Namespace conflict

README.md

@@ -9,8 +9,8 @@ Licensed under GPLv3 (see [LICENSE file](https://github.com/NiryoRobotics/niryo_
 This repository contains all ROS packages used on Niryo One (Raspberry Pi 3B - Xubuntu for ARM).
 
 ## :sparkles: What's New :sparkles: 
-- :sparkles: [Gazebo support](#sparkles-how-to-use-niryo-one-in-gazebo)
-- :sparkles: [Niryo One with Gripper](#bug-niryo-one-with-gripper)
+- [Gazebo support](#sparkles-how-to-use-niryo-one-in-gazebo)
+- [Niryo One with Gripper](#bug-niryo-one-with-gripper)
 
 ## How to use Niryo One with a graphical interface ?
 

niryo_one_bringup/README.md

@@ -24,6 +24,8 @@ Starts joystick interface (Xbox controller) and Blockly server (Blockly is a gra
 
 The main package to launch on a Raspberry Pi 3. Also launches _rosbridge_, _niryo\_one\_base_,  _controllers_, _robot\_commander_, and _user\_interface_. This package is automatically launched when Niryo One boots (Niryo One RPi3 image).
 
+[`rpi_ros_processes.yaml`](./config/rpi_ros_processes.yaml) controls which of the 5 packages need to be launched on startup. In this fork, the `robot_commander`,`vision` and `user_interface` are disabled. You can re-enable them by setting the `launch_on_startup` parameter to `true`.
+
 ### desktop\_rviz\_simulation
 
 This is the main package for simulation mode. It launches _niryo\_one\_base_, _controllers_, _robot\_commander_, _user\_interface_, _rosbridge_, and Rviz to see a 3D view of Niryo One. The _controllers_ package is launched with a simulation flag, so the hardware-related stuff is not used.

niryo_one_bringup/config/rpi_ros_processes.yaml

@@ -22,7 +22,7 @@ processes:
       dependencies:
           - controllers
     - name: 'user_interface'
-      launch_on_startup: true
+      launch_on_startup: false
       delay_before_start: 0.0
       cmd: 'roslaunch niryo_one_bringup user_interface.launch'
       args:
@@ -31,7 +31,7 @@ processes:
           - controllers
           - robot_commander
     - name: 'vision_node'
-      launch_on_startup: true
+      launch_on_startup: false
       delay_before_start: 5.0
       cmd: 'roslaunch niryo_one_bringup vision.launch'
       args:

niryo_one_bringup/launch/niryo_one_bringup_minimal.launch

@@ -94,6 +94,8 @@
 			<remap from="joint_states" to="/niryo_one/joint_states" />
 	    </node>
 
+        	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+
     </group>
 
     <!-- This outside the group since they already publish in the right namespace. This is actually messy, and we might want to rectify this in future -->

niryo_one_commander/scripts/tool_commander.py

@@ -31,7 +31,7 @@ class ToolCommander:
 
     def __init__(self):
         self.action_client = actionlib.SimpleActionClient(
-            'niryo_one/tool_action', ToolAction)
+            'tool_action', ToolAction)
         rospy.loginfo("Waiting for action server : niryo_one/tool_action...")
         self.action_client.wait_for_server()
         rospy.loginfo("Found action server : niryo_one/tool_action")

niryo_one_tools/scripts/tool_controller.py

@@ -37,7 +37,7 @@ def __init__(self, ros_command_interface):
         self.ros_command_interface = ros_command_interface
 
         self.server = actionlib.SimpleActionServer(
-            'niryo_one/tool_action', ToolAction, self.tool_on_goal, False)
+            'tool_action', ToolAction, self.tool_on_goal, False)
 
         self.change_tool_server = rospy.Service(
             'niryo_one/change_tool', SetInt, self.callback_change_tool)

niryo_one_user_interface/scripts/joystick_interface.py

@@ -127,7 +127,7 @@ def __init__(self):
             "/niryo_one/blockly/save_current_point", Int32, queue_size=10)
 
         self.tool_action_client = actionlib.SimpleActionClient(
-            'niryo_one/tool_action', ToolAction)
+            'tool_action', ToolAction)
         self.tool_action_client.wait_for_server()
 
         self.joint_mode_timer = rospy.Timer(rospy.Duration(self.timer_rate), self.send_joint_trajectory)