From 418b1eff39e278f4006227616914e128f838fd65 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 8 Sep 2022 22:01:38 +0900 Subject: [PATCH 001/430] [complex_recovery] add complex_recovery package --- .../complex_recovery/CMakeLists.txt | 63 +++++++++++++++++++ .../complex_recovery_plugins.xml | 18 ++++++ .../concurrent_complex_recovery.h | 29 +++++++++ .../sequential_complex_recovery.h | 29 +++++++++ jsk_robot_common/complex_recovery/package.xml | 28 +++++++++ .../src/concurrent_complex_recovery.cpp | 43 +++++++++++++ .../src/sequential_complex_recovery.cpp | 43 +++++++++++++ 7 files changed, 253 insertions(+) create mode 100644 jsk_robot_common/complex_recovery/CMakeLists.txt create mode 100644 jsk_robot_common/complex_recovery/complex_recovery_plugins.xml create mode 100644 jsk_robot_common/complex_recovery/include/complex_recovery/concurrent_complex_recovery.h create mode 100644 jsk_robot_common/complex_recovery/include/complex_recovery/sequential_complex_recovery.h create mode 100644 jsk_robot_common/complex_recovery/package.xml create mode 100644 jsk_robot_common/complex_recovery/src/concurrent_complex_recovery.cpp create mode 100644 jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp diff --git a/jsk_robot_common/complex_recovery/CMakeLists.txt b/jsk_robot_common/complex_recovery/CMakeLists.txt new file mode 100644 index 0000000000..e6f2eac773 --- /dev/null +++ b/jsk_robot_common/complex_recovery/CMakeLists.txt @@ -0,0 +1,63 @@ +cmake_minimum_required(VERSION 3.0.2) +project(complex_recovery) + +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED + COMPONENTS + costmap_2d + nav_core + pluginlib + roscpp + tf2 + tf2_ros +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES complex_recovery + CATKIN_DEPENDS + costmap_2d + nav_core + pluginlib + roscpp + tf2 + tf2_ros +) + +# Abort if indigo or kinetic +if ( $ENV{ROS_DISTRO} STREQUAL "indigo" OR $ENV{ROS_DISTRO} STREQUAL "kinetic" ) + return() +endif() + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(complex_recovery + src/sequential_complex_recovery.cpp + src/concurrent_complex_recovery.cpp +) +add_dependencies(complex_recovery + ${${PROJECT_NAME}_EXPORTED_TARGETS} + ${catkin_EXPORTED_TARGETS} +) +target_link_libraries(complex_recovery + ${catkin_LIBRARIES} +) + +install(TARGETS complex_recovery + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install(FILES complex_recovery_plugins.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/jsk_robot_common/complex_recovery/complex_recovery_plugins.xml b/jsk_robot_common/complex_recovery/complex_recovery_plugins.xml new file mode 100644 index 0000000000..7e703cd18b --- /dev/null +++ b/jsk_robot_common/complex_recovery/complex_recovery_plugins.xml @@ -0,0 +1,18 @@ + + + + A recovery behavior that runs other recovery behaviors sequentially. + + + + + A recovery behavior that runs other recovery behaviors concurrently. + + + diff --git a/jsk_robot_common/complex_recovery/include/complex_recovery/concurrent_complex_recovery.h b/jsk_robot_common/complex_recovery/include/complex_recovery/concurrent_complex_recovery.h new file mode 100644 index 0000000000..03da70dced --- /dev/null +++ b/jsk_robot_common/complex_recovery/include/complex_recovery/concurrent_complex_recovery.h @@ -0,0 +1,29 @@ +#ifndef COMPLEX_RECOVERY_H +#define COMPLEX_RECOVERY_H + +#include +#include +#include +#include + +namespace complex_recovery +{ + +class ConcurrentComplexRecovery : public nav_core::RecoveryBehavior +{ +public: + ConcurrentComplexRecovery(); + void initialize( + std::string name, + tf2_ros::Buffer*, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap); + void runBehavior(); + ~ConcurrentComplexRecovery(); + +private: + bool initialized_; +}; +}; + +#endif diff --git a/jsk_robot_common/complex_recovery/include/complex_recovery/sequential_complex_recovery.h b/jsk_robot_common/complex_recovery/include/complex_recovery/sequential_complex_recovery.h new file mode 100644 index 0000000000..83ba5babc1 --- /dev/null +++ b/jsk_robot_common/complex_recovery/include/complex_recovery/sequential_complex_recovery.h @@ -0,0 +1,29 @@ +#ifndef COMPLEX_RECOVERY_H +#define COMPLEX_RECOVERY_H + +#include +#include +#include +#include + +namespace complex_recovery +{ + +class SequentialComplexRecovery : public nav_core::RecoveryBehavior +{ +public: + SequentialComplexRecovery(); + void initialize( + std::string name, + tf2_ros::Buffer*, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap); + void runBehavior(); + ~SequentialComplexRecovery(); + +private: + bool initialized_; +}; +}; + +#endif diff --git a/jsk_robot_common/complex_recovery/package.xml b/jsk_robot_common/complex_recovery/package.xml new file mode 100644 index 0000000000..126698a626 --- /dev/null +++ b/jsk_robot_common/complex_recovery/package.xml @@ -0,0 +1,28 @@ + + + complex_recovery + 1.1.0 + The complex_recovery package + + Koki Shinjo + Kei Okada + Koki Shinjo + + BSD + + + catkin + + costmap_2d + nav_core + pluginlib + roscpp + tf2 + tf2_ros + + rostest + + + + + diff --git a/jsk_robot_common/complex_recovery/src/concurrent_complex_recovery.cpp b/jsk_robot_common/complex_recovery/src/concurrent_complex_recovery.cpp new file mode 100644 index 0000000000..ba947e42d9 --- /dev/null +++ b/jsk_robot_common/complex_recovery/src/concurrent_complex_recovery.cpp @@ -0,0 +1,43 @@ +#include +#include + +PLUGINLIB_EXPORT_CLASS(complex_recovery::ConcurrentComplexRecovery, nav_core::RecoveryBehavior) + +namespace complex_recovery +{ + +ConcurrentComplexRecovery::ConcurrentComplexRecovery(): initialized_(false) +{ +} + +void ConcurrentComplexRecovery::initialize( + std::string name, + tf2_ros::Buffer*, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap) +{ + if (not initialized_) { + ros::NodeHandle private_nh("~/" + name); + // DO SOMETHING + initialized_ = true; + } else { + ROS_ERROR("You should not call initialize twice on this object, doing nothing"); + } +} + +ConcurrentComplexRecovery::~ConcurrentComplexRecovery() +{ +} + +void ConcurrentComplexRecovery::runBehavior() +{ + if (not initialized_) + { + ROS_ERROR("This object must be initialized before runBehavior is called"); + return; + } + + // DO SOMETHING +} + +}; diff --git a/jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp b/jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp new file mode 100644 index 0000000000..db675d0a0f --- /dev/null +++ b/jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp @@ -0,0 +1,43 @@ +#include +#include + +PLUGINLIB_EXPORT_CLASS(complex_recovery::SequentialComplexRecovery, nav_core::RecoveryBehavior) + +namespace complex_recovery +{ + +SequentialComplexRecovery::SequentialComplexRecovery(): initialized_(false) +{ +} + +void SequentialComplexRecovery::initialize( + std::string name, + tf2_ros::Buffer*, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap) +{ + if (not initialized_) { + ros::NodeHandle private_nh("~/" + name); + // DO SOMETHING + initialized_ = true; + } else { + ROS_ERROR("You should not call initialize twice on this object, doing nothing"); + } +} + +SequentialComplexRecovery::~SequentialComplexRecovery() +{ +} + +void SequentialComplexRecovery::runBehavior() +{ + if (not initialized_) + { + ROS_ERROR("This object must be initialized before runBehavior is called"); + return; + } + + // DO SOMETHING +} + +}; From 58d39f7bee83e96d5b583648fffdb0020789a827 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Fri, 9 Sep 2022 09:56:43 +0900 Subject: [PATCH 002/430] [complex_recovery] implement sequential_complex_recovery --- .../complex_recovery/CMakeLists.txt | 1 + .../sequential_complex_recovery.h | 5 +- .../include/complex_recovery/utils.h | 21 ++++ .../src/sequential_complex_recovery.cpp | 23 +++- .../complex_recovery/src/utils.cpp | 108 ++++++++++++++++++ 5 files changed, 155 insertions(+), 3 deletions(-) create mode 100644 jsk_robot_common/complex_recovery/include/complex_recovery/utils.h create mode 100644 jsk_robot_common/complex_recovery/src/utils.cpp diff --git a/jsk_robot_common/complex_recovery/CMakeLists.txt b/jsk_robot_common/complex_recovery/CMakeLists.txt index e6f2eac773..320874eb9d 100644 --- a/jsk_robot_common/complex_recovery/CMakeLists.txt +++ b/jsk_robot_common/complex_recovery/CMakeLists.txt @@ -38,6 +38,7 @@ include_directories( add_library(complex_recovery src/sequential_complex_recovery.cpp src/concurrent_complex_recovery.cpp + src/utils.cpp ) add_dependencies(complex_recovery ${${PROJECT_NAME}_EXPORTED_TARGETS} diff --git a/jsk_robot_common/complex_recovery/include/complex_recovery/sequential_complex_recovery.h b/jsk_robot_common/complex_recovery/include/complex_recovery/sequential_complex_recovery.h index 83ba5babc1..507e0ea0ab 100644 --- a/jsk_robot_common/complex_recovery/include/complex_recovery/sequential_complex_recovery.h +++ b/jsk_robot_common/complex_recovery/include/complex_recovery/sequential_complex_recovery.h @@ -4,7 +4,7 @@ #include #include #include -#include +#include namespace complex_recovery { @@ -23,6 +23,9 @@ class SequentialComplexRecovery : public nav_core::RecoveryBehavior private: bool initialized_; + std::vector > recovery_behaviors_; + std::vector recovery_behavior_names_; + pluginlib::ClassLoader recovery_loader_; }; }; diff --git a/jsk_robot_common/complex_recovery/include/complex_recovery/utils.h b/jsk_robot_common/complex_recovery/include/complex_recovery/utils.h new file mode 100644 index 0000000000..1bc3eda805 --- /dev/null +++ b/jsk_robot_common/complex_recovery/include/complex_recovery/utils.h @@ -0,0 +1,21 @@ +#include +#include +#include +#include +#include + +namespace complex_recovery +{ + + +bool loadRecoveryBehaviors( + std::string parent_name, + ros::NodeHandle& node, + pluginlib::ClassLoader& recovery_loader, + std::vector > recovery_behaviors, + std::vector recovery_behavior_names, + tf2_ros::Buffer* ptr_tf_buffer, + costmap_2d::Costmap2DROS* ptr_global_costmap, + costmap_2d::Costmap2DROS* ptr_local_costmap + ); +}; diff --git a/jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp b/jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp index db675d0a0f..1fb51c2375 100644 --- a/jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp +++ b/jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp @@ -1,4 +1,5 @@ #include +#include #include PLUGINLIB_EXPORT_CLASS(complex_recovery::SequentialComplexRecovery, nav_core::RecoveryBehavior) @@ -6,19 +7,32 @@ PLUGINLIB_EXPORT_CLASS(complex_recovery::SequentialComplexRecovery, nav_core::Re namespace complex_recovery { -SequentialComplexRecovery::SequentialComplexRecovery(): initialized_(false) +SequentialComplexRecovery::SequentialComplexRecovery(): + initialized_(false), + recovery_loader_("nav_core", "nav_core::RecoveryBehavior") { } void SequentialComplexRecovery::initialize( std::string name, - tf2_ros::Buffer*, + tf2_ros::Buffer* tf_buffer, costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap) { if (not initialized_) { ros::NodeHandle private_nh("~/" + name); // DO SOMETHING + bool success = loadRecoveryBehaviors( + name, + private_nh, + recovery_loader_, + recovery_behaviors_, + recovery_behavior_names_, + tf_buffer, + global_costmap, + local_costmap + ); + initialized_ = true; } else { ROS_ERROR("You should not call initialize twice on this object, doing nothing"); @@ -37,6 +51,11 @@ void SequentialComplexRecovery::runBehavior() return; } + for (auto index = 0; index < recovery_behaviors_.size(); index++) { + ROS_INFO("executing behavior %s", recovery_behavior_names_[index].c_str()); + recovery_behaviors_[index]->runBehavior(); + } + // DO SOMETHING } diff --git a/jsk_robot_common/complex_recovery/src/utils.cpp b/jsk_robot_common/complex_recovery/src/utils.cpp new file mode 100644 index 0000000000..745832b8df --- /dev/null +++ b/jsk_robot_common/complex_recovery/src/utils.cpp @@ -0,0 +1,108 @@ +#include + +namespace complex_recovery +{ + +/** + * + * Almost copied from https://github.com/ros-planning/navigation/blob/47c9c629fc93e6c6bbcd3109eb2d5b55efce400d/move_base/src/move_base.cpp#L1019-L1102 + */ +bool loadRecoveryBehaviors( + std::string parent_name, + ros::NodeHandle& node, + pluginlib::ClassLoader& recovery_loader, + std::vector > recovery_behaviors, + std::vector recovery_behavior_names, + tf2_ros::Buffer* ptr_tf_buffer, + costmap_2d::Costmap2DROS* ptr_global_costmap, + costmap_2d::Costmap2DROS* ptr_local_costmap + ) +{ + XmlRpc::XmlRpcValue behavior_list; + if(node.getParam("recovery_behaviors", behavior_list)){ + if(behavior_list.getType() == XmlRpc::XmlRpcValue::TypeArray){ + for(int i = 0; i < behavior_list.size(); ++i){ + if(behavior_list[i].getType() == XmlRpc::XmlRpcValue::TypeStruct){ + if(behavior_list[i].hasMember("name") && behavior_list[i].hasMember("type")){ + //check for recovery behaviors with the same name + for(int j = i + 1; j < behavior_list.size(); j++){ + if(behavior_list[j].getType() == XmlRpc::XmlRpcValue::TypeStruct){ + if(behavior_list[j].hasMember("name") && behavior_list[j].hasMember("type")){ + std::string name_i = behavior_list[i]["name"]; + std::string name_j = behavior_list[j]["name"]; + if(name_i == name_j){ + ROS_ERROR("A recovery behavior with the name %s already exists, this is not allowed. Using the default recovery behaviors instead.", + name_i.c_str()); + return false; + } + } + } + } + } + else{ + ROS_ERROR("Recovery behaviors must have a name and a type and this does not. Using the default recovery behaviors instead."); + return false; + } + } + else{ + ROS_ERROR("Recovery behaviors must be specified as maps, but they are XmlRpcType %d. We'll use the default recovery behaviors instead.", + behavior_list[i].getType()); + return false; + } + } + + //if we've made it to this point, we know that the list is legal so we'll create all the recovery behaviors + for(int i = 0; i < behavior_list.size(); ++i){ + try{ + //check if a non fully qualified name has potentially been passed in + if(!recovery_loader.isClassAvailable(behavior_list[i]["type"])){ + std::vector classes = recovery_loader.getDeclaredClasses(); + for(unsigned int i = 0; i < classes.size(); ++i){ + if(behavior_list[i]["type"] == recovery_loader.getName(classes[i])){ + //if we've found a match... we'll get the fully qualified name and break out of the loop + ROS_WARN("Recovery behavior specifications should now include the package name. You are using a deprecated API. Please switch from %s to %s in your yaml file.", + std::string(behavior_list[i]["type"]).c_str(), classes[i].c_str()); + behavior_list[i]["type"] = classes[i]; + break; + } + } + } + + boost::shared_ptr behavior(recovery_loader.createInstance(behavior_list[i]["type"])); + + //shouldn't be possible, but it won't hurt to check + if(behavior.get() == NULL){ + ROS_ERROR("The ClassLoader returned a null pointer without throwing an exception. This should not happen"); + return false; + } + + //initialize the recovery behavior with its name + std::string base_name = behavior_list[i]["name"]; + behavior->initialize( + parent_name + "/" + base_name, + ptr_tf_buffer, ptr_global_costmap, ptr_local_costmap); + recovery_behavior_names.push_back(behavior_list[i]["name"]); + recovery_behaviors.push_back(behavior); + } + catch(pluginlib::PluginlibException& ex){ + ROS_ERROR("Failed to load a plugin. Using default recovery behaviors. Error: %s", ex.what()); + return false; + } + } + } + else{ + ROS_ERROR("The recovery behavior specification must be a list, but is of XmlRpcType %d. We'll use the default recovery behaviors instead.", + behavior_list.getType()); + return false; + } + } + else{ + //if no recovery_behaviors are specified, we'll just load the defaults + return false; + } + + //if we've made it here... we've constructed a recovery behavior list successfully + return true; +} + +}; From 35a179c4d713cb1c191ad0601bfc2c6a634cdf9d Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Fri, 9 Sep 2022 10:23:26 +0900 Subject: [PATCH 003/430] [complex_recovery] fix bugs --- .../complex_recovery/complex_recovery_plugins.xml | 8 ++++---- .../include/complex_recovery/utils.h | 4 ++-- .../src/sequential_complex_recovery.cpp | 12 ++++++++++-- jsk_robot_common/complex_recovery/src/utils.cpp | 4 ++-- 4 files changed, 18 insertions(+), 10 deletions(-) diff --git a/jsk_robot_common/complex_recovery/complex_recovery_plugins.xml b/jsk_robot_common/complex_recovery/complex_recovery_plugins.xml index 7e703cd18b..6d7364a039 100644 --- a/jsk_robot_common/complex_recovery/complex_recovery_plugins.xml +++ b/jsk_robot_common/complex_recovery/complex_recovery_plugins.xml @@ -1,15 +1,15 @@ A recovery behavior that runs other recovery behaviors sequentially. A recovery behavior that runs other recovery behaviors concurrently. diff --git a/jsk_robot_common/complex_recovery/include/complex_recovery/utils.h b/jsk_robot_common/complex_recovery/include/complex_recovery/utils.h