[WIP] Set ROS_MASTER_URI to localhost in *robot*_play.sh

jsk_data/CMakeLists.txt

@@ -68,6 +68,11 @@ if (CATKIN_ENABLE_TESTING)
     roslaunch_add_file_check(launch/baxter_play.launch)
     roslaunch_add_file_check(launch/baxter_record.launch)
   endif()
+  find_package(fetch_description QUIET)
+  if(fetch_description_FOUND)
+    roslaunch_add_file_check(launch/fetch_play.launch)
+    roslaunch_add_file_check(launch/fetch_record.launch)
+  endif()
   find_package(pr2_description QUIET)
   if(pr2_description_FOUND)
     roslaunch_add_file_check(launch/pr2_play.launch)

jsk_data/launch/baxter_play.sh

@@ -3,8 +3,10 @@ filenames="";
 for filename in ${@:1:$#}
 do
     filenames=$filenames" "`pwd`/$filename;
-done 
+done
 echo $filenames
+
+export ROS_MASTER_URI=http://localhost:11311
 ##for check args
 ##roslaunch --args rosbag_play pr2_play.launch bagfile_names:="$filenames";
-roslaunch jsk_data baxter_play.launch bagfile_names:="$filenames";
+roslaunch jsk_data baxter_play.launch bagfile_names:="$filenames";

jsk_data/launch/fetch_play.launch

@@ -0,0 +1,34 @@
+<launch>
+  <!-- other file args -->
+  <arg name="bagfile_names" />
+  <arg name="launch_openni2" default="true"/>
+  <arg name="launch_robot_model" default="true"/>
+  <arg name="rosbag_option" default="--clock --loop"/>
+  <arg name="use_xterm" default="false" />
+
+  <!-- set params for rviz -->
+  <param name="use_sim_time" value="true" />
+  <param if="$(arg launch_robot_model)"
+         name="robot_description" textfile="$(find fetch_description)/robots/fetch.urdf"/>
+
+  <!-- setup openni_launch -->
+  <include if="$(arg launch_openni2)"
+           file="$(find openni2_launch)/launch/openni2.launch">
+    <arg name="camera" value="head_camera"/>
+    <arg name="load_driver" value="false"/>
+    <arg name="depth_registration" value="true"/>
+  </include>
+
+  <group if="$(arg use_xterm)">
+    <node name="rosbag_play"
+          pkg="rosbag" type="play"
+          launch-prefix="xterm -e"
+          args="$(arg rosbag_option) $(arg bagfile_names)" />
+  </group>
+  <group unless="$(arg use_xterm)">
+    <node name="rosbag_play"
+          pkg="rosbag" type="play"
+          args="$(arg rosbag_option) $(arg bagfile_names)" />
+  </group>
+
+</launch>

jsk_data/launch/fetch_play.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+filenames="";
+for filename in ${@:1:$#}
+do
+    filenames=$filenames" "$filename;
+done
+echo $filenames
+
+export ROS_MASTER_URI=http://localhost:11311
+roslaunch jsk_data fetch_play.launch bagfile_names:="$filenames";

jsk_data/launch/fetch_record.launch

@@ -0,0 +1,44 @@
+<launch>
+
+  <!-- for fetch -->
+  <arg name="save_dir" default="/tmp/fetch_rosbag"/>
+  <arg name="bagfile_prefix" default="data" />
+  <arg name="other_topics" default=""/>
+  <arg name="other_options" default=""/>
+  <arg name="save_openni2" default="true" />
+  <arg name="save_base_scan" default="true" />
+  <arg name="save_robot_model" default="true" />
+  <arg name="save_all_image" default="false" />
+  <arg name="camera_namespace" default="head_camera"/>
+  <arg name="machine" default="localhost" />
+
+  <!--                          -->
+  <!--       Conditions         -->
+  <!--                          -->
+
+  <arg unless="$(arg save_base_scan)"
+       name="base_scan_topics" value="" />
+  <arg if    ="$(arg save_base_scan)"
+       name="base_scan_topics" value="/base_scan" />
+
+  <arg unless="$(arg save_all_image)"
+       name="all_image_topics" value="" />
+  <arg if    ="$(arg save_all_image)"
+       name="all_image_topics" value="-e .*/(image_raw|camera_info)" />
+
+  <!-- execute -->
+  <include file="$(find jsk_data)/launch/common_record.launch">
+    <arg name="save_openni" value="false" />
+    <arg name="save_openni2" value="$(arg save_openni2)" />
+    <arg name="save_robot_model" value="$(arg save_robot_model)" />
+    <arg name="save_all_image" value="$(arg save_all_image)" />
+    <arg name="camera_namespace" value="$(arg camera_namespace)" />
+    <arg name="save_dir" value="$(arg save_dir)" />
+    <arg name="bagfile_prefix" value="$(arg bagfile_prefix)" />
+    <arg name="other_options" value="$(arg other_options)" />
+    <arg name="other_topics" value="$(arg other_topics)
+                                    $(arg base_scan_topics)" />
+    <arg name="machine" value="$(arg machine)" />
+  </include>
+
+</launch>

jsk_data/launch/hrp2_play.sh

@@ -3,8 +3,10 @@ filenames="";
 for filename in ${@:1:$#}
 do
     filenames=$filenames" "$filename;
-done 
+done
 echo $filenames
+
+export ROS_MASTER_URI=http://localhost:11311
 ##for check args
 ##roslaunch --args rosbag_play hrp2_play.launch bagfile_names:="$filenames";
 roslaunch jsk_data hrp2_play.launch bagfile_names:="$filenames";

jsk_data/launch/pr2_play.sh

@@ -16,4 +16,5 @@ while [[ $# -gt 0 ]]; do
   esac
 done
 
+export ROS_MASTER_URI=http://localhost:11311
 roslaunch jsk_data pr2_play.launch bagfile_names:="$FILENAMES" rosbag_option:="$OPTIONS"