catch indigo branch up with current master

.gitignore

@@ -5,3 +5,5 @@ lib
 *.swp
 *.swo
 *.pyc
+.idea
+cmake-build-debug

.travis.rosinstall

@@ -1,16 +1,33 @@
+- git:
+    local-name: agile_grasp
+    uri: https://github.com/utexas-bwi/agile_grasp.git
+    version: melodic-devel
 - git:
     local-name: bwi_common
     uri: https://github.com/utexas-bwi/bwi_common.git
-    version: indigo
+    version: devel
+- git:
+    local-name: kinova-ros
+    uri: https://github.com/utexas-bwi/kinova-ros.git
+    version: melodic-devel
 - git:
-    local-name: segbot
-    uri: https://github.com/utexas-bwi/segbot.git
-    version: indigo
+    local-name: libsegwayrmp
+    uri: https://github.com/utexas-bwi/libsegwayrmp.git
+    version: cpp11
 - git:
     local-name: segway_rmp
     uri: https://github.com/utexas-bwi/segway_rmp.git
-    version: piyushk/remove_zero_odom_values
+    version: melodic-devel
 - git:
     local-name: segway_v3
     uri: https://github.com/utexas-bwi/segway_v3.git
+    version: melodic-devel
+- git:
+    local-name: camera1394
+    uri: https://github.com/ros-drivers/camera1394
     version: master
+- git:
+    local-name: frontier_exploration
+    uri: https://github.com/paulbovbel/frontier_exploration.git
+    version: melodic-devel
+

.travis.yml

@@ -5,9 +5,14 @@ compiler:
   - gcc
 env:
   global:
+    - CATKIN_CONFIG='--no-install'  # work around kinova-ros install bug
+    - CCACHE_DIR=$HOME/.ccache
+    - ROS_DISTRO="melodic"
+    - ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
     - UPSTREAM_WORKSPACE=file
   matrix:
-    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - BUILD_PKGS_WHITELIST="only_segbot_base"
+    #- BUILD_PKGS_WHITELIST="only_segbot_arm"
 install:
   - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
 script:

m1n6s200_segbot_moveit_config/.setup_assistant

@@ -0,0 +1,8 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: kinova_description
+    relative_path: urdf/m1n6s300_standalone.xacro
+  SRDF:
+    relative_path: config/m1n6s300.srdf
+  CONFIG:
+    generated_timestamp: 1484110350

m1n6s200_segbot_moveit_config/CMakeLists.txt

@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(m1n6s200_segbot_moveit_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

m1n6s200_segbot_moveit_config/config/controllers.yaml

@@ -0,0 +1,19 @@
+controller_list:
+  - name: m1n6s200
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - m1n6s200_joint_1
+      - m1n6s200_joint_2
+      - m1n6s200_joint_3
+      - m1n6s200_joint_4
+      - m1n6s200_joint_5
+      - m1n6s200_joint_6      
+  - name: m1n6s200_gripper
+    action_ns: gripper_command
+    type: GripperCommand
+    default: true    
+    joints:
+      - m1n6s200_joint_finger_1
+      - m1n6s200_joint_finger_2

m1n6s200_segbot_moveit_config/config/controllers_ros_control.yaml

@@ -0,0 +1,19 @@
+controller_list:
+  - name: m1n6s200/effort_joint_trajectory_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - m1n6s200_joint_1
+      - m1n6s200_joint_2
+      - m1n6s200_joint_3
+      - m1n6s200_joint_4
+      - m1n6s200_joint_5
+      - m1n6s200_joint_6
+  - name: m1n6s200/effort_finger_trajectory_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true    
+    joints:
+      - m1n6s200_joint_finger_1
+      - m1n6s200_joint_finger_2