index 1bc3eda805..a02ee51eec 100644 --- a/jsk_robot_common/complex_recovery/include/complex_recovery/utils.h +++ b/jsk_robot_common/complex_recovery/include/complex_recovery/utils.h @@ -12,8 +12,8 @@ bool loadRecoveryBehaviors( std::string parent_name, ros::NodeHandle& node, pluginlib::ClassLoader& recovery_loader, - std::vector > recovery_behaviors, - std::vector recovery_behavior_names, + std::vector >& recovery_behaviors, + std::vector& recovery_behavior_names, tf2_ros::Buffer* ptr_tf_buffer, costmap_2d::Costmap2DROS* ptr_global_costmap, costmap_2d::Costmap2DROS* ptr_local_costmap diff --git a/jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp b/jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp index 1fb51c2375..4000ba463d 100644 --- a/jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp +++ b/jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp @@ -32,6 +32,14 @@ void SequentialComplexRecovery::initialize( global_costmap, local_costmap ); + if ( not success ) { + ROS_ERROR("Failed to load behaviors."); + } else { + ROS_INFO("Behaviors are loaded."); + for (auto behavior_name = recovery_behavior_names_.begin(); behavior_name != recovery_behavior_names_.end(); behavior_name++) { + ROS_INFO("behavior: %s", behavior_name->c_str()); + } + } initialized_ = true; } else { @@ -41,6 +49,7 @@ void SequentialComplexRecovery::initialize( SequentialComplexRecovery::~SequentialComplexRecovery() { + recovery_behaviors_.clear(); } void SequentialComplexRecovery::runBehavior() @@ -51,12 +60,11 @@ void SequentialComplexRecovery::runBehavior() return; } + ROS_INFO("Start executing behaviors sequentially."); for (auto index = 0; index < recovery_behaviors_.size(); index++) { ROS_INFO("executing behavior %s", recovery_behavior_names_[index].c_str()); recovery_behaviors_[index]->runBehavior(); } - - // DO SOMETHING } }; diff --git a/jsk_robot_common/complex_recovery/src/utils.cpp b/jsk_robot_common/complex_recovery/src/utils.cpp index 745832b8df..660d91007f 100644 --- a/jsk_robot_common/complex_recovery/src/utils.cpp +++ b/jsk_robot_common/complex_recovery/src/utils.cpp @@ -11,8 +11,8 @@ bool loadRecoveryBehaviors( std::string parent_name, ros::NodeHandle& node, pluginlib::ClassLoader& recovery_loader, - std::vector > recovery_behaviors, - std::vector recovery_behavior_names, + std::vector >& recovery_behaviors, + std::vector& recovery_behavior_names, tf2_ros::Buffer* ptr_tf_buffer, costmap_2d::Costmap2DROS* ptr_global_costmap, costmap_2d::Costmap2DROS* ptr_local_costmap From d51c49dfe32dfc612a6cb6f129ce9bcdf7e2c13c Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 13 Sep 2022 13:50:42 +0900 Subject: [PATCH 004/430] [complex_recovery] rename concurrent to parallel --- .../complex_recovery/CMakeLists.txt | 2 +- .../complex_recovery_plugins.xml | 6 +- ...recovery.h => parallel_complex_recovery.h} | 11 ++-- .../src/concurrent_complex_recovery.cpp | 43 ------------ .../src/parallel_complex_recovery.cpp | 66 +++++++++++++++++++ 5 files changed, 77 insertions(+), 51 deletions(-) rename jsk_robot_common/complex_recovery/include/complex_recovery/{concurrent_complex_recovery.h => parallel_complex_recovery.h} (55%) delete mode 100644 jsk_robot_common/complex_recovery/src/concurrent_complex_recovery.cpp create mode 100644 jsk_robot_common/complex_recovery/src/parallel_complex_recovery.cpp diff --git a/jsk_robot_common/complex_recovery/CMakeLists.txt b/jsk_robot_common/complex_recovery/CMakeLists.txt index 320874eb9d..a30e1f94dc 100644 --- a/jsk_robot_common/complex_recovery/CMakeLists.txt +++ b/jsk_robot_common/complex_recovery/CMakeLists.txt @@ -37,7 +37,7 @@ include_directories( add_library(complex_recovery src/sequential_complex_recovery.cpp - src/concurrent_complex_recovery.cpp + src/parallel_complex_recovery.cpp src/utils.cpp ) add_dependencies(complex_recovery diff --git a/jsk_robot_common/complex_recovery/complex_recovery_plugins.xml b/jsk_robot_common/complex_recovery/complex_recovery_plugins.xml index 6d7364a039..52d7a4b4d5 100644 --- a/jsk_robot_common/complex_recovery/complex_recovery_plugins.xml +++ b/jsk_robot_common/complex_recovery/complex_recovery_plugins.xml @@ -8,11 +8,11 @@ - A recovery behavior that runs other recovery behaviors concurrently. + A recovery behavior that runs other recovery behaviors in parallel. diff --git a/jsk_robot_common/complex_recovery/include/complex_recovery/concurrent_complex_recovery.h b/jsk_robot_common/complex_recovery/include/complex_recovery/parallel_complex_recovery.h similarity index 55% rename from jsk_robot_common/complex_recovery/include/complex_recovery/concurrent_complex_recovery.h rename to jsk_robot_common/complex_recovery/include/complex_recovery/parallel_complex_recovery.h index 03da70dced..fc56d9c217 100644 --- a/jsk_robot_common/complex_recovery/include/complex_recovery/concurrent_complex_recovery.h +++ b/jsk_robot_common/complex_recovery/include/complex_recovery/parallel_complex_recovery.h @@ -9,20 +9,23 @@ namespace complex_recovery { -class ConcurrentComplexRecovery : public nav_core::RecoveryBehavior +class ParallelComplexRecovery : public nav_core::RecoveryBehavior { public: - ConcurrentComplexRecovery(); + ParallelComplexRecovery(); void initialize( std::string name, - tf2_ros::Buffer*, + tf2_ros::Buffer* tf_buffer, costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap); void runBehavior(); - ~ConcurrentComplexRecovery(); + ~ParallelComplexRecovery(); private: bool initialized_; + std::vector > recovery_behaviors_; + std::vector recovery_behavior_names_; + pluginlib::ClassLoader recovery_loader_; }; }; diff --git a/jsk_robot_common/complex_recovery/src/concurrent_complex_recovery.cpp b/jsk_robot_common/complex_recovery/src/concurrent_complex_recovery.cpp deleted file mode 100644 index ba947e42d9..0000000000 --- a/jsk_robot_common/complex_recovery/src/concurrent_complex_recovery.cpp +++ /dev/null @@ -1,43 +0,0 @@ -#include -#include - -PLUGINLIB_EXPORT_CLASS(complex_recovery::ConcurrentComplexRecovery, nav_core::RecoveryBehavior) - -namespace complex_recovery -{ - -ConcurrentComplexRecovery::ConcurrentComplexRecovery(): initialized_(false) -{ -} - -void ConcurrentComplexRecovery::initialize( - std::string name, - tf2_ros::Buffer*, - costmap_2d::Costmap2DROS* global_costmap, - costmap_2d::Costmap2DROS* local_costmap) -{ - if (not initialized_) { - ros::NodeHandle private_nh("~/" + name); - // DO SOMETHING - initialized_ = true; - } else { - ROS_ERROR("You should not call initialize twice on this object, doing nothing"); - } -} - -ConcurrentComplexRecovery::~ConcurrentComplexRecovery() -{ -} - -void ConcurrentComplexRecovery::runBehavior() -{ - if (not initialized_) - { - ROS_ERROR("This object must be initialized before runBehavior is called"); - return; - } - - // DO SOMETHING -} - -}; diff --git a/jsk_robot_common/complex_recovery/src/parallel_complex_recovery.cpp b/jsk_robot_common/complex_recovery/src/parallel_complex_recovery.cpp new file mode 100644 index 0000000000..bda15414d3 --- /dev/null +++ b/jsk_robot_common/complex_recovery/src/parallel_complex_recovery.cpp @@ -0,0 +1,66 @@ +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(complex_recovery::ParallelComplexRecovery, nav_core::RecoveryBehavior) + +namespace complex_recovery +{ + +ParallelComplexRecovery::ParallelComplexRecovery(): + initialized_(false), + recovery_loader_("nav_core", "nav_core::RecoveryBehavior") +{ +} + +void ParallelComplexRecovery::initialize( + std::string name, + tf2_ros::Buffer* tf_buffer, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap) +{ + if (not initialized_) { + ros::NodeHandle private_nh("~/" + name); + // DO SOMETHING + bool success = loadRecoveryBehaviors( + name, + private_nh, + recovery_loader_, + recovery_behaviors_, + recovery_behavior_names_, + tf_buffer, + global_costmap, + local_costmap + ); + if ( not success ) { + ROS_ERROR("Failed to load behaviors."); + } else { + ROS_INFO("Behaviors are loaded."); + for (auto behavior_name = recovery_behavior_names_.begin(); behavior_name != recovery_behavior_names_.end(); behavior_name++) { + ROS_INFO("behavior: %s", behavior_name->c_str()); + } + } + + initialized_ = true; + } else { + ROS_ERROR("You should not call initialize twice on this object, doing nothing"); + } +} + +ParallelComplexRecovery::~ParallelComplexRecovery() +{ + recovery_behaviors_.clear(); +} + +void ParallelComplexRecovery::runBehavior() +{ + if (not initialized_) + { + ROS_ERROR("This object must be initialized before runBehavior is called"); + return; + } + + // DO SOMETHING +} + +}; From 4acc250899af07b45aa16cec065fdb808d4fc978 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 13 Sep 2022 14:03:01 +0900 Subject: [PATCH 005/430] [complex_recovery] implement ParallelComplexRecovery --- .../src/parallel_complex_recovery.cpp | 22 +++++++++++++++++-- .../src/sequential_complex_recovery.cpp | 3 ++- 2 files changed, 22 insertions(+), 3 deletions(-) diff --git a/jsk_robot_common/complex_recovery/src/parallel_complex_recovery.cpp b/jsk_robot_common/complex_recovery/src/parallel_complex_recovery.cpp index bda15414d3..80425e0f1b 100644 --- a/jsk_robot_common/complex_recovery/src/parallel_complex_recovery.cpp +++ b/jsk_robot_common/complex_recovery/src/parallel_complex_recovery.cpp @@ -1,6 +1,7 @@ #include #include #include +#include PLUGINLIB_EXPORT_CLASS(complex_recovery::ParallelComplexRecovery, nav_core::RecoveryBehavior) @@ -21,7 +22,6 @@ void ParallelComplexRecovery::initialize( { if (not initialized_) { ros::NodeHandle private_nh("~/" + name); - // DO SOMETHING bool success = loadRecoveryBehaviors( name, private_nh, @@ -60,7 +60,25 @@ void ParallelComplexRecovery::runBehavior() return; } - // DO SOMETHING + std::vector> threads; + + ROS_INFO("Start executing behaviors in parallel."); + for (auto index = 0; index < recovery_behaviors_.size(); index++) { + ROS_INFO("start executing behavior %s", recovery_behavior_names_[index].c_str()); + threads.push_back( + std::shared_ptr( + new std::thread( + &nav_core::RecoveryBehavior::runBehavior, + recovery_behaviors_[index] + ))); + } + + ROS_INFO("Waiting for behaviors to finish."); + for (auto thread = threads.begin(); thread != threads.end(); thread++) { + (*thread)->join(); + } + + ROS_INFO("All behaviors have finished."); } }; diff --git a/jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp b/jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp index 4000ba463d..4a71196ea1 100644 --- a/jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp +++ b/jsk_robot_common/complex_recovery/src/sequential_complex_recovery.cpp @@ -21,7 +21,6 @@ void SequentialComplexRecovery::initialize( { if (not initialized_) { ros::NodeHandle private_nh("~/" + name); - // DO SOMETHING bool success = loadRecoveryBehaviors( name, private_nh, @@ -65,6 +64,8 @@ void SequentialComplexRecovery::runBehavior() ROS_INFO("executing behavior %s", recovery_behavior_names_[index].c_str()); recovery_behaviors_[index]->runBehavior(); } + + ROS_INFO("All behaviors have finished."); } }; From dbeea4219d411e409f7293273825db7e51d85cd1 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 13 Sep 2022 14:17:43 +0900 Subject: [PATCH 006/430] [complex_recovery] update README.md --- jsk_robot_common/complex_recovery/README.md | 15 +++++++++++++++ 1 file changed, 15 insertions(+) create mode 100644 jsk_robot_common/complex_recovery/README.md diff --git a/jsk_robot_common/complex_recovery/README.md b/jsk_robot_common/complex_recovery/README.md new file mode 100644 index 0000000000..00e334c646 --- /dev/null +++ b/jsk_robot_common/complex_recovery/README.md @@ -0,0 +1,15 @@ +# complex_recovery + +This package provides recovery behavior plugins which combines multi recoveries to one recovery behavior. +This is useful for assuring a set of recovery behavior to run at one time. + +There are two types of recoveries. One is to run multi recoveries sequentially and another is to run them in parallel. + +## complex_recovery/SequentialComplexRecovery + +TODO + +## complex_recovery/ParallelComplexRecovery + +TODO + From 3f46aedc6a80bf5075a8457d7514200d624c4d5f Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 13 Sep 2022 14:20:40 +0900 Subject: [PATCH 007/430] [complex_recovery] Update README.md --- jsk_robot_common/complex_recovery/README.md | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/jsk_robot_common/complex_recovery/README.md b/jsk_robot_common/complex_recovery/README.md index 00e334c646..d49032f88c 100644 --- a/jsk_robot_common/complex_recovery/README.md +++ b/jsk_robot_common/complex_recovery/README.md @@ -5,11 +5,12 @@ This is useful for assuring a set of recovery behavior to run at one time. There are two types of recoveries. One is to run multi recoveries sequentially and another is to run them in parallel. +![complex_recovery_diagrams](https://user-images.githubusercontent.com/9410362/189815175-a3265d23-01d4-4ae9-831c-b01aacad2872.png) + ## complex_recovery/SequentialComplexRecovery -TODO +* `~recovery_behaviors` (list of dictionaries which has `name` and `type` entries, default: None) ## complex_recovery/ParallelComplexRecovery -TODO - +* `~recovery_behaviors` (list of dictionaries which has `name` and `type` entries, default: None) From 886e27fdc19606bfc3d67297eae840d4f9377380 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 14 Sep 2022 16:33:26 +0900 Subject: [PATCH 008/430] [complex_recovery] update README.md --- jsk_robot_common/complex_recovery/README.md | 51 +++++++++++++++++++++ 1 file changed, 51 insertions(+) diff --git a/jsk_robot_common/complex_recovery/README.md b/jsk_robot_common/complex_recovery/README.md index d49032f88c..fc65f10920 100644 --- a/jsk_robot_common/complex_recovery/README.md +++ b/jsk_robot_common/complex_recovery/README.md @@ -11,6 +11,57 @@ There are two types of recoveries. One is to run multi recoveries sequentially a * `~recovery_behaviors` (list of dictionaries which has `name` and `type` entries, default: None) +Example configuration of `move_base` is like + +```yaml +recovery_behavior_enabled: true +recovery_behaviors: + - name: "speak_then_clear_costmap0" + type: "complex_recovery/SequentialComplexRecovery" +speak_then_clear_costmap0: + recovery_behaviors: + - name: "speak_and_wait0" + type: "speak_and_wait_recovery/SpeakAndWaitRecovery" + - name: "clear_costmap0" + type: "clear_costmap_recovery/ClearCostmapRecovery" + speak_and_wait0: + speak_text: "I'm clearing costmap." + duration_wait: 5.0 + duration_timeout: 1.0 + sound_action: /sound_play + clear_costmap0: + reset_distance: 1.0 +``` + +In this case, `speak_and_clear_costmap0` recovery runs `speak_and_wait0` recovery first, then runs `clear_costmap0`. +So a robot speaks first and then clear its costmap. + ## complex_recovery/ParallelComplexRecovery * `~recovery_behaviors` (list of dictionaries which has `name` and `type` entries, default: None) + +Example configuration of `move_base` is like + +```yaml +recovery_behavior_enabled: true +recovery_behaviors: + - name: "speak_and_rotate_costmap0" + type: "complex_recovery/SequentialComplexRecovery" +speak_and_rotate_costmap0: + recovery_behaviors: + - name: "speak_and_wait0" + type: "speak_and_wait_recovery/SpeakAndWaitRecovery" + - name: "rotate0" + type: "rotate_recovery/RotateRecovery" + speak_and_wait0: + speak_text: "I'm rotating." + duration_wait: 5.0 + duration_timeout: 1.0 + sound_action: /sound_play + rotate0: + sim_granularity: 0.017 + frequency: 20.0 +``` + +In this case, `speak_and_rotate_costmap0` recovery runs `speak_and_wait0` and `rotate0` simultaneously. +So a robot speaks during its rotation. From 44fb9ead66fdf1718d4944a533b3e002ba3aaa8a Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 14 Sep 2022 16:33:51 +0900 Subject: [PATCH 009/430] [complex_recovery] update dependencies --- jsk_robot_common/complex_recovery/package.xml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/jsk_robot_common/complex_recovery/package.xml b/jsk_robot_common/complex_recovery/package.xml index 126698a626..0789a9e792 100644 --- a/jsk_robot_common/complex_recovery/package.xml +++ b/jsk_robot_common/complex_recovery/package.xml @@ -20,6 +20,10 @@ tf2 tf2_ros + speak_and_wait_recovery + clear_costmap_recovery + rotate_recovery + rostest From 9162ecbeb95536a1f9e05eece0762eea9e82e07d Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 14 Sep 2022 18:42:14 +0900 Subject: [PATCH 010/430] [complex_recovery] add a test for SequentialComplexRecovery --- .../complex_recovery/CMakeLists.txt | 16 ++++++ .../tests/sequential_complex_recovery.test | 34 ++++++++++++ .../sequential_complex_recovery_test_node.cpp | 21 +++++++ .../tests/test_sequential_complex_recovery.py | 55 +++++++++++++++++++ 4 files changed, 126 insertions(+) create mode 100644 jsk_robot_common/complex_recovery/tests/sequential_complex_recovery.test create mode 100644 jsk_robot_common/complex_recovery/tests/sequential_complex_recovery_test_node.cpp create mode 100755 jsk_robot_common/complex_recovery/tests/test_sequential_complex_recovery.py diff --git a/jsk_robot_common/complex_recovery/CMakeLists.txt b/jsk_robot_common/complex_recovery/CMakeLists.txt index a30e1f94dc..43488cbd96 100644 --- a/jsk_robot_common/complex_recovery/CMakeLists.txt +++ b/jsk_robot_common/complex_recovery/CMakeLists.txt @@ -62,3 +62,19 @@ install(DIRECTORY include/${PROJECT_NAME}/ install(FILES complex_recovery_plugins.