Merge pull request #695 from furushchev/pr2-iai-gazebo

[jsk_pr2_startup] IAI kitchen gazebo startup launch

jsk_pr2_robot/jsk_pr2_startup/iai_kitchen.rosinstall

@@ -0,0 +1,4 @@
+- git:
+    local-name: code-iai/iai_maps
+    uri: https://github.com/code-iai/iai_maps
+    version: master

jsk_pr2_robot/jsk_pr2_startup/pr2.launch

@@ -2,6 +2,7 @@
   <node pkg="jsk_robot_startup" type="start_launch_sound.py"
         name="start_launch_sound" />
   <arg name="map_frame" default="eng2" />
+  <arg name="launch_map" default="true" />
   <arg name="launch_openni" default="false" />
   <arg name="launch_move_base" default="true" />
   <arg name="launch_imagesift" default="false" />
@@ -55,7 +56,8 @@
        <node name="dynamic_tf_publisher" pkg="dynamic_tf_publisher"
        type="tf_publish.py" /> -->
 
-  <include file="$(find jsk_maps)/launch/start_map_$(arg map_frame).launch">
+  <include file="$(find jsk_maps)/launch/start_map_$(arg map_frame).launch"
+           if="$(arg launch_map)">
     <arg name="MACHINE" value="c2" />
   </include>
 

jsk_pr2_robot/jsk_pr2_startup/pr2_gazebo.launch

@@ -9,6 +9,7 @@
   <arg name="num_worker_threads" default="4" />
   <arg name="launch_pr2" default="true" />
   <arg name="map_frame" default="eng2" />
+  <arg name="launch_map" default="true" />
   <arg name="INITIAL_POSE_X" default="0.0" />
   <arg name="INITIAL_POSE_Y" default="0.0" />
   <arg name="INITIAL_POSE_Z" default="0.0" />
@@ -132,6 +133,7 @@
   <include file="$(find jsk_pr2_startup)/pr2.launch"
            if="$(arg launch_pr2)">
     <arg name="map_frame" value="$(arg map_frame)" />
+    <arg name="launch_map" value="$(arg launch_map)" />
     <arg name="launch_openni" value="false" />
     <arg name="launch_db" value="false" />
     <arg name="launch_hark" value="false" />

jsk_pr2_robot/jsk_pr2_startup/sample/pr2_gazebo_iai_kitchen.launch

@@ -0,0 +1,27 @@
+<launch>
+  <arg name="INITIAL_POSE_X" default="0.0" />
+  <arg name="INITIAL_POSE_Y" default="0.0" />
+  <arg name="INITIAL_POSE_YAW" default="0.0" />
+  <include file="$(find jsk_pr2_startup)/pr2_gazebo.launch">
+    <arg name="launch_map" value="false" />
+    <arg name="INITIAL_POSE_X" value="$(arg INITIAL_POSE_X)" />
+    <arg name="INITIAL_POSE_Y" value="$(arg INITIAL_POSE_Y)" />
+    <arg name="INITIAL_POSE_YAW" value="$(arg INITIAL_POSE_YAW)" />
+  </include>
+
+  <node name="initial_pose_publisher" output="screen"
+        pkg="jsk_robot_startup" type="initialpose_publisher.l">
+    <rosparam subst_value="true">
+      initial_pose_frame: /eng2/7f/73B2
+      initial_pose_x: $(arg INITIAL_POSE_X)
+      initial_pose_y: $(arg INITIAL_POSE_Y)
+      initial_pose_yaw: $(arg INITIAL_POSE_YAW)
+    </rosparam>
+  </node>
+
+  <!-- Spawn iai kitchen -->
+  <include file="$(find iai_kitchen)/launch/gazebo_spawn_kitchen.launch"/>
+
+  <!-- launch iai map -->
+  <include file="$(find iai_maps)/launch/iai_maps.launch" />
+</launch>