m1n6s200_segbot_moveit_config/config/fake_controllers.yaml

@@ -0,0 +1,17 @@
+controller_list:
+  - name: fake_arm_controller
+    joints:
+      - m1n6s200_joint_1
+      - m1n6s200_joint_2
+      - m1n6s200_joint_3
+      - m1n6s200_joint_4
+      - m1n6s200_joint_5
+      - m1n6s200_joint_6
+  - name: fake_gripper_controller
+    joints:
+      - m1n6s200_joint_finger_1
+      - m1n6s200_joint_finger_2
+
+initial:
+  - group: arm
+    pose: Home

m1n6s200_segbot_moveit_config/config/joint_limits.yaml

@@ -0,0 +1,44 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  m1n6s200_joint_1:
+    has_velocity_limits: true
+    max_velocity: 0.35
+    has_acceleration_limits: false
+    max_acceleration: 0
+  m1n6s200_joint_2:
+    has_velocity_limits: true
+    max_velocity: 0.35
+    has_acceleration_limits: false
+    max_acceleration: 0
+  m1n6s200_joint_3:
+    has_velocity_limits: true
+    max_velocity: 0.35
+    has_acceleration_limits: false
+    max_acceleration: 0
+  m1n6s200_joint_4:
+    has_velocity_limits: true
+    max_velocity: 0.35
+    has_acceleration_limits: false
+    max_acceleration: 0
+  m1n6s200_joint_5:
+    has_velocity_limits: true
+    max_velocity: 0.35
+    has_acceleration_limits: false
+    max_acceleration: 0
+  m1n6s200_joint_6:
+    has_velocity_limits: true
+    max_velocity: 0.35
+    has_acceleration_limits: false
+    max_acceleration: 0
+  m1n6s200_joint_finger_1:
+    has_velocity_limits: true
+    max_velocity: 5
+    has_acceleration_limits: false
+    max_acceleration: 0
+  m1n6s200_joint_finger_2:
+    has_velocity_limits: true
+    max_velocity: 5
+    has_acceleration_limits: false
+    max_acceleration: 0

m1n6s200_segbot_moveit_config/config/joint_names.yaml

@@ -0,0 +1 @@
+controller_joint_names: [m1n6s200_joint_1 m1n6s200_joint_2 m1n6s200_joint_3 m1n6s200_joint_4 m1n6s200_joint_5 m1n6s200_joint_6]

m1n6s200_segbot_moveit_config/config/kinematics.yaml

@@ -0,0 +1,7 @@
+arm:
+  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 
+  #kinematics_solver: m1n6s200_mico_arm_kinematics/IKFastKinematicsPlugin
+  #kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_attempts: 3
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005

m1n6s200_segbot_moveit_config/config/ompl_planning.yaml

@@ -0,0 +1,80 @@
+planner_configs:
+  SBLkConfigDefault:
+    type: geometric::SBL
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ESTkConfigDefault:
+    type: geometric::EST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LBKPIECEkConfigDefault:
+    type: geometric::LBKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  BKPIECEkConfigDefault:
+    type: geometric::BKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  KPIECEkConfigDefault:
+    type: geometric::KPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05 
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  RRTkConfigDefault:
+    type: geometric::RRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+  RRTConnectkConfigDefault:
+    type: geometric::RRTConnect
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  RRTstarkConfigDefault:
+    type: geometric::RRTstar
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+  TRRTkConfigDefault:
+    type: geometric::TRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    max_states_failed: 10  # when to start increasing temp. default: 10
+    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+    init_temperature: 10e-6  # initial temperature. default: 10e-6
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() 
+    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
+  PRMkConfigDefault:
+    type: geometric::PRM
+    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+  PRMstarkConfigDefault:
+    type: geometric::PRMstar
+arm:
+  planner_configs:
+    - SBLkConfigDefault
+    - ESTkConfigDefault
+    - LBKPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - KPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - RRTstarkConfigDefault
+    - TRRTkConfigDefault
+    - PRMkConfigDefault
+    - PRMstarkConfigDefault
+gripper:
+  planner_configs:
+    - SBLkConfigDefault
+    - ESTkConfigDefault
+    - LBKPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - KPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - RRTstarkConfigDefault
+    - TRRTkConfigDefault
+    - PRMkConfigDefault
+    - PRMstarkConfigDefault