more travis fixes

cob_bringup/drivers/bms.launch

@@ -8,7 +8,7 @@
 		<rosparam command="load" file="$(arg pkg_hardware_config)/$(arg robot)/config/bms.yaml"/>
 	</node>
 	<node ns="bms" name="power_state_aggregator" pkg="cob_bms_driver" type="power_state_aggregator.py" output="screen">
-	    <remap from="power_state" to="/power_state"/>
+			<remap from="power_state" to="/power_state"/>
 	</node>
 
 </launch>

cob_bringup/drivers/mimic.launch

@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
 <launch>
 
-  <arg name="rotation" default="0"/>
+	<arg name="rotation" default="0"/>
 
-  <!-- start mimic -->
-  <node pkg="cob_mimic" type="mimic_node.py" name="mimic" cwd="node" respawn="false">
-    <param name="rotation" value="$(arg rotation)"/>
-  </node>
+	<!-- start mimic -->
+	<node pkg="cob_mimic" type="mimic_node.py" name="mimic" cwd="node" respawn="false">
+		<param name="rotation" value="$(arg rotation)"/>
+	</node>
 
 </launch>

cob_bringup/drivers/scan_unifier.launch

@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <launch>
 
-  <arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
-  <arg name="param_file" default="$(find cob_hardware_config)/$(arg robot)/config/scan_unifier_config.yaml"/>
+	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="param_file" default="$(find cob_hardware_config)/$(arg robot)/config/scan_unifier_config.yaml"/>
 
-  <!-- run scan unifier -->
-  <node pkg="cob_scan_unifier" type="scan_unifier_node" name="scan_unifier" output="log">
-    <rosparam file="$(arg param_file)" command="load"/>
-    <remap from="scan_unified" to="/scan_unified"/>
-  </node>
+	<!-- run scan unifier -->
+	<node pkg="cob_scan_unifier" type="scan_unifier_node" name="scan_unifier" output="log">
+		<rosparam file="$(arg param_file)" command="load"/>
+		<remap from="scan_unified" to="/scan_unified"/>
+	</node>
 
 </launch>

cob_bringup/drivers/schunk_sdhx.launch

@@ -1,29 +1,31 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="port" default="/dev/rfcomm0"/>
-  <arg name="baud" default="57600"/>
-  <arg name="component_name" default="gripper"/>
-  <arg name="check" default="true"/>
-  <remap from="/$(arg component_name)/internal/recover" to="/$(arg component_name)/driver/recover"/>
-  <remap from="/$(arg component_name)/internal/halt" to="/$(arg component_name)/driver/halt"/>
-
-  <group ns="/$(arg component_name)">
 
-    <node pkg="rosserial_server" type="serial_node" name="rosserial_server">
-      <param name="port" value="$(arg port)"/>
-      <param name="baud" value="$(arg baud)"/>
-      <rosparam if="$(arg check)">
-       require:
-          publishers: [ status ]
-          subscribers: [ command, set_pin, clear_pin ]
-          service_servers: [ init_finger, halt, init_pins, update_pins, set_pwm, recover ]
-      </rosparam>
-    </node>
+	<arg name="port" default="/dev/rfcomm0"/>
+	<arg name="baud" default="57600"/>
+	<arg name="component_name" default="gripper"/>
+	<arg name="check" default="true"/>
+	<remap from="/$(arg component_name)/internal/recover" to="/$(arg component_name)/driver/recover"/>
+	<remap from="/$(arg component_name)/internal/halt" to="/$(arg component_name)/driver/halt"/>
 
-    <node pkg="rosserial_python" type="message_info_service.py" name="rosserial_message_info"/>
+	<group ns="/$(arg component_name)">
+
+		<node pkg="rosserial_server" type="serial_node" name="rosserial_server">
+			<param name="port" value="$(arg port)"/>
+			<param name="baud" value="$(arg baud)"/>
+			<rosparam if="$(arg check)">
+			 require:
+					publishers: [ status ]
+					subscribers: [ command, set_pin, clear_pin ]
+					service_servers: [ init_finger, halt, init_pins, update_pins, set_pwm, recover ]
+			</rosparam>
+		</node>
+
+		<node pkg="rosserial_python" type="message_info_service.py" name="rosserial_message_info"/>
+
+		<node pkg="cob_hand_bridge" type="cob_hand_bridge_node" name="cob_hand_bridge">
+			<rosparam param="sdhx/joint_names" subst_value="True">[$(arg component_name)_finger_1_joint, $(arg component_name)_finger_2_joint]</rosparam>
+		</node>
+	</group>
 
-    <node pkg="cob_hand_bridge" type="cob_hand_bridge_node" name="cob_hand_bridge">
-      <rosparam param="sdhx/joint_names" subst_value="True">[$(arg component_name)_finger_1_joint, $(arg component_name)_finger_2_joint]</rosparam>
-    </node>
-  </group>
 </launch>

cob_bringup/drivers/sick_lms1xx.launch

@@ -4,12 +4,13 @@
 	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="name"/>
+	<arg name="sim" default="false"/>
 
 	<!-- load parameter -->
 	<rosparam ns="$(arg name)" command="load" file="$(arg pkg_hardware_config)/$(arg robot)/config/$(arg name).yaml"/>
 
 	<!-- start laser driver -->
-	<node ns="$(arg name)" pkg="cob_sick_lms1xx" type="lms100" name="driver" respawn="false" output="screen">
+	<node unless="$(arg sim)" ns="$(arg name)" pkg="cob_sick_lms1xx" type="lms100" name="driver" respawn="false" output="screen">
 		<remap from="scan" to="scan_raw"/>
 	</node>
 

cob_bringup/drivers/sick_visionary_t.launch

@@ -1,18 +1,18 @@
 <?xml version="1.0"?>
 <launch>
 
-  <arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
-  <arg name="name" default="cam3d"/>
+	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="name" default="cam3d"/>
 
