#2: omit ik demo

.travis.yml

@@ -58,7 +58,7 @@ script: # All commands must exit with code 0 on success. Anything else is consid
   - cd ~/ros/ws_$REPOSITORY_NAME
   - if [ $BUILDER = rosbuild ]; then source src/setup.sh; cd src; fi
   - rospack profile
-  - if [ $BUILDER = catkin ]; then catkin_make -j4; else rosmake $BUILD_PACKAGES --profile --pjobs=4; (cd `rospack find euscollada`; make); fi
+  - if [ $BUILDER = catkin ]; then catkin_make -j4; else rosmake $BUILD_PACKAGES --profile --pjobs=4; fi
   - if [ $BUILDER = catkin ]; then if [ "$CATKIN_PACKAGES" != "" ]; then catkin_make test --pkg $CATKIN_PACKAGES; fi; else rosmake $BUILD_PACKAGES --test-only; fi
   - if [ $BUILDER = catkin ]; then catkin_make install; fi
   - if [ $BUILDER = catkin ]; then rm -fr devel src build; source install/setup.bash; else source setup.sh; fi

euscollada/pr2.sh

@@ -9,38 +9,38 @@ if [ "$?" != 0 ] ;  then exit ; fi
 rosrun euscollada collada2eus pr2.dae pr2.yaml pr2.l.$$.tmp; mv pr2.l.$$.tmp pr2.l
 if [ "$?" != 0 ] ;  then exit ; fi
 
-rosrun roseus roseus "\
-(progn									\
-  (load \"package://euscollada/pr2.l\")					\
-  (load \"package://pr2eus/pr2-utils.l\")				\
-  (if (and x::*display* (> x::*display* 0) (not (boundp '*irtviewer*))) (make-irtviewer :title \"pr2.sh\"))			\
-  (if (not (boundp '*pr2*)) (pr2))					\
-									\
-  (send *pr2* :move-to (make-coords) :world)				\
-  (send *pr2* :reset-pose)						\
-  (when (boundp '*irtviewer*) (objects (list *pr2*)))			\
-  (setq i 0)								\
-  (do-until-key								\
-   (print (list i (send *pr2* :torso :waist-z :joint-angle)))		\
-   (setq p (make-coords :pos						\
-                        (v+ (float-vector 400 -400 1000)		\
-                            (float-vector				\
-                             0						\
-                             (* 300 (sin (* pi (/ i 25.0))))		\
-                             (* 500 (sin (* pi (/ i 50.0))))))))	\
-   (send *pr2* :inverse-kinematics p					\
-         :look-at-target t						\
-         :rotation-axis :z						\
-         :use-base 0.1							\
-         )								\
-   (when (boundp '*irtviewer*)						\
-	(send *irtviewer* :objects (list *pr2* p))			\
-	(send *irtviewer* :draw-objects)				\
-	(x::window-main-one))						\
-   (incf i)								\
-   (when (> i 100) (exit 0))						\
-   )									\
-  (if (boundp '*irtviewer*) (send-all (send *pr2* :links) :draw-on :flush t))\
-  (exit)                                                                \
-  )									\
-"
+# rosrun roseus roseus "\
+# (progn									\
+#   (load \"package://euscollada/pr2.l\")					\
+#   (load \"package://pr2eus/pr2-utils.l\")				\
+#   (if (and x::*display* (> x::*display* 0) (not (boundp '*irtviewer*))) (make-irtviewer :title \"pr2.sh\"))			\
+#   (if (not (boundp '*pr2*)) (pr2))					\
+# 									\
+#   (send *pr2* :move-to (make-coords) :world)				\
+#   (send *pr2* :reset-pose)						\
+#   (when (boundp '*irtviewer*) (objects (list *pr2*)))			\
+#   (setq i 0)								\
+#   (do-until-key								\
+#    (print (list i (send *pr2* :torso :waist-z :joint-angle)))		\
+#    (setq p (make-coords :pos						\
+#                         (v+ (float-vector 400 -400 1000)		\
+#                             (float-vector				\
+#                              0						\
+#                              (* 300 (sin (* pi (/ i 25.0))))		\
+#                              (* 500 (sin (* pi (/ i 50.0))))))))	\
+#    (send *pr2* :inverse-kinematics p					\
+#          :look-at-target t						\
+#          :rotation-axis :z						\
+#          :use-base 0.1							\
+#          )								\
+#    (when (boundp '*irtviewer*)						\
+# 	(send *irtviewer* :objects (list *pr2* p))			\
+# 	(send *irtviewer* :draw-objects)				\
+# 	(x::window-main-one))						\
+#    (incf i)								\
+#    (when (> i 100) (exit 0))						\
+#    )									\
+#   (if (boundp '*irtviewer*) (send-all (send *pr2* :links) :draw-on :flush t))\
+#   (exit)                                                                \
+#   )									\
+# "