Re: Issue 291 in rtm-ros-robotics: Extract common code from hironx and nextage to HrpsysConfigurator

[rtm-ros-...@googlecode.com]

Updates:
Summary: Extract common code from hironx and nextage to HrpsysConfigurator
Cc: emijah.s

Comment #7 on issue 291 by gm130s: Extract common code from hironx and
nextage to HrpsysConfigurator
http://code.google.com/p/rtm-ros-robotics/issues/detail?id=291

First off, I added HrpsysConfigurator to the title now that we found that
there are methods that we can promote to hrpsys level, not just in
hironx-nextage level. I now think there are 2 levels of abstraction:

Level-1. Promote to hrpsys
Level-2. Consolidate common methods and variables to a common class (that
does not yet exist) of hiro-nextage robot.

So in this ticket we talk about L-1 abstraction aside from L-2.

+1 for the patch from kei....@gmail.com. Responding,

> 1) there are seveal lines that desgined for humanoid robots exits. we can
> remove this at this moment.
> stOff -> stabilizer off, liftRobotUp -> humanoid robot must in the air
> when servo off

> 2) remove gripper related code that would not general (ServoControler
> assume specific type of servo modules)

Agreed.


> 3) I'm still believe that servo_off/servo_on should work without removing
> joint groups...;
> https://github.com/130s/rtmros_common/blob/4903e2848353b594c89b439ccf99cfa1c4589ad0/hrpsys_ros_bridge/src/hrpsys_ros_bridge/rtmros_robot_client.py
> this
> code still call SWITCH_ON before goActual().

> 4) remove several lines from servoOn and servoOff which I do not
> understand.
> A)I could not find the reason why 'Move to Actual State, Just a minute.'
> line is requried., because we call goActual and SWITCH_ON, so that the
> servo modules is already output "Actual State"

> B)'if the servos aren't on switch power off' line is also unclear to me,
> it seems we do not need this code because of we do same thing
> after "Robot Motion Warning (Servo OFF)"

Sorry,,,the link above, which is my patch, is based on an older
hironx_client.py that didn't contain the recent patch about servoOn/Off.
That said please ignore servo related parts of my patch.


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Comment #8 on issue 291 by gm130s: Extract common code from hironx and

nextage to HrpsysConfigurator
http://code.google.com/p/rtm-ros-robotics/issues/detail?id=291

Moved to https://github.com/start-jsk/rtmros_common/issues/289