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) + +# +# Testing +# +if (CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + + catkin_add_executable_with_gtest(sequential_complex_recovery_test_node + tests/sequential_complex_recovery_test_node.cpp + ) + target_link_libraries(sequential_complex_recovery_test_node + ${catkin_LIBRARIES} + ${PROJECT_NAME} + ) + add_rostest(tests/sequential_complex_recovery.test) +endif() diff --git a/jsk_robot_common/complex_recovery/tests/sequential_complex_recovery.test b/jsk_robot_common/complex_recovery/tests/sequential_complex_recovery.test new file mode 100644 index 0000000000..78bfd748f2 --- /dev/null +++ b/jsk_robot_common/complex_recovery/tests/sequential_complex_recovery.test @@ -0,0 +1,34 @@ + + + + recovery: + recovery_behaviors: + - name: 'speak_and_wait0' + type: 'speak_and_wait_recovery/SpeakAndWaitRecovery' + - name: 'speak_and_wait1' + type: 'speak_and_wait_recovery/SpeakAndWaitRecovery' + speak_and_wait0: + speak_text: 'test0' + duration_wait: 2.0 + duration_timeout: 2.0 + result_timeout: 1.0 + speak_and_wait1: + speak_text: 'test1' + duration_wait: 2.0 + duration_timeout: 2.0 + result_timeout: 1.0 + + + + + diff --git a/jsk_robot_common/complex_recovery/tests/sequential_complex_recovery_test_node.cpp b/jsk_robot_common/complex_recovery/tests/sequential_complex_recovery_test_node.cpp new file mode 100644 index 0000000000..618ff5656c --- /dev/null +++ b/jsk_robot_common/complex_recovery/tests/sequential_complex_recovery_test_node.cpp @@ -0,0 +1,21 @@ +#include +#include "complex_recovery/sequential_complex_recovery.h" + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "complex_recovery_simple_node"); + ros::NodeHandle nh; + + complex_recovery::SequentialComplexRecovery recovery; + recovery.initialize(std::string("recovery"),NULL,NULL,NULL); + + ros::Rate rate(10); + while (ros::ok()) { + ROS_WARN("Spoken a test"); + recovery.runBehavior(); + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} diff --git a/jsk_robot_common/complex_recovery/tests/test_sequential_complex_recovery.py b/jsk_robot_common/complex_recovery/tests/test_sequential_complex_recovery.py new file mode 100755 index 0000000000..4dce3752b1 --- /dev/null +++ b/jsk_robot_common/complex_recovery/tests/test_sequential_complex_recovery.py @@ -0,0 +1,55 @@ +#!/usr/bin/env python + +from sound_play.msg import SoundRequestResult +from sound_play.msg import SoundRequestAction +import rospy +import actionlib +import threading +import sys +import unittest +import rostest + +PKG = 'complex_recovery' +NAME = 'sequential_complex_recovery_test' + + +class TestSequentialComplexRecovery(unittest.TestCase): + + def __init__(self, *args): + super(self.__class__, self).__init__(*args) + rospy.init_node(NAME) + + self.lock_for_msg = threading.Lock() + self.speech_text_list = [] + + self.action_server = \ + actionlib.SimpleActionServer( + '/sound_play', SoundRequestAction, execute_cb=self.handler, auto_start=False) + self.action_server.start() + + def handler(self, goal): + + with self.lock_for_msg: + self.speech_text_list.append(goal.sound_request.arg) + rospy.logwarn('Receive a message') + self.action_server.set_succeeded( + SoundRequestResult(playing=True, stamp=rospy.Time.now())) + + def test_sequential_complex_recovery(self): + + rate = rospy.Rate(1) + while not rospy.is_shutdown(): + with self.lock_for_msg: + if 'test0' in self.speech_text_list and 'test1' in self.speech_text_list: + break + else: + rospy.logwarn('waiting') + rate.sleep() + + with self.lock_for_msg: + rospy.logwarn('speech_text_list: {}'.format(self.speech_text_list)) + self.assertTrue('test0' in self.speech_text_list and 'test1' in self.speech_text_list) + + +if __name__ == '__main__': + rostest.rosrun(PKG, NAME, TestSequentialComplexRecovery, sys.argv) From 671b96a7f26be2c286804c18ab7240632a18a036 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 14 Sep 2022 18:47:30 +0900 Subject: [PATCH 011/430] [complex_recovery] add test for ParallelComplexRecovery --- .../complex_recovery/CMakeLists.txt | 9 +++ .../tests/parallel_complex_recovery.test | 34 ++++++++++++ .../parallel_complex_recovery_test_node.cpp | 21 +++++++ .../tests/test_parallel_complex_recovery.py | 55 +++++++++++++++++++ 4 files changed, 119 insertions(+) create mode 100644 jsk_robot_common/complex_recovery/tests/parallel_complex_recovery.test create mode 100644 jsk_robot_common/complex_recovery/tests/parallel_complex_recovery_test_node.cpp create mode 100755 jsk_robot_common/complex_recovery/tests/test_parallel_complex_recovery.py diff --git a/jsk_robot_common/complex_recovery/CMakeLists.txt b/jsk_robot_common/complex_recovery/CMakeLists.txt index 43488cbd96..daaf33657c 100644 --- a/jsk_robot_common/complex_recovery/CMakeLists.txt +++ b/jsk_robot_common/complex_recovery/CMakeLists.txt @@ -77,4 +77,13 @@ if (CATKIN_ENABLE_TESTING) ${PROJECT_NAME} ) add_rostest(tests/sequential_complex_recovery.test) + + catkin_add_executable_with_gtest(parallel_complex_recovery_test_node + tests/parallel_complex_recovery_test_node.cpp + ) + target_link_libraries(parallel_complex_recovery_test_node + ${catkin_LIBRARIES} + ${PROJECT_NAME} + ) + add_rostest(tests/parallel_complex_recovery.test) endif() diff --git a/jsk_robot_common/complex_recovery/tests/parallel_complex_recovery.test b/jsk_robot_common/complex_recovery/tests/parallel_complex_recovery.test new file mode 100644 index 0000000000..e302365713 --- /dev/null +++ b/jsk_robot_common/complex_recovery/tests/parallel_complex_recovery.test @@ -0,0 +1,34 @@ + + + + recovery: + recovery_behaviors: + - name: 'speak_and_wait0' + type: 'speak_and_wait_recovery/SpeakAndWaitRecovery' + - name: 'speak_and_wait1' + type: 'speak_and_wait_recovery/SpeakAndWaitRecovery' + speak_and_wait0: + speak_text: 'test0' + duration_wait: 2.0 + duration_timeout: 2.0 + result_timeout: 1.0 + speak_and_wait1: + speak_text: 'test1' + duration_wait: 2.0 + duration_timeout: 2.0 + result_timeout: 1.0 + + + + + diff --git a/jsk_robot_common/complex_recovery/tests/parallel_complex_recovery_test_node.cpp b/jsk_robot_common/complex_recovery/tests/parallel_complex_recovery_test_node.cpp new file mode 100644 index 0000000000..3d54f9cad7 --- /dev/null +++ b/jsk_robot_common/complex_recovery/tests/parallel_complex_recovery_test_node.cpp @@ -0,0 +1,21 @@ +#include +#include "complex_recovery/parallel_complex_recovery.h" + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "complex_recovery_simple_node"); + ros::NodeHandle nh; + + complex_recovery::ParallelComplexRecovery recovery; + recovery.initialize(std::string("recovery"),NULL,NULL,NULL); + + ros::Rate rate(10); + while (ros::ok()) { + ROS_WARN("Spoken a test"); + recovery.runBehavior(); + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} diff --git a/jsk_robot_common/complex_recovery/tests/test_parallel_complex_recovery.py b/jsk_robot_common/complex_recovery/tests/test_parallel_complex_recovery.py new file mode 100755 index 0000000000..8d7fea0de8 --- /dev/null +++ b/jsk_robot_common/complex_recovery/tests/test_parallel_complex_recovery.py @@ -0,0 +1,55 @@ +#!/usr/bin/env python + +from sound_play.msg import SoundRequestResult +from sound_play.msg import SoundRequestAction +import rospy +import actionlib +import threading +import sys +import unittest +import rostest + +PKG = 'complex_recovery' +NAME = 'parallel_complex_recovery_test' + + +class TestParallelComplexRecovery(unittest.TestCase): + + def __init__(self, *args): + super(self.__class__, self).__init__(*args) + rospy.init_node(NAME) + + self.lock_for_msg = threading.Lock() + self.speech_text_list = [] + + self.action_server = \ + actionlib.SimpleActionServer( + '/sound_play', SoundRequestAction, execute_cb=self.handler, auto_start=False) + self.action_server.start() + + def handler(self, goal): + + with self.lock_for_msg: + self.speech_text_list.append(goal.sound_request.arg) + rospy.logwarn('Receive a message') + self.action_server.set_succeeded( + SoundRequestResult(playing=True, stamp=rospy.Time.now())) + + def test_parallel_complex_recovery(self): + + rate = rospy.Rate(1) + while not rospy.is_shutdown(): + with self.lock_for_msg: + if 'test0' in self.speech_text_list and 'test1' in self.speech_text_list: + break + else: + rospy.logwarn('waiting') + rate.sleep() + + with self.lock_for_msg: + rospy.logwarn('speech_text_list: {}'.format(self.speech_text_list)) + self.assertTrue('test0' in self.speech_text_list and 'test1' in self.speech_text_list) + + +if __name__ == '__main__': + rostest.rosrun(PKG, NAME, TestParallelComplexRecovery, sys.argv) From 46c44dc55c31e23c75f162c32c5d806fd15fd124 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 14 Sep 2022 18:47:47 +0900 Subject: [PATCH 012/430] [complex_recovery] update dependencies --- jsk_robot_common/complex_recovery/package.xml | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/jsk_robot_common/complex_recovery/package.xml b/jsk_robot_common/complex_recovery/package.xml index 0789a9e792..1892a9fc61 100644 --- a/jsk_robot_common/complex_recovery/package.xml +++ b/jsk_robot_common/complex_recovery/package.xml @@ -20,11 +20,9 @@ tf2 tf2_ros - speak_and_wait_recovery - clear_costmap_recovery - rotate_recovery - rostest + speak_and_wait_recovery + sound_play From ccfc0b1ae8450eccb7c99a7e96a9e21b23b73704 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 14 Sep 2022 18:54:49 +0900 Subject: [PATCH 013/430] [complex_recovery] fix parallel test --- .../tests/parallel_complex_recovery.test | 50 +++++++++++++------ 1 file changed, 36 insertions(+), 14 deletions(-) diff --git a/jsk_robot_common/complex_recovery/tests/parallel_complex_recovery.test b/jsk_robot_common/complex_recovery/tests/parallel_complex_recovery.test index e302365713..17dc02c20c 100644 --- a/jsk_robot_common/complex_recovery/tests/parallel_complex_recovery.test +++ b/jsk_robot_common/complex_recovery/tests/parallel_complex_recovery.test @@ -7,20 +7,42 @@ recovery: recovery_behaviors: - - name: 'speak_and_wait0' - type: 'speak_and_wait_recovery/SpeakAndWaitRecovery' - - name: 'speak_and_wait1' - type: 'speak_and_wait_recovery/SpeakAndWaitRecovery' - speak_and_wait0: - speak_text: 'test0' - duration_wait: 2.0 - duration_timeout: 2.0 - result_timeout: 1.0 - speak_and_wait1: - speak_text: 'test1' - duration_wait: 2.0 - duration_timeout: 2.0 - result_timeout: 1.0 + - name: 'wait_and_speak_complex0' + type: 'complex_recovery/SequentialComplexRecovery' + - name: 'wait_and_speak_complex1' + type: 'complex_recovery/SequentialComplexRecovery' + wait_and_speak_complex0: + recovery_behaviors: + - name: 'wait_3_secs' + type: 'speak_and_wait_recovery/SpeakAndWaitRecovery' + - name: 'speak_and_wait0' + type: 'speak_and_wait_recovery/SpeakAndWaitRecovery' + wait_3_secs: + speak_text: '' + duration_wait: 3.0 + duration_timeout: 2.0 + result_timeout: 1.0 + speak_and_wait0: + speak_text: 'test0' + duration_wait: 2.0 + duration_timeout: 2.0 + result_timeout: 1.0 + wait_and_speak_complex1: + recovery_behaviors: + - name: 'wait_5_secs' + type: 'speak_and_wait_recovery/SpeakAndWaitRecovery' + - name: 'speak_and_wait1' + type: 'speak_and_wait_recovery/SpeakAndWaitRecovery' + wait_5_secs: + speak_text: '' + duration_wait: 5.0 + duration_timeout: 2.0 + result_timeout: 1.0 + speak_and_wait1: + speak_text: 'test1' + duration_wait: 2.0 + duration_timeout: 2.0 + result_timeout: 1.0 From 6ed68dab58beb511e4046fea373849ea99353810 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 15 Sep 2022 11:13:11 +0900 Subject: [PATCH 014/430] [complex_recovery] update minimum cmake version --- jsk_robot_common/complex_recovery/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_robot_common/complex_recovery/CMakeLists.txt b/jsk_robot_common/complex_recovery/CMakeLists.txt index daaf33657c..7dd42684f9 100644 --- a/jsk_robot_common/complex_recovery/CMakeLists.txt +++ b/jsk_robot_common/complex_recovery/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 2.8.3) project(complex_recovery) add_compile_options(-std=c++11) From 3a6b3821c737238f41ea8a046b4772eb114081b1 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 19 Oct 2019 02:37:48 +0900 Subject: [PATCH 015/430] add mux candidates for fetch coral images --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_tweet.launch | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_tweet.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_tweet.launch index d8faf71fb8..198a504b64 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_tweet.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_tweet.launch @@ -1,11 +1,10 @@ - - + From 617a099ca9f21367cf2730c96d4f18be9d2f8491 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sun, 20 Oct 2019 00:40:32 +0900 Subject: [PATCH 016/430] add video recorder --- .../apps/go_to_kitchen/go_to_kitchen.xml | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 81c75095b2..6fbbecf3c1 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -1,5 +1,5 @@ - @@ -14,4 +14,12 @@ + + + + filename: /tmp/go_to_kitchen.avi + stamped_filename: false + fps: 15 + + From eee75b4d52a8e329e5e2c0d35e0e54cbb7562107 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sun, 20 Oct 2019 05:55:44 +0900 Subject: [PATCH 017/430] save video file in xvid --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 6fbbecf3c1..06db9875b7 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -18,6 +18,7 @@ filename: /tmp/go_to_kitchen.avi + codec: XVID stamped_filename: false fps: 15 From 49bb5c2c9a44eed373267aea94c3b0f3c7d41aa6 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Mon, 21 Oct 2019 23:25:24 +0900 Subject: [PATCH 018/430] save videos for go_to_kitchen demo --- .../apps/go_to_kitchen/go_to_kitchen.xml | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 06db9875b7..ff42dfbefc 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -20,7 +20,16 @@ filename: /tmp/go_to_kitchen.avi codec: XVID stamped_filename: false - fps: 15 + fps: 5 + + + + + + filename: /tmp/go_to_kitchen_object_detection.avi + codec: XVID + stamped_filename: false + fps: 5 From eadb0e51f7e7a1eb66d2148be85a8a9308db71ff Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Oct 2019 10:57:34 +0900 Subject: [PATCH 019/430] update fps --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index ff42dfbefc..0556f2c003 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -20,7 +20,7 @@ filename: /tmp/go_to_kitchen.avi codec: XVID stamped_filename: false - fps: 5 + fps: 30 @@ -29,7 +29,7 @@ filename: /tmp/go_to_kitchen_object_detection.avi codec: XVID stamped_filename: false - fps: 5 + fps: 7.5 From 33068fb2a1b9cec51cccb0176e2c1cff6ee61e29 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Oct 2019 11:09:49 +0900 Subject: [PATCH 020/430] add ros-info and ros-error for logging --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 0556f2c003..493a0c80a9 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -1,5 +1,5 @@ - From d6e0f99013faa62ea8dffa1c8495b95d4b7b160a Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 24 Oct 2019 17:07:08 +0900 Subject: [PATCH 021/430] record video throttled --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 493a0c80a9..4fc81b1cac 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -15,12 +15,12 @@ - + filename: /tmp/go_to_kitchen.avi codec: XVID stamped_filename: false - fps: 30 + fps: 5.0 From 844978b748a1912d765e76efb947c2dfaad8d36a Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 1 Nov 2019 03:15:34 +0900 Subject: [PATCH 022/430] add mail notification in fetch go_to_kitchen demo --- .../apps/go_to_kitchen/go_to_kitchen.xml | 27 ++++++++++++++----- 1 file changed, 21 insertions(+), 6 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 4fc81b1cac..104880e930 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -1,6 +1,21 @@ + + + + + args="$(find jsk_fetch_startup)/euslisp/go-to-kitchen.l"> + + mail_notification: true + file_paths: + - $(arg video_path)/$(arg head_camera_video_title) + - $(arg video_path)/$(arg object_detection_video_title) + file_titles: + - $(arg head_camera_video_title) + - $(arg object_detection_video_title) + + + @@ -14,10 +29,10 @@ - + - - filename: /tmp/go_to_kitchen.avi + + filename: $(arg video_path)/$(arg head_camera_video_title) codec: XVID stamped_filename: false fps: 5.0 @@ -25,8 +40,8 @@ - - filename: /tmp/go_to_kitchen_object_detection.avi + + filename: $(arg video_path)/$(arg object_detection_video_title) codec: XVID stamped_filename: false fps: 7.5 From 286cbabd91780efacaeffc94d12a01c9b9ddb265 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 13 Feb 2020 13:38:03 +0100 Subject: [PATCH 023/430] add rosbag record for go_to_kitchen demo --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 104880e930..dbc949969b 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -2,6 +2,7 @@ + @@ -10,9 +11,11 @@ file_paths: - $(arg video_path)/$(arg head_camera_video_title) - $(arg video_path)/$(arg object_detection_video_title) + - $(arg video_path)/$(arg rosbag_title) file_titles: - $(arg head_camera_video_title) - $(arg object_detection_video_title) + - $(arg rosbag_title) @@ -47,4 +50,8 @@ fps: 7.5 + + From fae438aa62b46510d9ac2ad5d5bc9bbf28aaeb0e Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 28 Apr 2020 21:20:46 +0900 Subject: [PATCH 024/430] update fps --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index dbc949969b..47fef4971d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -47,7 +47,7 @@ filename: $(arg video_path)/$(arg object_detection_video_title) codec: XVID stamped_filename: false - fps: 7.5 + fps: 15.0 From 4d2cd5c6d9b794218e0e3044802a10051c1d248a Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 29 Apr 2020 01:29:28 +0900 Subject: [PATCH 025/430] use app_manager_plugin for mail and video recorder --- .../apps/go_to_kitchen/go_to_kitchen.xml | 42 +------------------ 1 file changed, 1 insertion(+), 41 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 47fef4971d..af52dd4e51 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -1,24 +1,6 @@ - - - - - - - mail_notification: true - file_paths: - - $(arg video_path)/$(arg head_camera_video_title) - - $(arg video_path)/$(arg object_detection_video_title) - - $(arg video_path)/$(arg rosbag_title) - file_titles: - - $(arg head_camera_video_title) - - $(arg object_detection_video_title) - - $(arg rosbag_title) - - - + args="$(find jsk_fetch_startup)/euslisp/go-to-kitchen.l" /> @@ -32,26 +14,4 @@ - - - - filename: $(arg video_path)/$(arg head_camera_video_title) - codec: XVID - stamped_filename: false - fps: 5.0 - - - - - - filename: $(arg video_path)/$(arg object_detection_video_title) - codec: XVID - stamped_filename: false - fps: 15.0 - - - - From ba7fab988a8b3bf8f1cf21771b2e5839a447fc13 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 21 May 2020 13:28:31 +0900 Subject: [PATCH 026/430] update rviz config --- jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz | 5 ----- 1 file changed, 5 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz index 6cb1fffa48..ab198412bf 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz +++ b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz @@ -65,11 +65,6 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - base_camera_mount: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true base_link: Alpha: 1 Show Axes: false From 3bf771b24bc1382b45ffb68c13c707ca489ee7c6 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 24 Jun 2020 21:26:28 +0900 Subject: [PATCH 027/430] add rwt_image_view launch for fetch --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 996ee01797..f36426a191 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -110,6 +110,12 @@ + + + + + + From 52c52da04c24c344c17ad6e651c2c780e608a5b0 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 17 Sep 2020 16:12:16 +0900 Subject: [PATCH 028/430] re-enable object detection video with throttled rgb images --- .../apps/go_to_kitchen/go_to_kitchen.xml | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index af52dd4e51..b90f67e2e8 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -14,4 +14,15 @@ + + + + + + approximate_sync: true + queue_size: 100 + use_classification_result: true + + From 0ebd85c1367ff511d456df3f203b0b3a02456af0 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 15 Oct 2020 17:35:46 +0900 Subject: [PATCH 029/430] update jsk_fetch.rosinstall --- jsk_fetch_robot/jsk_fetch.rosinstall.indigo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo index 189d65d616..3fc61d6285 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo +++ b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo @@ -4,7 +4,7 @@ - git: local-name: PR2/app_manager uri: https://github.com/PR2/app_manager.git - version: kinetic-devel + version: knorth55/fetch15 - git: local-name: RobotWebTools/rosbridge_suite uri: https://github.com/RobotWebTools/rosbridge_suite.git From d2610c18f86a1589f02d422646649fb6f367c7aa Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Fri, 23 Oct 2020 10:49:38 +0900 Subject: [PATCH 030/430] reduce resolution factor in go_to_kitchen classification result --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index b90f67e2e8..1e625bcc70 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -23,6 +23,7 @@ approximate_sync: true queue_size: 100 use_classification_result: true + resolution_factor: 1.0 From af7583b3c61eda929087f1d82f546bfec97ee975 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 30 Oct 2020 02:39:40 +0900 Subject: [PATCH 031/430] update jsk_fetch.rosinstall --- jsk_fetch_robot/jsk_fetch.rosinstall.indigo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo index 3fc61d6285..189d65d616 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo +++ b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo @@ -4,7 +4,7 @@ - git: local-name: PR2/app_manager uri: https://github.com/PR2/app_manager.git - version: knorth55/fetch15 + version: kinetic-devel - git: local-name: RobotWebTools/rosbridge_suite uri: https://github.com/RobotWebTools/rosbridge_suite.git From e4b1120d5743e06d2c62ca327369b87f6fe64be7 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 1 Dec 2020 23:48:57 +0900 Subject: [PATCH 032/430] add warning args in user_speech_notifier plugin --- .../jsk_fetch_startup/apps/speak_battery/speak_battery.app | 1 + jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app | 1 + 2 files changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app b/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app index 0a48645098..cb4d371e00 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app @@ -8,6 +8,7 @@ plugins: type: app_notifier/user_speech_notifier_plugin plugin_args: client_name: /sound_play + warning: true plugin_order: start_plugin_order: - user_speech_notifier_plugin diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app b/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app index da0197d1b9..e95306664e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app @@ -8,6 +8,7 @@ plugins: type: app_notifier/user_speech_notifier_plugin plugin_args: client_name: /sound_play + warning: true plugin_order: start_plugin_order: - user_speech_notifier_plugin From dd36510fbf890ba63a6a70a8ecc7d76480777479 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 9 Dec 2020 23:46:46 +0900 Subject: [PATCH 033/430] disable image logging in fetch because of cpu load --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml index f685bdd841..7d630a5d66 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml @@ -20,8 +20,8 @@ - - + + From d043a26cf3e2b2e9cbba9a0cb0a628f42deeb9ae Mon Sep 17 00:00:00 2001 From: obinata Date: Wed, 2 Dec 2020 15:55:39 +0900 Subject: [PATCH 034/430] add arg for what to launch --- .../launch/fetch_bringup.launch | 40 ++++++++++++------- 1 file changed, 25 insertions(+), 15 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index f36426a191..fb73b4c552 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -13,6 +13,15 @@ + + + + + + + + + @@ -20,7 +29,7 @@ + respawn="true" output="screen" if="$(arg battery_warning)"> duration: 180 charge_level_threshold: 80.0 @@ -30,7 +39,7 @@ - + lang: japanese volume: 0.5 @@ -73,7 +82,7 @@ - + @@ -86,7 +95,7 @@ + args="--diag-hostname=my_machine" if="$(arg cpu_monitor)"> @@ -95,7 +104,7 @@ - + @@ -103,7 +112,7 @@ - + @@ -111,7 +120,7 @@ - + @@ -124,13 +133,14 @@ - + + - + - + interface_name: wlan0 @@ -138,15 +148,15 @@ + args="0 0 0.1 0 0 0 head_pan_link respeaker_base 100" if="$(use_speech_recognition)"/> - + - + @@ -156,7 +166,7 @@ - + tts_action_names: - sound_play @@ -168,7 +178,7 @@ + args="/network/connected 'm.data==False' /speech_to_text_julius" if="$(use_speech_recognition)"> default_select: speech_to_text_google From e5551a679227440d0ccfbca41f93a58b79e7e1e0 Mon Sep 17 00:00:00 2001 From: obinata Date: Wed, 2 Dec 2020 16:26:17 +0900 Subject: [PATCH 035/430] add more if elements --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index fb73b4c552..210c30504c 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -15,9 +15,10 @@ - - + + + @@ -95,7 +96,7 @@ + args="--diag-hostname=my_machine" > @@ -112,7 +113,7 @@ - + @@ -120,13 +121,13 @@ - + - + From 850d46fcd93beb2adae5e0bc22cb406cb2401e0b Mon Sep 17 00:00:00 2001 From: obinata Date: Wed, 2 Dec 2020 16:30:23 +0900 Subject: [PATCH 036/430] missing arg --- .../launch/fetch_bringup.launch | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 210c30504c..ff6b78922e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -83,7 +83,7 @@ - + @@ -139,9 +139,9 @@ - + - + interface_name: wlan0 @@ -149,15 +149,15 @@ + args="0 0 0.1 0 0 0 head_pan_link respeaker_base 100" if="$(arg use_speech_recognition)"/> - + - + @@ -167,7 +167,7 @@ - + tts_action_names: - sound_play @@ -179,7 +179,7 @@ + args="/network/connected 'm.data==False' /speech_to_text_julius" if="$(arg use_speech_recognition)"> default_select: speech_to_text_google From d305f98c678b4f7ec1b5f8e9e1c548ad077ade3f Mon Sep 17 00:00:00 2001 From: jsk-fetchuser Date: Wed, 2 Dec 2020 19:00:38 +0900 Subject: [PATCH 037/430] add missing args --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index ff6b78922e..d7b506ff42 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -5,6 +5,7 @@ + @@ -23,6 +24,9 @@ + + + From eef433de03a5720a5ac879023b1df607c0f8dd25 Mon Sep 17 00:00:00 2001 From: obinata Date: Thu, 10 Dec 2020 16:27:21 +0900 Subject: [PATCH 038/430] remove if tag some necessary nodes --- .../launch/fetch_bringup.launch | 81 +++++++++---------- 1 file changed, 40 insertions(+), 41 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index d7b506ff42..5fd2e74b38 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -17,15 +17,12 @@ - - - @@ -117,7 +114,7 @@ - + @@ -152,44 +149,46 @@ - - - - - - - - - - - - - - - - - - - - - tts_action_names: - - sound_play - - robotsound_jp - + + + + + + + + + + + + + + + + + + + + + + tts_action_names: + - sound_play + - robotsound_jp + + + + + + + + + default_select: speech_to_text_google + patient: 6 + + - - - - - - - default_select: speech_to_text_google - patient: 6 - - From 48d6a08340f83338aaacf24de364e85244109fb1 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 15 Dec 2020 00:20:14 +0900 Subject: [PATCH 039/430] move robot_localization in fetch.launch --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch | 1 - 1 file changed, 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch index 0bccd16208..72826157ec 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch @@ -31,7 +31,6 @@ - From c384dac41bfc6467cdc717a782840ad5e9d0ac46 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 9 Feb 2021 16:56:04 +0900 Subject: [PATCH 040/430] add timeout in go_to_kitchen --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index e81df30945..bf21da8e4a 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -3,6 +3,7 @@ platform: fetch launch: jsk_fetch_startup/go_to_kitchen.xml interface: jsk_fetch_startup/go_to_kitchen.interface icon: jsk_fetch_startup/go_to_kitchen.png +timeout: 1200 plugins: - name: service_notification_saver_plugin type: app_notification_saver/service_notification_saver From 0afd47800c4c22a1209aa0b65cfdc06e3684aa44 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 8 Apr 2021 19:04:43 +0900 Subject: [PATCH 041/430] add jsk-object-detector and jsk-human-pose-estimator supervisor conf --- .../supervisor_scripts/jsk-human-pose-estimator.conf | 12 ++++++++++++ .../supervisor_scripts/jsk-object-detector.conf | 12 ++++++++++++ 2 files changed, 24 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf new file mode 100644 index 0000000000..fc8e36b63f --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf @@ -0,0 +1,12 @@ +[program:jsk-human-pose-estimator] +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait" + +stopsignal=TERM +directory=/home/fetch/ros/coral_ws +autostart=true +autorestart=false +stdout_logfile=/var/log/ros/jsk-human-pose-estimator.log +stderr_logfile=/var/log/ros/jsk-human-pose-estimator.log +user=fetch +environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1 +priority=200 diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf new file mode 100644 index 0000000000..91625c3b04 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf @@ -0,0 +1,12 @@ +[program:jsk-object-detector] +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" + +stopsignal=TERM +directory=/home/fetch/ros/coral_ws +autostart=true +autorestart=false +stdout_logfile=/var/log/ros/jsk-object-detector.log +stderr_logfile=/var/log/ros/jsk-object-detector.log +user=fetch +environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1 +priority=200 From 3a72bdddaeb6fdffd73c17a0fecbff8b55cd45be Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 8 Apr 2021 19:05:32 +0900 Subject: [PATCH 042/430] update tmuxinator log yaml --- jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml index 5f2e1d51bf..0e0b53ad62 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml +++ b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml @@ -37,7 +37,9 @@ windows: - jsk-network-monitor: tail -f -n 1000 /var/log/ros/jsk-network-monitor.log - jsk-log-wifi: tail -f -n 1000 /var/log/ros/jsk-log-wifi.log - jsk-app-scheduler: tail -f -n 1000 /var/log/ros/jsk-app-scheduler.log - - jsk-coral: tail -f -n 1000 /var/log/ros/jsk-coral.log + # - jsk-coral: tail -f -n 1000 /var/log/ros/jsk-coral.log + - jsk-object-detector: tail -f -n 1000 /var/log/ros/jsk-object-detector.log + - jsk-human-pose-estimator: tail -f -n 1000 /var/log/ros/jsk-human-pose-estimator.log - jsk-dialog: tail -f -n 1000 /var/log/ros/jsk-dialog.log - jsk-gdrive: tail -f -n 1000 /var/log/ros/jsk-gdrive.log - jsk-shutdown: tail -f -n 1000 /var/log/ros/jsk-shutdown.log From da76c79c41ada16d9a4e9e502bef307303f7e02f Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Wed, 21 Apr 2021 16:53:09 +0900 Subject: [PATCH 043/430] Add cron install scripts --- .../jsk_fetch_startup/config/install_cron.sh | 15 +++++++++++++++ .../cron_scripts/cron_fetch.conf | 1 + .../jsk_fetch_startup/cron_scripts/cron_root.conf | 1 + 3 files changed, 17 insertions(+) create mode 100755 jsk_fetch_robot/jsk_fetch_startup/config/install_cron.sh create mode 100644 jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf create mode 100644 jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_root.conf diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_cron.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_cron.sh new file mode 100755 index 0000000000..186b8dc4cc --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_cron.sh @@ -0,0 +1,15 @@ +#!/bin/bash + +jsk_fetch_startup=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`"/.. > /dev/null && pwd) + +IFS=':' read -r -a prefix_paths <<< "$CMAKE_PREFIX_PATH" +current_prefix_path="${prefix_paths[0]}" + +set -x + +cd $jsk_fetch_startup/cron_scripts +sudo -u fetch crontab cron_fetch.conf +echo "Set cron jobs for fetch user" +sudo -u root crontab cron_root.conf +echo "Set cron jobs for root user" +set +x diff --git a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf new file mode 100644 index 0000000000..2013454792 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf @@ -0,0 +1 @@ +0 3 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup update_workspace.sh > /home/fetch/ros/melodic/update_workspace.log" diff --git a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_root.conf b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_root.conf new file mode 100644 index 0000000000..da33972f7e --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_root.conf @@ -0,0 +1 @@ +0 4 * * * /sbin/shutdown -r now From bf2c4a0890bdc051df68cb47cae7f780e03e0aa9 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Wed, 21 Apr 2021 17:03:13 +0900 Subject: [PATCH 044/430] Redirect both standard output and standard error --- jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf index 2013454792..839bc9e138 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf @@ -1 +1 @@ -0 3 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup update_workspace.sh > /home/fetch/ros/melodic/update_workspace.log" +0 3 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup update_workspace.sh &> /home/fetch/ros/melodic/update_workspace.log" From b5821ea8ea72cf1ac697878260ceef6ed280bd2a Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Fri, 30 Apr 2021 01:09:45 +0900 Subject: [PATCH 045/430] Log dstat output --- .../supervisor_scripts/jsk-dstat.conf | 11 +++++++++++ 1 file changed, 11 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf new file mode 100644 index 0000000000..7ad426da83 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf @@ -0,0 +1,11 @@ +; Install dstat +; sudo apt install dstat +[program:jsk-dstat] +command=/bin/bash -c "dstat -tcdgilmnprsTy" +stopsignal=TERM +autostart=true +autorestart=false +stdout_logfile=/var/log/ros/jsk-dstat.log +stderr_logfile=/var/log/ros/jsk-dstat.log +user=root +priority=1 From b5ddadff8514bc67f32afdc291b19f1037fa5b01 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Wed, 5 May 2021 11:23:43 +0900 Subject: [PATCH 046/430] Remove duplicated supervisor job --- .../supervisor_scripts/jsk-coral.conf | 11 ----------- 1 file changed, 11 deletions(-) delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-coral.conf diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-coral.