Move uuv_mating out of legacy

[mabelzhang]

Partially addresses #142.
Move uuv_mating package out of legacy/, into new repo structure after 4.0.0.

Corresponding tutorial:
https://github.com/Field-Robotics-Lab/dave/wiki/Electrical-Plug-Mating-Plugin

To test the PR, instead of the command in the tutorial, use the new package name:

roslaunch dave_demo_launch uuv_dave_electrical_mate.launch

(TODO(mabelzhang): Update the command in the tutorial once this PR is merged.) Done.

Double-check that the plug object model displays on the square plate, and that the yellow socket model displays near the top of the control panel. See sample images in the tutorial for what they look like.

Feedback needed:
Are the new file names okay? I don’t know enough about the convention in this repo to determine whether the launch files should keep the uuv_dave prefix.

[bsb808]

First - as for naming, since you asked, I find adding the uuv_dave prefix to be redundant to the scoping done in the package name. Recommend changing the launch file name to just electrical_mate.launch.

[bsb808]

When I run the example, I get these failed nodes...

WARNING: RDRND generated: 0xffffffff 0xffffffff 0xffffffff 0xffffffff
[rexrov/oberon7/gripper_controller_oberon7-15] process has died [pid 10294, exit code 1, cmd /home/bsb/uuv_ws/devel/lib/uuv_manipulators_control/gripper_controller.py joy:=/rexrov/joy __name:=gripper_controller_oberon7 __log:=/home/bsb/.ros/log/6b7d5964-0c05-11ec-8635-0242ac110002/rexrov-oberon7-gripper_controller_oberon7-15.log].
log file: /home/bsb/.ros/log/6b7d5964-0c05-11ec-8635-0242ac110002/rexrov-oberon7-gripper_controller_oberon7-15*.log
[rexrov/oberon7/kinematics_service-16] process has died [pid 10315, exit code 1, cmd /home/bsb/uuv_ws/devel/lib/uuv_manipulators_kinematics/kinematics_service.py __name:=kinematics_service __log:=/home/bsb/.ros/log/6b7d5964-0c05-11ec-8635-0242ac110002/rexrov-oberon7-kinematics_service-16.log].
log file: /home/bsb/.ros/log/6b7d5964-0c05-11ec-8635-0242ac110002/rexrov-oberon7-kinematics_service-16*.log
[rexrov/oberon7/joint_position_controller_oberon7-17] process has died [pid 10331, exit code 1, cmd /home/bsb/uuv_ws/devel/lib/uuv_manipulators_control/joint_position_controller.py joy:=/rexrov/joy __name:=joint_position_controller_oberon7 __log:=/home/bsb/.ros/log/6b7d5964-0c05-11ec-8635-0242ac110002/rexrov-oberon7-joint_position_controller_oberon7-17.log].
log file: /home/bsb/.ros/log/6b7d5964-0c05-11ec-8635-0242ac110002/rexrov-oberon7-joint_position_controller_oberon7-17*.log
starting AccelerationControl.py
starting VelocityControl.py

The culprit(s) seem to be in the uuv_manipulators repo. I'm tracking them down and intend to submit a PR for that repo. Running on the master branch with [email protected]:field-robotics-lab/uuv_manipulators

== Question ==

@mabelzhang - do you see the same error when using the current master branch of the uuv_manipulators repo?

== Fix ==

Here is a small PR that fixes the error for me: Field-Robotics-Lab/uuv_manipulators#6

Once we merge this uuv_manipulators PR and verify, then I'm good to approve.

[mabelzhang]

Apparently I had an outdated version of this repo and didn't encounter the uuv_manipulators error! Thank you for the fix.

Okay, for consistency, I renamed the launch file and world file to dave_*, since all the other files in those directories start with a dave_ prefix. If we want to remove the redundant dave_, we should rename all of them in a new PR.

[bsb808]

Works for me!