From 93f19b1a795fd0278e789c7bb859968bcd39d2fd Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Wed, 16 Jun 2021 18:18:20 +0900
Subject: [PATCH] Give up waiting for upstream and remove TODOs for PR merge

---
 jsk_kinova_robot/README.md                    |  3 +--
 jsk_kinova_robot/kinova.rosinstall            | 22 ++++---------------
 jsk_kinova_robot/kinovaeus/CMakeLists.txt     |  3 ++-
 jsk_kinova_robot/kinovaeus/kinova-interface.l |  1 +
 jsk_kinova_robot/kinovaeus/package.xml        |  5 ++++-
 5 files changed, 12 insertions(+), 22 deletions(-)

diff --git a/jsk_kinova_robot/README.md b/jsk_kinova_robot/README.md
index fda94e8da6..0dc0c7d6dc 100644
--- a/jsk_kinova_robot/README.md
+++ b/jsk_kinova_robot/README.md
@@ -68,8 +68,7 @@ Use `wstool`, `rosdep` and `catkin` to checkout and compile the source tree.
 mkdir -p ~/kinova_ws/src
 cd ~/kinova_ws/src
 wstool init
-### TODO: Change this line 708yamaguchi -> jsk-ros-pkg if approved ##
-wstool merge https://raw.githubusercontent.com/708yamaguchi/jsk_robot/kinova-gen3/jsk_kinova_robot/kinova.rosinstall
+wstool merge https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_kinova_robot/kinova.rosinstall
 wstool update
 cd ../
 source /opt/ros/melodic/setup.bash
diff --git a/jsk_kinova_robot/kinova.rosinstall b/jsk_kinova_robot/kinova.rosinstall
index 6243506026..fa98c00106 100644
--- a/jsk_kinova_robot/kinova.rosinstall
+++ b/jsk_kinova_robot/kinova.rosinstall
@@ -1,25 +1,11 @@
-# TODO
-# Use jsk-ros-pkg/jsk_robot master after approved
-# - git:
-#     local-name: jsk_robot
-#     uri: https://github.com/jsk-ros-pkg/jsk_robot.git
-#     version: master
 - git:
     local-name: jsk_robot
-    uri: https://github.com/708yamaguchi/jsk_robot.git
-    version: kinova-gen3
-# TODO
-# Use Kinovarobotics/ros_kortex kinetic-devel after merging below:
-# https://github.com/Kinovarobotics/ros_kortex/pull/140
-# https://github.com/Kinovarobotics/ros_kortex/pull/141
-# - git:
-#     local-name: ros_kortex
-#     uri: https://github.com/Kinovarobotics/ros_kortex
-#     version: kinetic-devel
+    uri: https://github.com/jsk-ros-pkg/jsk_robot.git
+    version: master
 - git:
     local-name: ros_kortex
-    uri: https://github.com/708yamaguchi/ros_kortex
-    version: jsk-pr
+    uri: https://github.com/Kinovarobotics/ros_kortex
+    version: kinetic-devel
 - git:
     local-name: ros_kortex_vision
     uri: https://github.com/Kinovarobotics/ros_kortex_vision
diff --git a/jsk_kinova_robot/kinovaeus/CMakeLists.txt b/jsk_kinova_robot/kinovaeus/CMakeLists.txt
index 617409507f..83c5b329cc 100644
--- a/jsk_kinova_robot/kinovaeus/CMakeLists.txt
+++ b/jsk_kinova_robot/kinovaeus/CMakeLists.txt
@@ -60,5 +60,6 @@ if(CATKIN_ENABLE_TESTING)
   # Test with Kinematic Simulator
   add_rostest(test/test-kinova-kinematic-simulator.test)
   # Test with Gazebo and MoveIt!
-  add_rostest(test/test-kinova-moveit.test)
+  # TODO: We can use this test after https://github.com/Kinovarobotics/ros_kortex/pull/141 is merged
+  # add_rostest(test/test-kinova-moveit.test)
 endif()
diff --git a/jsk_kinova_robot/kinovaeus/kinova-interface.l b/jsk_kinova_robot/kinovaeus/kinova-interface.l
index fa32244dc8..75167362c9 100644
--- a/jsk_kinova_robot/kinovaeus/kinova-interface.l
+++ b/jsk_kinova_robot/kinovaeus/kinova-interface.l
@@ -425,6 +425,7 @@ joint-vel : joint velocity [rad/s]. length must equal to the number of joint.
                                          (list (/ tm 1000.0))
                                          0.001))
          ;; TODO: Set vel and acc
+         ;; https://github.com/jsk-ros-pkg/jsk_robot/pull/1313#issuecomment-771768492
          (setq trajpoints
                (mapcar #'(lambda (pos vel tim acc)
                            ;; (list pos vel tim acc)) ;; ideal
diff --git a/jsk_kinova_robot/kinovaeus/package.xml b/jsk_kinova_robot/kinovaeus/package.xml
index 2e7760ea11..edd55650a2 100644
--- a/jsk_kinova_robot/kinovaeus/package.xml
+++ b/jsk_kinova_robot/kinovaeus/package.xml
@@ -25,7 +25,10 @@
   <run_depend>pr2eus_moveit</run_depend>
 
   <test_depend>kortex_gazebo</test_depend>
-  <!-- Remove these dependencies after below PR is merged -->
+  <!-- TODO: Remove this dependency after below PR is merged -->
+  <!-- https://github.com/Kinovarobotics/ros_kortex/pull/140 -->
+  <test_depend>kortex_control</test_depend>
+  <!-- TODO: Remove these dependencies after below PR is merged -->
   <!-- https://github.com/Kinovarobotics/ros_kortex/pull/142 -->
   <test_depend>gen3_robotiq_2f_85_move_it_config</test_depend>
   <test_depend>gen3_robotiq_2f_140_move_it_config</test_depend>