Merge pull request #1280 from knorth55/fetch-robot-pose-publisher

jsk-ros-pkg · Jul 19, 2021 · 572193e · 572193e
2 parents 411c923 + 9abecab
commit 572193e
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diff --git a/.travis.rosinstall.melodic b/.travis.rosinstall.melodic
@@ -36,6 +36,13 @@
     local-name: fetchrobotics/fetch_ros
     uri: https://github.com/fetchrobotics/fetch_ros.git
     version: ba4bafdb802e474487d1e0d893aa25c9535dc55f
+# robot_pose_publisher is not released in melodic
+# https://github.com/GT-RAIL/robot_pose_publisher/issues/8
+# robot_pose_publisher is needed for rwt_nav
+- git:
+    local-name: GT-RAIL/robot_pose_publisher
+    uri: https://github.com/GT-RAIL/robot_pose_publisher.git
+    version: 0.2.4
 # for drc_task_common in jsk_demos
 # jsk_control is not released in melodic
 - tar:

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -294,4 +294,13 @@
     <remap from="~input" to="/odom" />
     <remap from="~output" to="/odom_corrected" />
   </node>
+
+  <!-- robot_pose_publisher for rwt_nav -->
+  <node name="robot_pose_publisher" pkg="robot_pose_publisher" type="robot_pose_publisher">
+    <rosparam>
+      map_frame: /map
+      base_frame: /base_link
+    </rosparam>
+  </node>
+
 </launch>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/package.xml b/jsk_fetch_robot/jsk_fetch_startup/package.xml
@@ -47,6 +47,9 @@
   <run_depend>julius_ros</run_depend>
   <run_depend version_gte="2.1.13">respeaker_ros</run_depend>
 
+  <!-- for rwt_nav -->
+  <run_depend>robot_pose_publisher</run_depend>
+
   <test_depend>rostest</test_depend>
 
   <export>