionClient::SimpleFeedbackCallback) [with ActionSpec = control_msgs::FollowJointTrajectoryAction_ >, actionlib::SimpleActionClient::Goal = control_msgs::FollowJointTrajectoryGoal_ >, actionlib::SimpleActionClient::SimpleDoneCallback = boost::function > >&)>, typename ActionSpec::_action_result_type::_result_type = control_msgs::FollowJointTrajectoryResult_ >, actionlib::SimpleActionClient::SimpleActiveCallback = boost::function, actionlib::SimpleActionClient::SimpleFeedbackCallback = boost::function > >&)>, typename ActionSpec::_action_feedback_type::_feedback_type = control_msgs::FollowJointTrajectoryFeedback_ >]
/opt/ros/hydro/include/actionlib/client/simple_action_client.h:313:6: note: no known conversion for argument 1 from ‘control_msgs::JointTrajectoryGoal’ to ‘const Goal& {aka const control_msgs::FollowJointTrajectoryGoal_ >&}’
make[2]: *** [start-jsk/rtmros_hironx/hironx_ros_bridge/CMakeFiles/ros_client_cpp.dir/include/ros_client.cpp.o] Error 1
make[1]: *** [start-jsk/rtmros_hironx/hironx_ros_bridge/CMakeFiles/ros_client_cpp.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
```