Reproduce of PR2 Subway Fetch Demo.

elevator_move_base_pr2.rosinstall

@@ -0,0 +1,4 @@
+- git:
+    local-name: knorth55/coral_usb_ros
+    uri: https://github.com/knorth55/coral_usb_ros.git
+    version: master

elevator_move_base_pr2/CMakeLists.txt

@@ -1,54 +1,50 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(elevator_move_base_pr2)
 
-find_package(catkin REQUIRED roscpp image_transport cv_bridge image_geometry tf geometry_msgs std_msgs message_generation roseus)
-
-add_message_files(
-  FILES Float32Stamped.msg)
+find_package(catkin REQUIRED
+  cv_bridge
+  geometry_msgs
+  image_geometry
+  image_transport
+  roscpp
+  std_msgs
+  tf
+)
 
-generate_messages(
-  DEPENDENCIES std_msgs)
+add_custom_target(
+  ${PROJECT_NAME}_install_trained_model
+  ALL
+  COMMAND ${PROJECT_SOURCE_DIR}/scripts/install_trained_model.py
+)
 
 include_directories(${catkin_INCLUDE_DIRS})
 
 catkin_package(
-    DEPENDS
-    CATKIN_DEPENDS
-    INCLUDE_DIRS
-    LIBRARIES
+  DEPENDS
+  CATKIN_DEPENDS
+  INCLUDE_DIRS
+  LIBRARIES
 )
 
 add_executable(color_point_detector src/color_point_detector.cpp)
 target_link_libraries(color_point_detector ${catkin_LIBRARIES})
 
-catkin_package(
-    DEPENDS #
-    CATKIN_DEPENDS # TODO
-    INCLUDE_DIRS # TODO include
-    LIBRARIES # TODO
-)
-
 if (CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest(test/test-color-point-detector.launch)
-  find_package(jsk_perception)
-  if(EXISTS ${jsk_perception_DIR}/launch/eusmodel_detection_elevator-panels-eng2.launch OR
-      EXISTS ${jsk_perception_SOURCE_PREFIX}/launch/eusmodel_detection_elevator-panels-eng2.launch)
-    add_rostest(test/test-panel-pose-detection.launch ROBOT:=sim)
-    add_rostest(test/test-button-light.launch ROBOT:=sim)
-  else()
-    message(WARNING "${jsk_perception_DIR}/launch/eusmodel_detection_elevator-panels-eng2.launch or")
-    message(WARNING "${jsk_perception_SOURCE_PREFIX}/launch/eusmodel_detection_elevator-panels-eng2.launch is not found")
-    message(WARNING "You need to compile jsk_perception to run test-button-light.launch and test-panel-pose-detection.launch")
-  endif()
-  # 2 tests below are skipped now since they aren't actually used for testing purpose.
-  # add_rostest(test/test-modules-callpanel.launch ROBOT:=sim)
-  # add_rostest(test/test-modules-insidepanel.launch ROBOT:=sim)
+  add_rostest(test/test-panel-pose-detection.launch ROBOT:=sim)
+  add_rostest(test/test-button-light.launch ROBOT:=sim)
+  add_rostest(test/test-modules-callpanel.launch ROBOT:=sim)
+  add_rostest(test/test-modules-insidepanel.launch ROBOT:=sim)
 endif()
 
-install(DIRECTORY launch test scripts elevator_numbers
+install(
+  DIRECTORY config elevator_numbers launch node_scripts sample scripts test
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  USE_SOURCE_PERMISSIONS)
+  USE_SOURCE_PERMISSIONS
+)
 
-install(TARGETS color_point_detector
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+install(
+  TARGETS color_point_detector
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

elevator_move_base_pr2/README.md

@@ -0,0 +1,32 @@
+# elevator_move_base_pr2
+
+A ROS package for moving around in the building with elevator by PR2 robot.
+
+## Usage
+
+### Go to subway, buy sandwich and come back
+
+#### Step 1
+
+Launch some common nodes on c1 machine to prepare for using elevator.
+
+```bash
+roslaunch elevator_move_base_pr2 elevator_move_base_eng2.launch
+```
+
+#### Step 2
+
+Launch nodes for recognition on GPU machine.
+This step will be meld into step 1 in the future.
+
+```bash
+roslaunch elevator_move_base_pr2 fcn_door_button_segmentation.launch
+```
+
+#### Step 3
+
+Launch nodes for application on c1 machine to start demonstration.
+
+```bash
+roslaunch elevator_move_base_pr2 fetch_sandwich.launch
+```

elevator_move_base_pr2/apps/apps.installed

@@ -0,0 +1,3 @@
+apps:
+  - app: elevator_move_base_pr2/pr2_subway_demo
+    display: PR2 fetches sandwich from SUBWAY

elevator_move_base_pr2/apps/pr2_subway_demo/pr2_subway_demo.app

@@ -0,0 +1,6 @@
+display: PR2 fetches sandwich from SUBWAY
+description: PR2 fetches sandwich from SUBWAY
+platform: pr2
+launch: elevator_move_base_pr2/pr2_subway_demo.xml
+interface: elevator_move_base_pr2/pr2_subway_demo.interface
+icon: elevator_move_base_pr2/pr2_subway_demo.png

elevator_move_base_pr2/apps/pr2_subway_demo/pr2_subway_demo.interface

@@ -0,0 +1,2 @@
+published_topics: {}
+subscribed_topics: {}

elevator_move_base_pr2/apps/pr2_subway_demo/pr2_subway_demo.xml

@@ -0,0 +1,4 @@
+<launch>
+  <include file="$(find elevator_move_base_pr2)/launch/elevator_move_base_eng2.launch"/>
+  <include file="$(find elevator_move_base_pr2)/sample/fetch_sandwich.launch"/>
+</launch>