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-coral.conf deleted file mode 100644 index d7cf1778cf..0000000000 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-coral.conf +++ /dev/null @@ -1,11 +0,0 @@ -[program:jsk-coral] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt --screen --wait" -stopsignal=TERM -directory=/home/fetch/ros/coral_ws -autostart=true -autorestart=false -stdout_logfile=/var/log/ros/jsk-coral.log -stderr_logfile=/var/log/ros/jsk-coral.log -user=fetch -environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1 -priority=200 From ff975b6a7d03ddc4031f2032b1b00d991f47ce19 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 6 May 2021 22:25:05 +0900 Subject: [PATCH 047/430] Show more CPU info in dstat output --- .../jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf index 7ad426da83..b6e61e99c7 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf @@ -1,7 +1,7 @@ ; Install dstat ; sudo apt install dstat [program:jsk-dstat] -command=/bin/bash -c "dstat -tcdgilmnprsTy" +command=/bin/bash -c "dstat -tl --cpufreq -c -C all --top-cpu-adv -dgimnprsTy" stopsignal=TERM autostart=true autorestart=false From 89780ae81a735f9313667be4bfa13aedf98585dc Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Wed, 12 May 2021 19:17:49 +0900 Subject: [PATCH 048/430] Check if voice_text is installed or not --- .../jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index 5292717154..b0553995f0 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true use_voice_text:=false --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && if [ -d /usr/vt ]; then VOICE_TEXT=true; else VOICE_TEXT=false; fi && roslaunch jsk_fetch_startup fetch_bringup.launch boot_sound:=true use_voice_text:=$VOICE_TEXT --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true From 0a33c78826afd52a966c65cb56ce5b2db37428d9 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 13 May 2021 14:29:22 +0900 Subject: [PATCH 049/430] Throttle insta360 image to reduce dual_fisheye_to_panorama CPU load --- .../jsk_fetch_startup/launch/fetch_insta360_melodic.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch index c94523f778..c8af2a9b22 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch @@ -8,6 +8,7 @@ + From 5d1391ea75f43e7de83124c1aa28192486fdc3e7 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 18 May 2021 21:31:31 +0900 Subject: [PATCH 050/430] add tweet_image_server for non-euslisp users --- .../jsk_robot_startup/lifelog/tweet.launch | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch b/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch index b22b0d066c..827bef6832 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch @@ -27,12 +27,21 @@ output="$(arg output)" respawn="true" > + + + account_info: $(arg account_info) + + + + + Date: Tue, 18 May 2021 22:31:33 +0900 Subject: [PATCH 051/430] add tweet notifier in go_to_kitchen and time_signal --- .../apps/go_to_kitchen/go_to_kitchen.app | 8 ++++++++ .../jsk_fetch_startup/apps/time_signal/time_signal.app | 8 ++++++++ 2 files changed, 16 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index bf21da8e4a..d1fe0dbd9d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -105,6 +105,12 @@ plugins: - go_to_kitchen_rosbag.bag upload_parents_path: fetch_go_to_kitchen upload_server_name: /gdrive_server + - name: tweet_notifier_plugin + type: app_notifier/tweet_notifier_plugin + plugin_args: + client_name: /tweet_image_server/tweet + image: true + image_topic_name: /edgetpu_object_detector/output/image - name: speech_notifier_plugin type: app_notifier/speech_notifier_plugin plugin_args: @@ -144,6 +150,7 @@ plugin_order: - rosbag_recorder_plugin - result_recorder_plugin - gdrive_uploader_plugin + - tweet_notifier_plugin - speech_notifier_plugin - mail_notifier_plugin - shutdown_plugin @@ -158,6 +165,7 @@ plugin_order: - rosbag_recorder_plugin - result_recorder_plugin - gdrive_uploader_plugin + - tweet_notifier_plugin - speech_notifier_plugin - mail_notifier_plugin - shutdown_plugin diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app index d1c5e17227..d30b535da4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app @@ -5,6 +5,12 @@ interface: jsk_fetch_startup/time_signal.interface icon: jsk_fetch_startup/time_signal.png timeout: 10 plugins: + - name: tweet_notifier_plugin + type: app_notifier/tweet_notifier_plugin + plugin_args: + client_name: /tweet_image_server/tweet + image: true + image_topic_name: /edgetpu_object_detector/output/image - name: user_speech_notifier_plugin type: app_notifier/user_speech_notifier_plugin plugin_args: @@ -12,6 +18,8 @@ plugins: warning: false plugin_order: start_plugin_order: + - tweet_notifier_plugin - user_speech_notifier_plugin stop_plugin_order: + - tweet_notifier_plugin - user_speech_notifier_plugin From 2a5570448fb236b265d16471bf492a8be4ff21f7 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 18 May 2021 23:07:08 +0900 Subject: [PATCH 052/430] set warning param for tweet notifier plugin --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app | 1 + .../jsk_fetch_startup/apps/time_signal/time_signal.app | 1 + 2 files changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index d1fe0dbd9d..0ce091344e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -111,6 +111,7 @@ plugins: client_name: /tweet_image_server/tweet image: true image_topic_name: /edgetpu_object_detector/output/image + warning: false - name: speech_notifier_plugin type: app_notifier/speech_notifier_plugin plugin_args: diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app index d30b535da4..23b6e46481 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app @@ -11,6 +11,7 @@ plugins: client_name: /tweet_image_server/tweet image: true image_topic_name: /edgetpu_object_detector/output/image + warning: false - name: user_speech_notifier_plugin type: app_notifier/user_speech_notifier_plugin plugin_args: From 5c529d57cadda1c70fce15adbe39a17db08f4bda Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 20 May 2021 22:39:15 +0900 Subject: [PATCH 053/430] Save dstat output in csv format --- .../jsk_fetch_startup/config/install_supervisor.sh | 3 +++ .../jsk_fetch_startup/scripts/dstat.bash | 14 ++++++++++++++ .../supervisor_scripts/jsk-dstat.conf | 2 +- 3 files changed, 18 insertions(+), 1 deletion(-) create mode 100755 jsk_fetch_robot/jsk_fetch_startup/scripts/dstat.bash diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh index d07fbfb529..6d12834900 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh @@ -20,4 +20,7 @@ if [ ! -e /var/lib/robot/config.bash ]; then sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash fi +# Enable jsk_dstat job to save the csv log under /var/log +ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk_dstat.csv + set +x diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/dstat.bash b/jsk_fetch_robot/jsk_fetch_startup/scripts/dstat.bash new file mode 100755 index 0000000000..440237145e --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/dstat.bash @@ -0,0 +1,14 @@ +#!/usr/bin/env bash + +# Keep only the last 1000 lines of csv log before executing dstat +CSV_FILE=/home/fetch/Documents/jsk_dstat.csv + +if [ -e $CSV_FILE ]; then + cp -f $CSV_FILE $CSV_FILE.bk + tail -n 1000 $CSV_FILE.bk > $CSV_FILE + rm -f $CSV_FILE.bk +else + touch $CSV_FILE +fi + +dstat -tl --cpufreq -c -C all --top-cpu-adv -dgimnprsTy --output $CSV_FILE diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf index b6e61e99c7..4fcf56a3e3 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf @@ -1,7 +1,7 @@ ; Install dstat ; sudo apt install dstat [program:jsk-dstat] -command=/bin/bash -c "dstat -tl --cpufreq -c -C all --top-cpu-adv -dgimnprsTy" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup dstat.bash" stopsignal=TERM autostart=true autorestart=false From af3bb5a9b3ab39768bd5653887abbce52524ddca Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sun, 23 May 2021 23:35:15 +0900 Subject: [PATCH 054/430] update jsk-gdrive.conf --- .../jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf index a79cc1deb3..dc30c03ea9 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf @@ -1,5 +1,5 @@ [program:jsk-gdrive] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch gdrive_ros gdrive_server.launch --wait --screen" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true From 3ba7d423d70e679a5ddf4ddb93de719b30f6ed0b Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 25 May 2021 21:56:45 +0900 Subject: [PATCH 055/430] Show jsk_dstat.log in 'tmuxinator log' --- jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml index 0e0b53ad62..3a6121e041 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml +++ b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml @@ -44,3 +44,4 @@ windows: - jsk-gdrive: tail -f -n 1000 /var/log/ros/jsk-gdrive.log - jsk-shutdown: tail -f -n 1000 /var/log/ros/jsk-shutdown.log - jsk-rfcomm-bind: tail -f -n 1000 /var/log/ros/jsk-rfcomm-bind.log + - jsk-dstat: tail -f -n 1000 /var/log/ros/jsk-dstat.log From 72369e367422e8780055f2c93abed0658c437038 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Wed, 2 Jun 2021 20:49:28 +0900 Subject: [PATCH 056/430] Fix typo --- jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh index 6d12834900..60878b5a97 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh @@ -21,6 +21,6 @@ if [ ! -e /var/lib/robot/config.bash ]; then fi # Enable jsk_dstat job to save the csv log under /var/log -ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk_dstat.csv +ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv set +x From 20e005a4a2c6874aa30ee0ffeb9ffba29b039e98 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Thu, 3 Jun 2021 18:54:13 +0900 Subject: [PATCH 057/430] enable dialogflow webhook on fetch default --- .../jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf index 581d4d8f87..8e8aa85903 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf @@ -1,5 +1,5 @@ [program:jsk-dialog] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch dialogflow_task_executive dialogflow_task_executive.launch run_app_manager:=false --wait --screen" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch dialogflow_task_executive dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true --wait --screen " stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true From 585501ca097c3da14248624db0edf6fb0bd59bd0 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 3 Jun 2021 12:59:24 +0900 Subject: [PATCH 058/430] Add supervisor job for edgetpu-panorama recognition --- .../jsk-human-pose-estimator.conf | 1 + .../supervisor_scripts/jsk-object-detector.conf | 1 + .../jsk-panorama-human-pose-estimator.conf | 13 +++++++++++++ .../jsk-panorama-object-detector.conf | 13 +++++++++++++ 4 files changed, 28 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf index fc8e36b63f..8021ee6ce4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf @@ -3,6 +3,7 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/cor stopsignal=TERM directory=/home/fetch/ros/coral_ws +; You can set "autostart=true" if "autostart=false" in jsk-panorama-human-pose-estimator.conf autostart=true autorestart=false stdout_logfile=/var/log/ros/jsk-human-pose-estimator.log diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf index 91625c3b04..2e8e147a9e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf @@ -3,6 +3,7 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/cor stopsignal=TERM directory=/home/fetch/ros/coral_ws +; You can set "autostart=true" if "autostart=false" in jsk-panorama-object-detector.conf autostart=true autorestart=false stdout_logfile=/var/log/ros/jsk-object-detector.log diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf new file mode 100644 index 0000000000..48b3abb4c5 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf @@ -0,0 +1,13 @@ +[program:jsk-panorama-human-pose-estimator] +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch namespace:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/output device_id:=0 --screen --wait" + +stopsignal=TERM +directory=/home/fetch/ros/coral_ws +; You can set "autostart=true" if "autostart=false" in jsk-human-pose-estimator.conf +autostart=false +autorestart=false +stdout_logfile=/var/log/ros/jsk-panorama-human-pose-estimator.log +stderr_logfile=/var/log/ros/jsk-panorama-human-pose-estimator.log +user=fetch +environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1 +priority=200 diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf new file mode 100644 index 0000000000..5c68ad54a8 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf @@ -0,0 +1,13 @@ +[program:jsk-panorama-object-detector] +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch namespace:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" + +stopsignal=TERM +directory=/home/fetch/ros/coral_ws +; You can set "autostart=true" if "autostart=false" in jsk-object-detector.conf +autostart=false +autorestart=false +stdout_logfile=/var/log/ros/jsk-panorama-object-detector.log +stderr_logfile=/var/log/ros/jsk-panorama-object-detector.log +user=fetch +environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1 +priority=200 From 0303ee6d6ff8ab615eded4cd9d14799099adcd1d Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 3 Jun 2021 14:00:44 +0900 Subject: [PATCH 059/430] Add tmuxinator config for edgetpu_panorama jobs --- jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml index 3a6121e041..7b4cc539a8 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml +++ b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml @@ -39,7 +39,9 @@ windows: - jsk-app-scheduler: tail -f -n 1000 /var/log/ros/jsk-app-scheduler.log # - jsk-coral: tail -f -n 1000 /var/log/ros/jsk-coral.log - jsk-object-detector: tail -f -n 1000 /var/log/ros/jsk-object-detector.log + - jsk-panorama-object-detector: tail -f -n 1000 /var/log/ros/jsk-panorama-object-detector.log - jsk-human-pose-estimator: tail -f -n 1000 /var/log/ros/jsk-human-pose-estimator.log + - jsk-panorama-human-pose-estimator: tail -f -n 1000 /var/log/ros/jsk-panorama-human-pose-estimator.log - jsk-dialog: tail -f -n 1000 /var/log/ros/jsk-dialog.log - jsk-gdrive: tail -f -n 1000 /var/log/ros/jsk-gdrive.log - jsk-shutdown: tail -f -n 1000 /var/log/ros/jsk-shutdown.log From aea5980e3cd7e5c49e72271874efe84ec8f69c50 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 3 Jun 2021 14:27:48 +0900 Subject: [PATCH 060/430] Input quater panorama images to edgetpu node --- .../supervisor_scripts/jsk-panorama-human-pose-estimator.conf | 2 +- .../supervisor_scripts/jsk-panorama-object-detector.conf | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf index 48b3abb4c5..a8a897c9ae 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf @@ -1,5 +1,5 @@ [program:jsk-panorama-human-pose-estimator] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch namespace:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/output device_id:=0 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch namespace:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" stopsignal=TERM directory=/home/fetch/ros/coral_ws diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf index 5c68ad54a8..01209aefbf 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf @@ -1,5 +1,5 @@ [program:jsk-panorama-object-detector] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch namespace:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch namespace:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" stopsignal=TERM directory=/home/fetch/ros/coral_ws From 1f5c06a5274c783b35d9caed99eab591efef8cf9 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 3 Jun 