added the table for the popcorn demo

[Tigul]

Added

• The table for the Popcorn Demo
• Drawers on the left and right side of the table
• knobs for the Stove
• Removed kitchen_wall_7 to place the popcorn table there

Pictures

New top level file

A new top level file was added which combines all macros. This creates a kitchen with the popcorn table and without the wall_7.

New parameter in IAI_kitchen_walls

For the purpose of creating a kitchen without the wall_7 a new parameter was added to the macro. This parameter, named "wall_7", is a boolean value that is set to true if the wall should be included and false if not.

[gaya-]

@Tigul please add the board, where the pot spawns, and its symmetric counterpart, both under the drawers. Also, is it really necessary to delete the "wall7"? In the real lab the wall is there, is it maybe located at a different pose? In that case it's better to fix the pose of the wall instead of deleting it.

[gaya-]

@Tigul I'll keep this PR open until Thomas is done with his demo, I guess. Then we can merge the complete version of the table and won't need any follow-up PRs.

[gaya-]

@Tigul why did you delete kitchen_wall_7?

[gaya-]

@Tigul @tlipps the popcorn table shouldn't be per default added to the kitchen URDF. It should rather be optional. It definitely shouldn't be added to the kitchen URDF like this. So either there should be a new combined URDF, which pull in both the ktichen and the popcorn table, or on the CRAM side we should be able to handle multiple environment objects, like :kitchen and :popcorn-table at the same time. That would make the hard-coded :kitchen as the name of the environment a bit problematic in CRAM. But it would be the clean solution. So we should separate the two URDFs and load them separately under different ROS parameters, e.g., kitchen_description and popcorn_table_description.

[gaya-]

Weg.

[gaya-]

@Tigul please give wall_7 a default value and rename it into include_wall_7.
http://wiki.ros.org/xacro#Default_parameters