From 7111bcdbe799dcef790cc99bf8c38c4241a8a69b Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Fri, 28 Apr 2017 22:00:27 -0700
Subject: [PATCH] [ros_bridge][py] Accept a list of custom RTCs to activate
 (fix #308).

This requires the upstream change https://github.com/start-jsk/rtmros_hironx/pull/497
---
 nextage_ros_bridge/script/nextage.py                     | 9 ++++++++-
 .../src/nextage_ros_bridge/nextage_client.py             | 4 ++--
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/nextage_ros_bridge/script/nextage.py b/nextage_ros_bridge/script/nextage.py
index 48a58c22..de8253bc 100755
--- a/nextage_ros_bridge/script/nextage.py
+++ b/nextage_ros_bridge/script/nextage.py
@@ -50,6 +50,9 @@
                  ' this script, but can use RTM. To use ROS, do not forget' \
                  ' to run rosbridge. How to do so? --> http://wiki.ros.org/rtmros_nextage/Tutorials/Operating%20Hiro%2C%20NEXTAGE%20OPEN'
 
+# The default RTCs for Hironx
+RTC_LIST = 'seq, sh, fk, el, log'
+
 if __name__ == '__main__':
     parser = argparse.ArgumentParser(description='hiro command line interpreters')
     parser.add_argument('--host', help='corba name server hostname')
@@ -59,6 +62,8 @@
     parser.add_argument('--dio_ver', help="Version of digital I/O. Only users "
                         "whose robot was shipped before Aug 2014 need to "
                         "define this, and the value should be '0.4.2'.")
+    parser.add_argument('--rtcs', help="RT components to activate. If nothing passed then default value will be used. Example: '{}'".format(RTC_LIST))
+
     args, unknown = parser.parse_known_args()
 
     if args.host:
@@ -69,6 +74,8 @@
         args.robot = "RobotHardware0" if args.host else "HiroNX(Robot)0"
     if not args.modelfile:
         args.modelfile = "/opt/jsk/etc/NEXTAGE/model/main.wrl" if args.host else "" 
+    if not args.rtcs:
+        args.rtcs = RTC_LIST
 
     # support old style format
     if len(unknown) >= 2:
@@ -80,7 +87,7 @@
     # them to specifically tell what robot they're using (eg. hiro, nxc).
     # This is backward compatible so that users can still keep using `nxc`.
     # See http://code.google.com/p/rtm-ros-robotics/source/detail?r=6926
-    robot.init(robotname=args.robot, url=args.modelfile)
+    robot.init(robotname=args.robot, url=args.modelfile, rtcs=args.rtcs)
 
     if args.dio_ver:
         robot.set_hand_version(args.dio_ver)
diff --git a/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py b/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py
index 61a53bb0..87b6bb64 100755
--- a/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py
+++ b/nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py
@@ -95,7 +95,7 @@ def __init__(self):
             self.configurator_name = "gazebo(Nextage)"
         self.set_hand_version(self.HAND_VER_0_5_1)
 
-    def init(self, robotname="HiroNX(Robot)0", url=""):
+    def init(self, robotname="HiroNX(Robot)0", url="", rtcs=None):
         '''
         Calls init from its superclass, which tries to connect RTCManager,
         looks for ModelLoader, and starts necessary RTC components. Also runs
@@ -106,7 +106,7 @@ def init(self, robotname="HiroNX(Robot)0", url=""):
         @type url: str
         '''
         if not self.use_gazebo:
-            HIRONX.init(self, robotname=robotname, url=url)
+            HIRONX.init(self, robotname=robotname, url=url, rtcs=rtcs)
 
     def get_hand_version(self):
         '''