-  <node pkg="sick_visionary_t_driver" type="sick_visionary_t_driver_node" name="$(arg name)_node" output="screen">
-    <param name="remote_device_ip" value="192.168.1.10"/>
-    <param name="frame_id" value="$(arg name)_link"/>
-    <remap from="$(arg name)_node/camera_info" to="$(arg name)/depth/camera_info"/>
-    <remap from="$(arg name)_node/confidence" to="$(arg name)/depth/image"/>
-    <remap from="$(arg name)_node/depth" to="$(arg name)/depth/image_rect"/>
-    <remap from="$(arg name)_node/intensity" to="$(arg name)/depth/intensity"/>
-    <remap from="$(arg name)_node/ios" to="$(arg name)/depth/ios"/>
-    <remap from="$(arg name)_node/points" to="$(arg name)/depth/points"/>
-  </node>
+	<node pkg="sick_visionary_t_driver" type="sick_visionary_t_driver_node" name="$(arg name)_node" output="screen">
+		<param name="remote_device_ip" value="192.168.1.10"/>
+		<param name="frame_id" value="$(arg name)_link"/>
+		<remap from="$(arg name)_node/camera_info" to="$(arg name)/depth/camera_info"/>
+		<remap from="$(arg name)_node/confidence" to="$(arg name)/depth/image"/>
+		<remap from="$(arg name)_node/depth" to="$(arg name)/depth/image_rect"/>
+		<remap from="$(arg name)_node/intensity" to="$(arg name)/depth/intensity"/>
+		<remap from="$(arg name)_node/ios" to="$(arg name)/depth/ios"/>
+		<remap from="$(arg name)_node/points" to="$(arg name)/depth/points"/>
+	</node>
 
 </launch>

cob_bringup/drivers/tray_sensors.launch

@@ -13,4 +13,3 @@
 	</node>
 
 </launch>
-

cob_bringup/drivers/usb_camera_node.launch

@@ -1,19 +1,19 @@
 <?xml version="1.0"?>
-
 <launch>
-  <arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
-  <arg name="camera_name" default="usb_cam"/>
-
-  <node name="$(arg camera_name)" pkg="usb_cam" type="usb_cam_node" output="screen">
-    <param name="video_device" value="/dev/video0"/>
-    <param name="image_width" value="2048"/>
-    <param name="image_height" value="1536"/>
 
-    <param name="pixel_format" value="yuyv"/>
-    <param name="camera_frame_id" value="$(arg camera_name)_link"/>
-    <param name="framerate" value="5"/>
-    <param name="camera_name" value="$(arg camera_name)"/>
-    <param name="camera_info_url" value="package://cob_calibration_data/$(arg robot)/calibration/cameras/$(arg camera_name).yaml"/>
-  </node>
-  <node name="image_proc" pkg="image_proc" type="image_proc" ns="$(arg camera_name)"/>
+	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="camera_name" default="usb_cam"/>
+
+	<node name="$(arg camera_name)" pkg="usb_cam" type="usb_cam_node" output="screen">
+		<param name="video_device" value="/dev/video0"/>
+		<param name="image_width" value="2048"/>
+		<param name="image_height" value="1536"/>
+		<param name="pixel_format" value="yuyv"/>
+		<param name="camera_frame_id" value="$(arg camera_name)_link"/>
+		<param name="framerate" value="5"/>
+		<param name="camera_name" value="$(arg camera_name)"/>
+		<param name="camera_info_url" value="package://cob_calibration_data/$(arg robot)/calibration/cameras/$(arg camera_name).yaml"/>
+	</node>
+	<node name="image_proc" pkg="image_proc" type="image_proc" ns="$(arg camera_name)"/>
+
 </launch>

cob_hardware_config/cob4-5/config/hz_monitor_sensorring_cam3d_back.yaml

@@ -0,0 +1,4 @@
+diagnostics_name: sensorring_cam3d_back
+topics: [/sensorring_cam3d_back/rgb/camera_info]
+hz: 7
+hzerror: 3

cob_hardware_config/cob4-5/config/hz_monitor_torso_cam3d_down.yaml

@@ -0,0 +1,4 @@
+diagnostics_name: torso_cam3d_down
+topics: [/torso_cam3d_down/rgb/camera_info]
+hz: 30
+hzerror: 5

cob_hardware_config/cob4-5/config/hz_monitor_torso_cam3d_left.yaml

@@ -0,0 +1,4 @@
+diagnostics_name: torso_cam3d_left
+topics: [/torso_cam3d_left/rgb/camera_info]
+hz: 30
+hzerror: 5

cob_hardware_config/cob4-5/config/hz_monitor_torso_cam3d_right.yaml

@@ -0,0 +1,4 @@
+diagnostics_name: torso_cam3d_right
+topics: [/torso_cam3d_right/rgb/camera_info]
+hz: 30
+hzerror: 5

cob_moveit_config/CMakeLists.txt

@@ -11,6 +11,7 @@ set(robotlist
     cob3-9
     cob4-1
     cob4-2
+    cob4-5
     cob4-7
     cob4-10
     raw3-1

cob_moveit_config/cob4-5/.setup_assistant

@@ -0,0 +1,6 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: cob_hardware_config
+    relative_path: cob4-5/urdf/cob4-5.urdf.xacro
+  SRDF:
+    relative_path: config/cob4-5.srdf

cob_moveit_config/cob4-5/config/cob4-5.srdf

@@ -0,0 +1,2 @@
+<robot name="cob4-5">
+</robot>