[jsk_footstep_planner] add more args to optimistic_footstep_planner

[Naoki-Hiraoka]

optimistic_footstep_planner.launch の、点群のトピックの名前を変えられるようにしました。

[k-okada]

test failing, wrong ~obstacle_model parameters?

<testsuite tests="8" failures="3" disabled="0" errors="0" time="37" name="AllTests">
    <testcase name="all-test" status="run" time="0" classname="all-test">
    </testcase>
    <testcase name="test-sample-init" status="run" time="8" classname="test-sample-init">
    </testcase>
    <testcase name="test-sample-without-obstacle" status="run" time="0" classname="test-sample-without-obstacle">
     <failure message="" type="AssertionError">
  Test:(progn (publish-footstep-planning-obstacle-model-from-eus-pointcloud (instance pointcloud :init)) (let* ((result (plan-footstep-from-goal-coords (make-coords :pos (float-vector 3000 0 0))))) (and result (footstep-array-&gt;coords result))))
  Trace:"^[0mmstart testing [test-sample-without-obstacle]
  ld/jsk_footstep_planner/test_results/jsk_footstep_planner/rosunit-test_footste"
  Message:""
     </failure>
    </testcase>
    <testcase name="test-sample-with-obstacle-1" status="run" time="0" classname="test-sample-with-obstacle-1">
     <failure message="" type="AssertionError">
  Test:(progn (let ((obstacle-point-cloud (get-pointcloud-within-bodies-2d (list (let ((bb (make-cube 400 400 50))) (send bb :translate (float-vector 400 0 0)) (send bb :worldcoords) bb))))) (publish-footstep-planning-obstacle-model-from-eus-pointcloud obstacle-point-cloud) (let* ((result (plan-footstep-from-goal-coords (make-coords :pos (float-vector 3000 0 0))))) (and result (footstep-array-&gt;coords result)))))
  Trace:"^[0mmstart testing [test-sample-with-obstacle-1]
  out-obstacle]
  ld/jsk_footstep_planner/test_results/jsk_footstep_planner/rosunit"
  Message:""
     </failure>
    </testcase>
    <testcase name="test-sample-with-obstacle-2" status="run" time="10" classname="test-sample-with-obstacle-2">
     <failure message="" type="AssertionError">
  Test:(progn (load "models/room73b2-scene") (objects (list (room73b2))) (let ((obstacle-point-cloud (get-pointcloud-within-bodies-2d (list (send (make-bounding-box (flatten (send-all (send (send *room73b2* :object "room73b2-gifuplastic-900-cart") :bodies) :vertices))) :body))))) (publish-footstep-planning-obstacle-model-from-eus-pointcloud obstacle-point-cloud) (let ((result (plan-footstep-from-goal-coords (send (send (send (send *room73b2* :object "room73b2-gifuplastic-900-cart") :copy-worldcoords) :translate (float-vector -600 -500 0) :world) :rotate pi/2 :z) :start-coords (send (send (send *room73b2* :object "room73b2-gifuplastic-900-cart") :copy-worldcoords) :translate (float-vector 0 300 0) :world)))) (and result (footstep-array-&gt;coords result)))))
  Trace:"^[0mm;; no display is found. exit from (make-irtviewer)
  ).^[0m
  art testing [test-sample-with-obstacle-1]
  out-obstacle]
  ld/jsk_fo"
  Message:""
     </failure>
    </testcase>
    <testcase name="test-sample-footstep-successors" status="run" time="1" classname="test-sample-footstep-successors">
    </testcase>
    <testcase name="test-sample-stair-walking-0" status="run" time="13" classname="test-sample-stair-walking-0">
    </testcase>
    <testcase name="test-sample-stair-walking-1" status="run" time="4" classname="test-sample-stair-walking-1">
    </testcase>
    <testcase name="test-sample-slope-walking" status="run" time="1" classname="test-sample-slope-walking">
    </testcase>
  </testsuite>