Kinetic: port code base to ROS Kinetic and Ubuntu Xenial

[jack-oquin]

xref: utexas-bwi/bwi#44, utexas-bwi/bwi_common#83

[jack-oquin]

xref: StanleyInnovation/segway_v3#26

[jack-oquin]

smart_battery_msgs is deprecated in Kinetic. It has been replaced by sensor_msgs/BatteryState. Since that message is also available in Indigo, the obvious solution is to migrate our code to the new message.

That looks straightforward.

[jack-oquin]

Dependencies that need a kinetic release:

• camera1394
• eband_local_planner
• hokuyo_node, no longer supported after ROS Indigo, migrated all uses to urg_node
• libsegwayrmp, see: Kinetic: segbot_v2 system porting tasks #95, could we have a Kinetic release, please? segwayrmp/libsegwayrmp#17, currently building using a modified source repo
• segway_rmp, depends on libsewayrmp, building from source
• segway_v3 building from source
• velodyne

[jack-oquin]

The suggested migration path for hokuyo_node is to urg_node, which we already use for ethernet-attached lasers.

[jack-oquin]

A lot of things needed for roberto, a segbot_v4 build and run using this rosinstall:

• https://github.com/utexas-bwi/bwi/blob/master/rosinstall/kinetic.rosinstall

Many dependencies have to be installed manually, which is very annoying. Because there are some missing dependencies, rosdep will not install everything automatically. But, most of what's needed is now installed on roberto in the Xenial partition.

The biggest obstacle right now appears to be the missing hokuyo driver. I plan to update the launch scripts in the joq/kinetic branch to use the urg driver, instead. We can't merge that into master until it's all working on both Kinetic and Indigo.

[jack-oquin]

I am able to run segbot_v4.launch on roberto with the urg_node using the joq/kinetic branch, but it's configured for an Ethernet-attached URG. It needs to configure for the USB-attached device, instead.

[jack-oquin]

With some parameter updates, it now publishes data to the /scan topic. The filter node should translate that to /scan_filtered, but it fails:

[hokuyo_laser_filters-23] process has died [pid 29394, exit code -11, cmd /opt/ros/kinetic/lib/laser_filters/scan_to_scan_filter_chain __name:=hokuyo_laser_filters __log:=/home/users/joq/.ros/log/7f10c79c-9277-11e7-9fd7-d05099af6e6d/hokuyo_laser_filters-23.log].
log file: /home/users/joq/.ros/log/7f10c79c-9277-11e7-9fd7-d05099af6e6d/hokuyo_laser_filters-23*.log

[jack-oquin]

I can run segbot_v4.launch on roberto today. It works with teleop_twist_keyboard, but the hokuyo_laser_filters crash (see above) is still happening.

[jack-oquin]

Commenting out the angle_range_filter, seems to eliminate the crash. The code for that is in angle_range_filter.h inside segbot_sensors.

[jack-oquin]

Commit 5bf984b is just a work-around. Presumably that filter exists for a reason, and we need to figure out why it's crashing.

[jack-oquin]

@shihyunlo says we don't actually use the scan filters on segbot_v4, so it can be commented out from the launch script.

[jack-oquin]

With a fix to the bwi_launch for segbot_v4, amcl is now picking up the correct topic, and navigation via rviz is minimally working on Kinetic.

I tried visit door list and it failed repeatedly. Too tired to work on that today.

[jack-oquin]

@shihyunlo reports visit door list working now on roberto (segbot_v4).

[jack-oquin]

These changes look like they should work on Indigo as well as on Kinetic, given a compatible version of bwi_common, which should also work except for the clingo incompatibilities between Trusty and Xenial.