2021 14:31:03 +0900 Subject: [PATCH 061/430] Record edgetpu panorama image visualized by coral_usb_ros instead of jsk_perception --- .../apps/go_to_kitchen/go_to_kitchen.app | 2 +- .../apps/go_to_kitchen/go_to_kitchen.xml | 12 ------------ 2 files changed, 1 insertion(+), 13 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index 0ce091344e..65327b063f 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -29,7 +29,7 @@ plugins: launch_args: video_path: /tmp video_title: go_to_kitchen_object_detection.avi - video_topic_name: /edgetpu_object_detector_visualization/output + video_topic_name: /edgetpu_object_detector/output/image video_fps: 5.0 - name: panorama_video_recorder_plugin type: app_recorder/video_recorder_plugin diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 1e625bcc70..af52dd4e51 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -14,16 +14,4 @@ - - - - - - approximate_sync: true - queue_size: 100 - use_classification_result: true - resolution_factor: 1.0 - - From d765a67c03a06af3cb39c9a8739b9527daeccc92 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 3 Jun 2021 14:50:00 +0900 Subject: [PATCH 062/430] Change object detector score threshold in go-to-kitchen --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index af52dd4e51..fff5a42682 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -14,4 +14,8 @@ + + + From 4e7f4d77e392b397dde1860e8e9f8d5b148e7e06 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 3 Jun 2021 19:58:25 +0900 Subject: [PATCH 063/430] Fix launch arg name based on coral_usb_ros update --- .../supervisor_scripts/jsk-panorama-human-pose-estimator.conf | 2 +- .../supervisor_scripts/jsk-panorama-object-detector.conf | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf index a8a897c9ae..48b5fc4dc3 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf @@ -1,5 +1,5 @@ [program:jsk-panorama-human-pose-estimator] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch namespace:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" stopsignal=TERM directory=/home/fetch/ros/coral_ws diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf index 01209aefbf..434ab2fe48 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf @@ -1,5 +1,5 @@ [program:jsk-panorama-object-detector] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch namespace:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" stopsignal=TERM directory=/home/fetch/ros/coral_ws From 4ecd2fafe19fbaf661e97bbd019983cb1485bc3d Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 3 Jun 2021 20:48:22 +0900 Subject: [PATCH 064/430] Use audio_video_recorder_plugin to record edgetpu_object_detector output --- .../apps/go_to_kitchen/go_to_kitchen.app | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index 65327b063f..a7aacf6f3a 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -25,12 +25,20 @@ plugins: video_framerate: 30 video_encoding: RGB - name: object_detection_video_recorder_plugin - type: app_recorder/video_recorder_plugin + type: app_recorder/audio_video_recorder_plugin launch_args: video_path: /tmp video_title: go_to_kitchen_object_detection.avi + audio_topic_name: /audio + audio_channels: 1 + audio_sample_rate: 16000 + audio_format: wave + audio_sample_format: S16LE video_topic_name: /edgetpu_object_detector/output/image - video_fps: 5.0 + video_height: 480 + video_width: 640 + video_framerate: 10 + video_encoding: RGB - name: panorama_video_recorder_plugin type: app_recorder/video_recorder_plugin launch_args: From 5bc8fa6c3c179cc81bb3905108ef8deb89491a05 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 3 Jun 2021 22:49:34 +0900 Subject: [PATCH 065/430] Update go-to-kitchen demo --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index fff5a42682..75d3b9832d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -16,6 +16,6 @@ - + From 03a748bfa8e9a205e4183e6f486bfbe81f2ee0b7 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 11 Jun 2021 12:08:15 +0900 Subject: [PATCH 066/430] set longer timeout for time signal --- .../jsk_fetch_startup/apps/time_signal/time_signal.app | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app index 23b6e46481..07c42622d4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app @@ -3,7 +3,7 @@ platform: fetch launch: jsk_fetch_startup/time_signal.xml interface: jsk_fetch_startup/time_signal.interface icon: jsk_fetch_startup/time_signal.png -timeout: 10 +timeout: 120 plugins: - name: tweet_notifier_plugin type: app_notifier/tweet_notifier_plugin From 9a692803ab30d39071078e4f031d821edab645fa Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 17 Jun 2021 19:04:00 +0900 Subject: [PATCH 067/430] Turn on/off switchbots from switchbot_ros API --- jsk_fetch_robot/jsk_fetch_startup/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/package.xml b/jsk_fetch_robot/jsk_fetch_startup/package.xml index a89d0c4dea..7b40053990 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/package.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/package.xml @@ -29,6 +29,7 @@ pr2_computer_monitor robot_pose_publisher rviz + switchbot_ros tf touchegg sound_play From 6484a38679d4053dc769b5babacce35ca141dec4 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 19 Jun 2021 19:57:38 +0900 Subject: [PATCH 068/430] record rviz video in kitchen demo --- .../apps/go_to_kitchen/go_to_kitchen.app | 11 +++++++++++ .../apps/go_to_kitchen/go_to_kitchen.xml | 7 +++++++ 2 files changed, 18 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index a7aacf6f3a..f2d6f083bd 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -46,6 +46,13 @@ plugins: video_title: go_to_kitchen_panorama.avi video_topic_name: /dual_fisheye_to_panorama/output video_fps: 1.0 + - name: rviz_video_recorder_plugin + type: app_recorder/video_recorder_plugin + launch_args: + video_path: /tmp + video_title: go_to_kitchen_rviz.avi + video_topic_name: /rviz/image + video_fps: 30.0 - name: respeaker_audio_recorder_plugin type: app_recorder/audio_recorder_plugin launch_args: @@ -102,6 +109,7 @@ plugins: - /tmp/go_to_kitchen_head_camera.avi - /tmp/go_to_kitchen_object_detection.avi - /tmp/go_to_kitchen_panorama.avi + - /tmp/go_to_kitchen_rviz.avi - /tmp/go_to_kitchen_audio.wav - /tmp/go_to_kitchen_rosbag.bag upload_file_titles: @@ -109,6 +117,7 @@ plugins: - go_to_kitchen_head_camera.avi - go_to_kitchen_object_detection.avi - go_to_kitchen_panorama.avi + - go_to_kitchen_rviz.avi - go_to_kitchen_audio.wav - go_to_kitchen_rosbag.bag upload_parents_path: fetch_go_to_kitchen @@ -155,6 +164,7 @@ plugin_order: - head_camera_video_recorder_plugin - object_detection_video_recorder_plugin - panorama_video_recorder_plugin + - rviz_video_recorder_plugin - respeaker_audio_recorder_plugin - rosbag_recorder_plugin - result_recorder_plugin @@ -170,6 +180,7 @@ plugin_order: - head_camera_video_recorder_plugin - object_detection_video_recorder_plugin - panorama_video_recorder_plugin + - rviz_video_recorder_plugin - respeaker_audio_recorder_plugin - rosbag_recorder_plugin - result_recorder_plugin diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 75d3b9832d..60d62199ec 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -18,4 +18,11 @@ args="set_from_parameters edgetpu_object_detector"> + + + + + + From e0010db006bbc9ed83eeb99bc3598437cb934aa4 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 15 Jul 2021 19:08:04 +0900 Subject: [PATCH 069/430] Seperate fetch15 move_base param and fetch1075 move_base param --- .../jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index b0553995f0..8d5fe6f077 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && if [ -d /usr/vt ]; then VOICE_TEXT=true; else VOICE_TEXT=false; fi && roslaunch jsk_fetch_startup fetch_bringup.launch boot_sound:=true use_voice_text:=$VOICE_TEXT --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && if [ -d /usr/vt ]; then VOICE_TEXT=true; else VOICE_TEXT=false; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true use_voice_text:=$VOICE_TEXT --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true From 67e32e3cfae65c4aeb91f772478e55427fdf7f9f Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 29 Jul 2021 14:47:04 +0900 Subject: [PATCH 070/430] record smach data in rosbag --- jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch | 3 +++ 1 file changed, 3 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch index 43b5a923ce..12dd846fd3 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch @@ -35,6 +35,9 @@ /head_camera/depth_registered/throttled/camera_info /head_camera/rgb/throttled/image_rect_color/compressed /head_camera/depth_registered/throttled/image_rect/compressedDepth + /server_name/smach/container_init + /server_name/smach/container_status + /server_name/smach/container_structure /audio $(arg other_topics) $(arg regex_flag) From 3fd24a89ab822c78c99caf28c57e63c2e57c2c46 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 4 Oct 2022 00:29:21 +0900 Subject: [PATCH 071/430] [jsk_fetch_startup] add config/config.bash and use it in robot.conf and install_supervisor.sh --- .../jsk_fetch_startup/config/install_supervisor.sh | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh index 60878b5a97..63f1be57ac 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh @@ -23,4 +23,9 @@ fi # Enable jsk_dstat job to save the csv log under /var/log ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv +# copy config.bash to /var/lib/robo if not exists +if [ ! -e /var/lib/robot/config.bash ]; then + sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash +fi + set +x From 8c7b98c33c9dffe56f575277030305e93ec4ef65 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 3 Aug 2021 17:49:11 +0900 Subject: [PATCH 072/430] Add app to upload notification json --- jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed b/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed index e47207b282..79f90d51b6 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed @@ -29,3 +29,5 @@ apps: display: light on - app: jsk_fetch_startup/light_off display: light off + - app: jsk_fetch_startup/upload_notification + display: Upload notification From 526f22fdba839b23a267a2509f343c0b58c48e17 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Fri, 13 Aug 2021 14:34:17 +0900 Subject: [PATCH 073/430] [jsk_fetch_startup] add rotate_in_place to dock func --- .../jsk_fetch_startup/euslisp/navigation-utils.l | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 13bdcee901..0290cf1ec1 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -117,7 +117,7 @@ (simple-dock)) -(defun undock () +(defun undock (&key (rotate_in_place nil)) (unless *undock-action* (setq *undock-action* (instance ros::simple-action-client :init @@ -126,7 +126,8 @@ (ros::ros-error "/undock action server is not started") (return-from undock nil)) (send *undock-action* :send-goal - (instance fetch_auto_dock_msgs::UndockActionGoal :init)) + (instance fetch_auto_dock_msgs::UndockActionGoal :init + :goal (instance fetch_auto_dock_msgs::UndockGoal :rotate_in_place rotate_in_place))) (unless (send *undock-action* :wait-for-result :timeout 60) (ros::ros-error "No result returned from /undock action server") (return-from undock nil)) @@ -169,10 +170,7 @@ Args: (return-from go-to-spot-undock t)) (if (equal battery-charging-state :charging) (progn - (setq undock-success (auto-undock :n-trial 3)) - ;; rotate after undock - (if (and undock-success undock-rotate) - (send *ri* :go-pos-unsafe 0 0 180))) + (setq undock-success (auto-undock :n-trial 3 :rotate_in_place undock-rotate))) (return-from go-to-spot-undock t)) (if (not undock-success) (progn @@ -202,14 +200,14 @@ Args: success)) -(defun auto-undock (&key (n-trial 1)) +(defun auto-undock (&key (n-trial 1) (rotate_in_place nil)) (let ((success nil)) (unless (boundp '*ri*) (require :fetch-interface "package://fetcheus/fetch-interface.l") (fetch-init)) (dotimes (i n-trial) (ros::ros-info "trying to do undock.") - (setq success (undock)) + (setq success (undock :rotate_in_place rotate_in_place)) (when success (return-from auto-undock success))) (if (not success) (let ((enable-request (instance power_msgs::BreakerCommandRequest :init :enable t)) From e587e32e03b13c7e0f972d95c52a8bbb373ed783 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 16 Aug 2021 18:53:20 +0900 Subject: [PATCH 074/430] [jsk_fetch_startup] rename arg name rotate_in_place to rotate-in-place --- .../jsk_fetch_startup/euslisp/navigation-utils.l | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 0290cf1ec1..df0f96174d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -117,7 +117,7 @@ (simple-dock)) -(defun undock (&key (rotate_in_place nil)) +(defun undock (&key (rotate-in-place nil)) (unless *undock-action* (setq *undock-action* (instance ros::simple-action-client :init @@ -127,7 +127,7 @@ (return-from undock nil)) (send *undock-action* :send-goal (instance fetch_auto_dock_msgs::UndockActionGoal :init - :goal (instance fetch_auto_dock_msgs::UndockGoal :rotate_in_place rotate_in_place))) + :goal (instance fetch_auto_dock_msgs::UndockGoal :rotate_in_place rotate-in-place))) (unless (send *undock-action* :wait-for-result :timeout 60) (ros::ros-error "No result returned from /undock action server") (return-from undock nil)) @@ -170,7 +170,7 @@ Args: (return-from go-to-spot-undock t)) (if (equal battery-charging-state :charging) (progn - (setq undock-success (auto-undock :n-trial 3 :rotate_in_place undock-rotate))) + (setq undock-success (auto-undock :n-trial 3 :rotate-in-place undock-rotate))) (return-from go-to-spot-undock t)) (if (not undock-success) (progn @@ -200,14 +200,14 @@ Args: success)) -(defun auto-undock (&key (n-trial 1) (rotate_in_place nil)) +(defun auto-undock (&key (n-trial 1) (rotate-in-place nil)) (let ((success nil)) (unless (boundp '*ri*) (require :fetch-interface "package://fetcheus/fetch-interface.l") (fetch-init)) (dotimes (i n-trial) (ros::ros-info "trying to do undock.") - (setq success (undock :rotate_in_place rotate_in_place)) + (setq success (undock :rotate-in-place rotate-in-place)) (when success (return-from auto-undock success))) (if (not success) (let ((enable-request (instance power_msgs::BreakerCommandRequest :init :enable t)) From 9d23215bb8b72f7499b63e15e9dc025d496c50d2 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 16 Aug 2021 22:40:33 +0900 Subject: [PATCH 075/430] [jsk_fetch_startup] add jsk_fetch_spot_power_plug demo apps --- .../apps/fetch_apps.installed | 4 + .../plug_spot_power_connector.app | 74 +++++++++++++++++++ .../plug_spot_power_connector.interface | 2 + .../plug_spot_power_connector.xml | 3 + .../unplug_spot_power_connector.app | 74 +++++++++++++++++++ .../unplug_spot_power_connector.interface | 2 + .../unplug_spot_power_connector.xml | 3 + 7 files changed, 162 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.interface create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.xml create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.interface create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.xml diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed b/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed index 79f90d51b6..c1bad9ee46 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed @@ -31,3 +31,7 @@ apps: display: light off - app: jsk_fetch_startup/upload_notification display: Upload notification + - app: jsk_fetch_startup/plug_spot_power_connector + display: Plug Spot Power Connector + - app: jsk_fetch_startup/unplug_spot_power_connector + display: Unplug Spot Power Connector diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app new file mode 100644 index 0000000000..bb7fee363a --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app @@ -0,0 +1,74 @@ +display: Plug Spot Power Connector +platform: fetch +launch: jsk_fetch_startup/plug_spot_power_connector.xml +interface: jsk_fetch_startup/plug_spot_power_connector.interface +plugins: + - name: service_notification_saver_plugin + type: app_notification_saver/service_notification_saver + - name: head_camera_video_recorder_plugin + type: app_recorder/audio_video_recorder_plugin + launch_args: + video_path: /tmp + video_title: plug_spot_power_connector.avi + audio_topic_name: /audio + audio_channels: 1 + audio_sample_rate: 16000 + audio_format: wave + audio_sample_format: S16LE + video_topic_name: /head_camera/rgb/image_rect_color + video_height: 480 + video_width: 640 + video_framerate: 30 + video_encoding: RGB + - name: panorama_video_recorder_plugin + type: app_recorder/video_recorder_plugin + launch_args: + video_path: /tmp + video_title: plug_spot_power_connector_panorama.avi + video_topic_name: /dual_fisheye_to_panorama/output + video_fps: 1.0 + - name: result_recorder_plugin + type: app_recorder/result_recorder_plugin + plugin_args: + result_path: /tmp + result_title: plug_spot_power_connector_result.yaml + - name: gdrive_uploader_plugin + type: app_uploader/gdrive_uploader_plugin + plugin_args: + upload_file_paths: + - /tmp/plug_spot_power_connector_result.yaml + - /tmp/plug_spot_power_connector_head_camera.avi + - /tmp/plug_spot_power_connector_panorama.avi + upload_file_titles: + - plug_spot_power_connector_result.yaml + - plug_spot_power_connector_head_camera.avi + - plug_spot_power_connector_panorama.avi + upload_parents_path: fetch_plug_spot_power_connector + upload_server_name: /gdrive_server + - name: speech_notifier_plugin + type: app_notifier/speech_notifier_plugin + plugin_args: + client_name: /sound_play + - name: mail_notifier_plugin + type: app_notifier/mail_notifier_plugin + plugin_args: + mail_title: Fetch Plug Spot Power Connector Demo + use_timestamp_title: true + plugin_arg_yaml: /var/lib/robot/fetch_mail_notifier_plugin.yaml +plugin_order: + start_plugin_order: + - service_notification_saver_plugin + - head_camera_video_recorder_plugin + - panorama_video_recorder_plugin + - result_recorder_plugin + - gdrive_uploader_plugin + - speech_notifier_plugin + - mail_notifier_plugin + stop_plugin_order: + - service_notification_saver_plugin + - head_camera_video_recorder_plugin + - panorama_video_recorder_plugin + - result_recorder_plugin + - gdrive_uploader_plugin + - speech_notifier_plugin + - mail_notifier_plugin diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.interface b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.interface new file mode 100644 index 0000000000..044105d644 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.interface @@ -0,0 +1,2 @@ +published_topics: {} +subscribed_topics: {} diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.xml new file mode 100644 index 0000000000..ad05e91977 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.xml @@ -0,0 +1,3 @@ + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app new file mode 100644 index 0000000000..7419a0ecea --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app @@ -0,0 +1,74 @@ +display: Unplug Spot Power Connector +platform: fetch +launch: jsk_fetch_startup/unplug_spot_power_connector.xml +interface: jsk_fetch_startup/unplug_spot_power_connector.interface +plugins: + - name: service_notification_saver_plugin + type: app_notification_saver/service_notification_saver + - name: head_camera_video_recorder_plugin + type: app_recorder/audio_video_recorder_plugin + launch_args: + video_path: /tmp + video_title: unplug_spot_power_connector.avi + audio_topic_name: /audio + audio_channels: 1 + audio_sample_rate: 16000 + audio_format: wave + audio_sample_format: S16LE + video_topic_name: /head_camera/rgb/image_rect_color + video_height: 480 + video_width: 640 + video_framerate: 30 + video_encoding: RGB + - name: panorama_video_recorder_plugin + type: app_recorder/video_recorder_plugin + launch_args: + video_path: /tmp + video_title: unplug_spot_power_connector_panorama.avi + video_topic_name: /dual_fisheye_to_panorama/output + video_fps: 1.0 + - name: result_recorder_plugin + type: app_recorder/result_recorder_plugin + plugin_args: + result_path: /tmp + result_title: unplug_spot_power_connector_result.yaml + - name: gdrive_uploader_plugin + type: app_uploader/gdrive_uploader_plugin + plugin_args: + upload_file_paths: + - /tmp/unplug_spot_power_connector_result.yaml + - /tmp/unplug_spot_power_connector_head_camera.avi + - /tmp/unplug_spot_power_connector_panorama.avi + upload_file_titles: + - unplug_spot_power_connector_result.yaml + - unplug_spot_power_connector_head_camera.avi + - unplug_spot_power_connector_panorama.avi + upload_parents_path: fetch_unplug_spot_power_connector + upload_server_name: /gdrive_server + - name: speech_notifier_plugin + type: app_notifier/speech_notifier_plugin + plugin_args: + client_name: /sound_play + - name: mail_notifier_plugin + type: app_notifier/mail_notifier_plugin + plugin_args: + mail_title: Fetch Plug Spot Power Connector Demo + use_timestamp_title: true + plugin_arg_yaml: /var/lib/robot/fetch_mail_notifier_plugin.yaml +plugin_order: + start_plugin_order: + - service_notification_saver_plugin + - head_camera_video_recorder_plugin + - panorama_video_recorder_plugin + - result_recorder_plugin + - gdrive_uploader_plugin + - speech_notifier_plugin + - mail_notifier_plugin + stop_plugin_order: + - service_notification_saver_plugin + - head_camera_video_recorder_plugin + - panorama_video_recorder_plugin + - result_recorder_plugin + - gdrive_uploader_plugin + - speech_notifier_plugin + - mail_notifier_plugin diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.interface b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.interface new file mode 100644 index 0000000000..044105d644 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.interface @@ -0,0 +1,2 @@ +published_topics: {} +subscribed_topics: {} diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.xml new file mode 100644 index 0000000000..d61fc63f62 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.xml @@ -0,0 +1,3 @@ + + + From 1b36d5f28d9cfa34114714c8d11fc3b250d2c6c7 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 17 Aug 2021 09:51:48 +0900 Subject: [PATCH 076/430] [jsk_fetch_startup] fix app plugin --- .../plug_spot_power_connector.app | 8 ++++---- .../unplug_spot_power_connector.app | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app index bb7fee363a..ba7af32b8a 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app @@ -9,15 +9,15 @@ plugins: type: app_recorder/audio_video_recorder_plugin launch_args: video_path: /tmp - video_title: plug_spot_power_connector.avi + video_title: plug_spot_power_connector_head_camera.avi audio_topic_name: /audio audio_channels: 1 audio_sample_rate: 16000 audio_format: wave audio_sample_format: S16LE - video_topic_name: /head_camera/rgb/image_rect_color - video_height: 480 - video_width: 640 + video_topic_name: /tag_detections_image + video_height: 1080 + video_width: 1920 video_framerate: 30 video_encoding: RGB - name: panorama_video_recorder_plugin diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app index 7419a0ecea..ff90fb0eb9 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app @@ -9,15 +9,15 @@ plugins: type: app_recorder/audio_video_recorder_plugin launch_args: video_path: /tmp - video_title: unplug_spot_power_connector.avi + video_title: unplug_spot_power_connector_head_camera.avi audio_topic_name: /audio audio_channels: 1 audio_sample_rate: 16000 audio_format: wave audio_sample_format: S16LE - video_topic_name: /head_camera/rgb/image_rect_color - video_height: 480 - video_width: 640 + video_topic_name: /tag_detections_image + video_height: 1080 + video_width: 1920 video_framerate: 30 video_encoding: RGB - name: panorama_video_recorder_plugin From 916aefaf7509d83cca4c991b013ec16a4b4a8730 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 17 Aug 2021 09:54:52 +0900 Subject: [PATCH 077/430] [jsk_fetch_startup] fix mail title for Unplug demo --- .../unplug_spot_power_connector/unplug_spot_power_connector.app | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app index ff90fb0eb9..c41c6f6d88 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app @@ -52,7 +52,7 @@ plugins: - name: mail_notifier_plugin type: app_notifier/mail_notifier_plugin plugin_args: - mail_title: Fetch Plug Spot Power Connector Demo + mail_title: Fetch Unplug Spot Power Connector Demo use_timestamp_title: true plugin_arg_yaml: /var/lib/robot/fetch_mail_notifier_plugin.yaml plugin_order: From 94b58c575f6b698a28ebda7e697a629e93fce1c0 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 17 Aug 2021 10:06:26 +0900 Subject: [PATCH 078/430] [jsk_fetch_startup] fix video topic for plug and unplug demo --- .../plug_spot_power_connector/plug_spot_power_connector.app | 2 +- .../unplug_spot_power_connector/unplug_spot_power_connector.app | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app index ba7af32b8a..0d74b1ad21 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app @@ -15,7 +15,7 @@ plugins: audio_sample_rate: 16000 audio_format: wave audio_sample_format: S16LE - video_topic_name: /tag_detections_image + video_topic_name: /l515_head/color/image_raw video_height: 1080 video_width: 1920 video_framerate: 30 diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app index c41c6f6d88..1786eebb33 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app @@ -15,7 +15,7 @@ plugins: audio_sample_rate: 16000 audio_format: wave audio_sample_format: S16LE - video_topic_name: /tag_detections_image + video_topic_name: /l515_head/color/image_raw video_height: 1080 video_width: 1920 video_framerate: 30 From 301d8449a2d93859753b86c2c6d9c8bfb58cdd6a Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 19 Oct 2021 13:15:39 +0900 Subject: [PATCH 079/430] [jsk_fetch_startup] add icons to plug and unplug app --- .../plug_spot_power_connector.app | 1 + .../plug_spot_power_connector.png | Bin 0 -> 1017109 bytes .../unplug_spot_power_connector.app | 1 + .../unplug_spot_power_connector.png | Bin 0 -> 1017627 bytes 4 files changed, 2 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.png create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.png diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app index 0d74b1ad21..10982ad16c 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app @@ -2,6 +2,7 @@ display: Plug Spot Power Connector platform: fetch launch: jsk_fetch_startup/plug_spot_power_connector.xml interface: jsk_fetch_startup/plug_spot_power_connector.interface +icon: jsk_fetch_startup/plug_spot_power_connector.png plugins: - name: service_notification_saver_plugin type: 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zqZ0|->zL)%b+o&?t>PttUSP{>pXulzE-5*?PX@+)p>wADPlLm6wUz?tn>4xCqf$> zvhHaW#8F;@{L$KGTAU<{P6mQ5_7VIbI#JA68GdzoDoVy$(_Rc(hJ$FRAHjU)r$8cQ z09*oH9cn$_IJT%4f&`>{K~FeXRQ&^OASmHADlqaJN-sBl!=ICQU|?fM zQG$pjqNHN0L0%;Lkw<6$2Q^4J#+-ufYEU Date: Tue, 19 Oct 2021 16:08:09 +0900 Subject: [PATCH 080/430] [jsk_fetch_startup] update move_base params for fetch15 --- .../fetch_move_base_common_params.yaml | 110 +----------------- 1 file changed, 1 insertion(+), 109 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml index 9da82ce6e2..0d3130cdcb 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml @@ -1,112 +1,4 @@ move_base: - controller_frequency: 20.0 - global_costmap: - inflater: - inflation_radius: 1.0 # 0.7 - cost_scaling_factor: 10.0 # 10.0 - obstacles: - min_obstacle_height: 0.05 - footprint_padding: 0.05 - publish_frequency: 1.0 - local_costmap: - inflater: - inflation_radius: 1.0 # 0.7 - cost_scaling_factor: 10.0 # 25.0 default 10, increasing factor decrease the cost value - obstacles: - min_obstacle_height: 0.05 - # default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide) - footprint_padding: 0.05 - update_frequency: 5.0 - base_global_planner: global_planner/GlobalPlanner - base_local_planner: teb_local_planner/TebLocalPlannerROS - # base_local_planner: base_local_planner/TrajectoryPlannerROS - GlobalPlanner: - allow_unknown: true - neural_cost: 50 - lethal_cost: 253 - cost_factor: 0.8 - default_tolerance: 0.0 - orientation_mode: 1 - visualize_potential: false - publish_potential: false - TrajectoryPlannerROS: - yaw_goal_tolerance: 0.1 - xy_goal_tolerance: 0.17 - max_vel_x: 0.5 - min_vel_x: 0.1 - min_in_place_vel_theta: 0.5 - escape_vel: 0.0 - sim_time: 1.5 - sim_granularity: 0.025 - angular_sim_granularity: 0.025 - vx_samples: 10 - vth_samples: 40 - meter_scoring: true - pdist_scale: 4.0 - gdist_scale: 2.5 - occdist_scale: 0.00625 - dwa: true - TebLocalPlannerROS: - odom_topic: /odom_combined - map_frame: /odom - # Trajectory - teb_autosize: True - dt_ref: 0.3 - dt_hysteresis: 0.1 - global_plan_overwrite_orientation: True - max_global_plan_lookahead_dist: 3.0 - feasibility_check_no_poses: 5 - # Robot - max_vel_x: 0.5 - max_vel_x_backwards: 0.3 - max_vel_theta: 1.0 - acc_lim_x: 1.0 - acc_lim_theta: 1.0 - min_turning_radius: 0.2 - footprint_model: - type: "circular" - radius: 0.3 - # GoalTolerance - xy_goal_tolerance: 0.2 - yaw_goal_tolerance: 0.1 - free_goal_vel: False - # Obstacles - min_obstacle_dist: 0.1 - include_costmap_obstacles: True - costmap_obstacles_behind_robot_dist: 1.0 - obstacle_poses_afected: 30 - costmap_converter_plugin: "" - costmap_converter_spin_thread: True - costmap_converter_rate: 5 - # Optimization - no_inner_iterations: 5 - no_outer_iterations: 4 - optimization_activate: True - optimization_verbose: False - penalty_epsilon: 0.1 - weight_max_vel_x: 2 - weight_max_vel_theta: 1 - weight_acc_lim_x: 1 - weight_acc_lim_theta: 1 - weight_kinematics_nh: 1000 - weight_kinematics_forward_drive: 1000 - weight_kinematics_turning_radius: 100 - weight_optimaltime: 1 - weight_obstacle: 50 - weight_dynamic_obstacle: 10 # not in use yet - alternative_time_cost: False # not in use yet - # Homotopy Class Planner - enable_homotopy_class_planning: True - enable_multithreading: True - simple_exploration: False - max_number_classes: 4 - roadmap_graph_no_samples: 15 - roadmap_graph_area_width: 5 - h_signature_prescaler: 0.5 - h_signature_threshold: 0.1 - obstacle_keypoint_offset: 0.1 - obstacle_heading_threshold: 0.45 - visualize_hc_graph: False recovery_behavior_enabled: true recovery_behaviors: - name: "conservative_reset" @@ -157,7 +49,7 @@ move_base: limited_trans_speed: 0.3 limited_rot_speed: 0.8 limited_distance: 0.3 - planner_namespace: TebLocalPlannerROS + planner_namespace: TrajectoryPlannerROS max_trans_param_name: max_vel_x max_rot_param_name: max_vel_theta max_planning_retries: 2 From 25ce4f8c1fff10e1199988d45d9f2333dba93016 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 19 Oct 2021 16:57:43 +0900 Subject: [PATCH 081/430] [jsk_fetch_robot][jsk_fetch_startup] support development version of fetch_open_auto_dock --- .../jsk_fetch_startup/launch/fetch_auto_dock.xml | 14 ++++++++++++++ .../jsk_fetch_startup/launch/fetch_teleop.xml | 5 +++-- 2 files changed, 17 insertions(+), 2 deletions(-) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_auto_dock.xml diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_auto_dock.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_auto_dock.xml new file mode 100644 index 0000000000..be7b25f86c --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_auto_dock.xml @@ -0,0 +1,14 @@ + + + + + duration_timeout_undock: 10.0 + duration_timeout_preorientation: 20.0 + + + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml index a9711dae9f..0b342d0db1 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml @@ -94,6 +94,7 @@ - + From 842d051f050cbcface8792686fd413ec7650c3b6 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Fri, 19 Nov 2021 09:31:20 +0900 Subject: [PATCH 082/430] show hint of trashbins --- .../jsk_fetch_startup/CMakeLists.txt | 17 +++- .../launch/trashbin_occupancy_detector.launch | 82 ++++++++++++++++++ .../src/trashbin_occupancy_detector.cpp | 86 +++++++++++++++++++ 3 files changed, 183 insertions(+), 2 deletions(-) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch create mode 100644 jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp diff --git a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt index be9259dac6..b65f51e87e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt +++ b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt @@ -10,7 +10,10 @@ endif() ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages -find_package(catkin) +find_package(catkin REQUIRED COMPONENTS + roscpp +) +find_package(Boost REQUIRED COMPONENTS) ################################### ## catkin specific configuration ## @@ -20,6 +23,17 @@ catkin_package() catkin_add_env_hooks(99.jsk_fetch_startup SHELLS bash zsh sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) +############# +## Install ## +############# +include_directories( + ${catkin_INCLUDE_DIRS} +) +add_executable(trashbin_occupancy_detector src/trashbin_occupancy_detector.cpp) +target_link_libraries(trashbin_occupancy_detector + ${catkin_LIBRARIES} +) + ############# ## Install ## ############# @@ -54,7 +68,6 @@ endmacro(configure_icon_files) configure_icon_files(blue fetch15) configure_icon_files(red fetch1075) - ############# ## Testing ## ############# diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch new file mode 100644 index 0000000000..2c8b72f2cb --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + use_indices: false + + + + + + + + + + + + tolerance: 0.02 + min_size: 100 + + + + + + + + + align_boxes: true + align_boxes_with_plane: false + target_frame_id: base_link + use_pca: true + force_to_flip_z_axis: false + + + + + + + + + trashbin_l: 0.38 + trashbin_w: 0.27 + trashbin_h: 0.51 + + + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp new file mode 100644 index 0000000000..1f453e9f88 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp @@ -0,0 +1,86 @@ +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include + +class TrashbinOccupancyDetector{ +private: + double _trashbinL, _trashbinW, _trashbinH; // trashbin size param + ros::Subscriber _trashbinHandleSub; + ros::Publisher _virtualTrashbinContainerPub; + geometry_msgs::Quaternion defaultOrientation; + +public: + // constructor + TrashbinOccupancyDetector(ros::NodeHandle &_nh){ + _nh.getParam("trashbin_l", this->_trashbinL); + _nh.getParam("trashbin_w", this->_trashbinW); + _nh.getParam("trashbin_h", this->_trashbinH); + this->_trashbinHandleSub = _nh.subscribe("trashbin_handle/boxes", 10, &TrashbinOccupancyDetector::CheckOccupancyCB, this); + this->_virtualTrashbinContainerPub = _nh.advertise("trashbin_handle/trashbin", 10); + // init default orientation const + this->defaultOrientation.w = 1.0; + this->defaultOrientation.x = 0.0; + this->defaultOrientation.y = 0.0; + this->defaultOrientation.z = 0.0; + }; + // destructor + ~TrashbinOccupancyDetector(){ + }; + + // draw virtual trashbin container and publish for debugging + void DrawVirtualTrashbinContainer(const jsk_recognition_msgs::BoundingBoxArray& handleCandidates){ + // Expected get non empty array + boost::shared_ptr handles, trashbins; + boost::shared_ptr handle, trashbin; + boost::shared_ptr handleCenterPosition, trashbinCenterPosition; + + *handles = handleCandidates; // TODO: Do not use all boundingboxes, use most likely trashbins + + for(int i=0; iboxes.size(); i++){ + *handle = handles->boxes.at(i); + // decide trashbin center position + *handleCenterPosition = handle->pose.position; + trashbinCenterPosition->x = handleCenterPosition->x + this->_trashbinL/2.0; + trashbinCenterPosition->y = handleCenterPosition->y; + trashbinCenterPosition->z = handleCenterPosition->z - this->_trashbinH/2.0; + // make BoundingBox trashbin + trashbin->header = handle->header; + trashbin->pose.position = *trashbinCenterPosition; + trashbin->pose.orientation = this->defaultOrientation; + trashbin->dimensions.x = this->_trashbinL; + trashbin->dimensions.y = this->_trashbinW; + trashbin->dimensions.z = this->_trashbinH; + trashbin->label = i; + // push to array + trashbins->boxes.push_back(*trashbin); + } + trashbins->header = handles->header; + this->_virtualTrashbinContainerPub.publish(*trashbins); + }; + + // main callback + void CheckOccupancyCB(const jsk_recognition_msgs::BoundingBoxArray& msg){ + if (msg.boxes.empty()) { + ROS_DEBUG("No handle candidates"); + } else { + ROS_DEBUG_STREAM(msg.boxes.size() << " handle candidates" << std::endl); + this->DrawVirtualTrashbinContainer(msg); + }; + }; +}; + +int main(int argc, char **argv){ + ros::init(argc, argv, "trashbin_occupancy_detector"); + ros::NodeHandle pnh("~"); + TrashbinOccupancyDetector node = TrashbinOccupancyDetector(pnh); + return 0; +} From 27117d244054e8f5c89e32fe94b7a7ef10de2235 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Fri, 19 Nov 2021 11:18:46 +0900 Subject: [PATCH 083/430] publish trashbin candidates --- .../launch/trashbin_occupancy_detector.launch | 58 +++++++++---------- .../src/trashbin_occupancy_detector.cpp | 21 +++---- 2 files changed, 38 insertions(+), 41 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch index 2c8b72f2cb..579fdf7453 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch @@ -1,7 +1,7 @@ - + - + @@ -21,25 +21,24 @@ + + + + + use_indices: false + + + + + + + + - - - - - - use_indices: false - - - - - - - - @@ -54,7 +53,6 @@ output="screen" clear_params="true"> - align_boxes: true @@ -65,18 +63,16 @@ - - - + - - - trashbin_l: 0.38 - trashbin_w: 0.27 - trashbin_h: 0.51 - - - - + + trashbin_l: 0.34 + trashbin_w: 0.24 + trashbin_h: 0.49 + + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp index 1f453e9f88..0f8d93bddb 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp +++ b/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp @@ -20,12 +20,12 @@ class TrashbinOccupancyDetector{ public: // constructor - TrashbinOccupancyDetector(ros::NodeHandle &_nh){ - _nh.getParam("trashbin_l", this->_trashbinL); - _nh.getParam("trashbin_w", this->_trashbinW); - _nh.getParam("trashbin_h", this->_trashbinH); + TrashbinOccupancyDetector(ros::NodeHandle &_nh, ros::NodeHandle &_pnh){ + _pnh.getParam("trashbin_l", this->_trashbinL); + _pnh.getParam("trashbin_w", this->_trashbinW); + _pnh.getParam("trashbin_h", this->_trashbinH); this->_trashbinHandleSub = _nh.subscribe("trashbin_handle/boxes", 10, &TrashbinOccupancyDetector::CheckOccupancyCB, this); - this->_virtualTrashbinContainerPub = _nh.advertise("trashbin_handle/trashbin", 10); + this->_virtualTrashbinContainerPub = _nh.advertise("trashbin/boxes", 10); // init default orientation const this->defaultOrientation.w = 1.0; this->defaultOrientation.x = 0.0; @@ -39,9 +39,9 @@ class TrashbinOccupancyDetector{ // draw virtual trashbin container and publish for debugging void DrawVirtualTrashbinContainer(const jsk_recognition_msgs::BoundingBoxArray& handleCandidates){ // Expected get non empty array - boost::shared_ptr handles, trashbins; - boost::shared_ptr handle, trashbin; - boost::shared_ptr handleCenterPosition, trashbinCenterPosition; + boost::shared_ptr handles(new jsk_recognition_msgs::BoundingBoxArray), trashbins(new jsk_recognition_msgs::BoundingBoxArray); + boost::shared_ptr handle(new jsk_recognition_msgs::BoundingBox), trashbin(new jsk_recognition_msgs::BoundingBox); + boost::shared_ptr handleCenterPosition(new geometry_msgs::Point), trashbinCenterPosition(new geometry_msgs::Point); *handles = handleCandidates; // TODO: Do not use all boundingboxes, use most likely trashbins @@ -80,7 +80,8 @@ class TrashbinOccupancyDetector{ int main(int argc, char **argv){ ros::init(argc, argv, "trashbin_occupancy_detector"); + ros::NodeHandle nh; ros::NodeHandle pnh("~"); - TrashbinOccupancyDetector node = TrashbinOccupancyDetector(pnh); - return 0; + TrashbinOccupancyDetector node = TrashbinOccupancyDetector(nh, pnh); + ros::spin(); } From cf04bdd3549ce53c80c2e3565a6a12da90156719 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 7 Dec 2021 16:11:46 +0900 Subject: [PATCH 084/430] Automatically bind rfcomm devices when booting fetch --- jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml index 7b4cc539a8..99a36f2a0e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml +++ b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml @@ -47,3 +47,4 @@ windows: - jsk-shutdown: tail -f -n 1000 /var/log/ros/jsk-shutdown.log - jsk-rfcomm-bind: tail -f -n 1000 /var/log/ros/jsk-rfcomm-bind.log - jsk-dstat: tail -f -n 1000 /var/log/ros/jsk-dstat.log + - jsk-rfcomm-bind: tail -f -n 1000 /var/log/ros/jsk-rfcomm-bind.log From afa4fc6bd9b501f35ac398e6363eaea6b706fa27 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Tue, 7 Dec 2021 16:16:00 +0900 Subject: [PATCH 085/430] use cropbox and detect whether pointclouds over the height of the container --- .../jsk_fetch_startup/CMakeLists.txt | 31 ++++- .../jsk_fetch_startup/data/burnable.png | Bin 0 -> 17972 bytes .../jsk_fetch_startup/data/icmark.png | Bin 0 -> 115170 bytes .../jsk_fetch_startup/data/plastic.png | Bin 0 -> 20095 bytes .../launch/trashbin_occupancy_detector.launch | 100 ++++++++++++-- jsk_fetch_robot/jsk_fetch_startup/package.xml | 2 + .../src/container_occupancy_detector.cpp | 126 ++++++++++++++++++ ...ector.cpp => trashbins_pose_estimator.cpp} | 62 ++++----- 8 files changed, 275 insertions(+), 46 deletions(-) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/data/burnable.png create mode 100644 jsk_fetch_robot/jsk_fetch_startup/data/icmark.png create mode 100644 jsk_fetch_robot/jsk_fetch_startup/data/plastic.png create mode 100644 jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp rename jsk_fetch_robot/jsk_fetch_startup/src/{trashbin_occupancy_detector.cpp => trashbins_pose_estimator.cpp} (53%) diff --git a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt index b65f51e87e..9b98af04b1 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt +++ b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt @@ -12,8 +12,20 @@ endif() ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS roscpp + std_msgs + sensor_msgs + geometry_msgs + tf + tf2 + tf2_geometry_msgs + tf2_ros + tf2_eigen + tf2_msgs + pcl_ros + pcl_conversions ) find_package(Boost REQUIRED COMPONENTS) +find_package(PCL 1.8 REQUIRED) ################################### ## catkin specific configuration ## @@ -23,15 +35,24 @@ catkin_package() catkin_add_env_hooks(99.jsk_fetch_startup SHELLS bash zsh sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) -############# -## Install ## -############# +########### +## Build ## +########### include_directories( ${catkin_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} +) +add_executable(trashbins_pose_estimator src/trashbins_pose_estimator.cpp) 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z!4RyuDDmDxgKjZ1Mc9IsvEuN|!y(bptlnZn*e#^Pccu|JC>(=dM0#;Qdi_UcR1MgA zyc9#cj*+omox*-}VIQF53#g;PF3BNPo3WWAh z5$j8%C&Fn+f95Zda89MaYet_rCejUd=jFdBgg|H8OgDK73HYn@eg8oM@nJf)$uCm~ z{)e@NnPiyXN!O+oeb)2z-uWbWuyw|5-#{-*IjzV_uNDDZj%pq*pTV`T^LZ^tZ3czZbl0k;1*| zJrH&i*dGGQ4Tt$G;1c8L{CZOua+e5rU+Lalh(1Am!Hqsa?J4wrTbb| - + + + @@ -20,10 +22,10 @@ - + - + use_indices: false @@ -35,7 +37,17 @@ + + + + + + + + + + @@ -62,10 +74,54 @@ force_to_flip_z_axis: false - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + trashbin_l: 0.34 @@ -73,6 +129,34 @@ trashbin_h: 0.49 - + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/package.xml b/jsk_fetch_robot/jsk_fetch_startup/package.xml index 7b40053990..9031016111 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/package.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/package.xml @@ -36,6 +36,8 @@ switchbot_ros tf2_ros voice_text + tf2 + tf2_geometry_msgs amcl diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp new file mode 100644 index 0000000000..a26a02593d --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp @@ -0,0 +1,126 @@ +#include + +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +const float FLOAT_MIN = std::numeric_limits::min(); +const float FLOAT_MAX = std::numeric_limits::max(); + +class ContainerOccupancyDetector{ +private: + ros::Subscriber _containerBoxesSub; + ros::Subscriber _pointCloudSub; + ros::Publisher _debugPointPub; + ros::Publisher _occupancyPub; + geometry_msgs::Quaternion defaultOrientation; + jsk_recognition_msgs::BoundingBoxArray _containerBoxes; + sensor_msgs::PointCloud2 _transformedCloudMsg; + tf2_ros::Buffer _tfBuffer; + tf2_ros::TransformListener* _tfListener; + // geometry_msgs::TransformStamped _transformStamped; + +public: + // constructor + ContainerOccupancyDetector(ros::NodeHandle &_nh, ros::NodeHandle &_pnh){ + this->_tfListener = new tf2_ros::TransformListener(_tfBuffer); + this->_containerBoxesSub = _nh.subscribe("trashbin_occupancy_detector/trashbin/boxes", 10, &ContainerOccupancyDetector::CalculateOccupancyCB, this); + this->_pointCloudSub = _nh.subscribe("head_camera/depth_registered/points", 10, &ContainerOccupancyDetector::PointCloudTransformCB, this); // TODO: rename topic name + this->_debugPointPub = _nh.advertise("debug_pointcloud", 10); + this->_occupancyPub = _nh.advertise("container_occupancy", 10); + // init default orientation const + this->defaultOrientation.w = 1.0; + this->defaultOrientation.x = 0.0; + this->defaultOrientation.y = 0.0; + this->defaultOrientation.z = 0.0; + + }; + // destructor + ~ContainerOccupancyDetector(){ + delete this->_tfListener; + ROS_INFO("Killing node..."); + }; + + void PointCloudTransformCB(const sensor_msgs::PointCloud2::ConstPtr& msg){ + geometry_msgs::TransformStamped transformStamped; + try { + transformStamped = _tfBuffer.lookupTransform("base_link", msg->header.frame_id, msg->header.stamp, ros::Duration(10.0)); + tf2::doTransform(*msg, this->_transformedCloudMsg, transformStamped); + this->_debugPointPub.publish(this->_transformedCloudMsg); + } catch(tf2::TransformException &ex) { + ROS_WARN("Failed to transform tf"); + ROS_WARN("%s", ex.what()); + } + }; + + void CalculateOccupancyCB(const jsk_recognition_msgs::BoundingBoxArray& msg){ + const sensor_msgs::PointCloud2 inputCloud = _transformedCloudMsg; + pcl::PCLPointCloud2 pclPC2; + pcl::PointCloud::Ptr pclCloud(new pcl::PointCloud); + std_msgs::Float32MultiArray occupancy; + occupancy.data.resize(msg.boxes.size()); + if (!inputCloud.data.empty()){ + // convert to PCL cloud + pcl_conversions::toPCL(inputCloud, pclPC2); + pcl::fromPCLPointCloud2(pclPC2, *pclCloud); + for (int i=0; i filter; + pcl::CropBox boxFilter; + pcl::PointCloud::Ptr boxFilteredCloud (new pcl::PointCloud); + pcl::PointXYZ minPt, maxPt; + boxFilter.setMin(Eigen::Vector4f( + (msg.boxes.at(i).pose.position.x - msg.boxes.at(i).dimensions.x / 2.0), + (msg.boxes.at(i).pose.position.y - msg.boxes.at(i).dimensions.y / 2.0), + FLOAT_MIN, + 1.0f)); + boxFilter.setMax(Eigen::Vector4f( + (msg.boxes.at(i).pose.position.x + msg.boxes.at(i).dimensions.x / 2.0), + (msg.boxes.at(i).pose.position.y + msg.boxes.at(i).dimensions.y / 2.0), + FLOAT_MAX, + 1.0f)); + boxFilter.setInputCloud(pclCloud); + boxFilter.filter(*boxFilteredCloud); + pcl::getMinMax3D (*boxFilteredCloud, minPt, maxPt); + ROS_INFO_STREAM("maxPt.z: " << maxPt.z << std::endl); + if(maxPt.z > msg.boxes.at(i).pose.position.z + msg.boxes.at(i).dimensions.z / 2.0){ + // if some point clouds in boundingbox over bounding height + // TODO publish occupancy instead + occupancy.data.push_back(1.0); + } else { + occupancy.data.push_back(0.0); + } + } + this->_occupancyPub.publish(occupancy); + } else { + ROS_WARN("No input point clouds."); + } + + }; +}; + +int main(int argc, char **argv){ + ros::init(argc, argv, "container_occupancy_detector"); + ros::NodeHandle nh; + ros::NodeHandle pnh("~"); + ContainerOccupancyDetector node(nh, pnh); + ros::spin(); +} diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/trashbins_pose_estimator.cpp similarity index 53% rename from jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp rename to jsk_fetch_robot/jsk_fetch_startup/src/trashbins_pose_estimator.cpp index 0f8d93bddb..633b40f495 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp +++ b/jsk_fetch_robot/jsk_fetch_startup/src/trashbins_pose_estimator.cpp @@ -1,30 +1,30 @@ -#include #include #include #include -#include - -#include #include #include #include #include +#include -class TrashbinOccupancyDetector{ +class TrashbinsPoseEstimator{ private: double _trashbinL, _trashbinW, _trashbinH; // trashbin size param ros::Subscriber _trashbinHandleSub; + ros::Subscriber _pointCloud; ros::Publisher _virtualTrashbinContainerPub; + jsk_recognition_msgs::BoundingBoxArray _trashbins; // trashbin object geometry_msgs::Quaternion defaultOrientation; - + public: // constructor - TrashbinOccupancyDetector(ros::NodeHandle &_nh, ros::NodeHandle &_pnh){ + TrashbinsPoseEstimator(ros::NodeHandle &_nh, ros::NodeHandle &_pnh){ _pnh.getParam("trashbin_l", this->_trashbinL); _pnh.getParam("trashbin_w", this->_trashbinW); _pnh.getParam("trashbin_h", this->_trashbinH); - this->_trashbinHandleSub = _nh.subscribe("trashbin_handle/boxes", 10, &TrashbinOccupancyDetector::CheckOccupancyCB, this); + this->_trashbinHandleSub = _nh.subscribe("trashbin_handle/boxes", 10, &TrashbinsPoseEstimator::DrawVirtualTrashbinContainerCB, this); + // this->_pointCloud = _nh.subscribe("points", 10, &TrashbinOccupancyDetector::CalculateOccupancyCB, this); this->_virtualTrashbinContainerPub = _nh.advertise("trashbin/boxes", 10); // init default orientation const this->defaultOrientation.w = 1.0; @@ -33,25 +33,30 @@ class TrashbinOccupancyDetector{ this->defaultOrientation.z = 0.0; }; // destructor - ~TrashbinOccupancyDetector(){ + ~TrashbinsPoseEstimator(){ + ROS_INFO("Killing node..."); }; // draw virtual trashbin container and publish for debugging - void DrawVirtualTrashbinContainer(const jsk_recognition_msgs::BoundingBoxArray& handleCandidates){ - // Expected get non empty array - boost::shared_ptr handles(new jsk_recognition_msgs::BoundingBoxArray), trashbins(new jsk_recognition_msgs::BoundingBoxArray); - boost::shared_ptr handle(new jsk_recognition_msgs::BoundingBox), trashbin(new jsk_recognition_msgs::BoundingBox); - boost::shared_ptr handleCenterPosition(new geometry_msgs::Point), trashbinCenterPosition(new geometry_msgs::Point); - - *handles = handleCandidates; // TODO: Do not use all boundingboxes, use most likely trashbins + void DrawVirtualTrashbinContainerCB(const jsk_recognition_msgs::BoundingBoxArray& msg){ + boost::shared_ptr handles(new jsk_recognition_msgs::BoundingBoxArray), trashbins(new jsk_recognition_msgs::BoundingBoxArray); + boost::shared_ptr handle(new jsk_recognition_msgs::BoundingBox), trashbin(new jsk_recognition_msgs::BoundingBox); + boost::shared_ptr handleCenterPosition(new geometry_msgs::Point), trashbinCenterPosition(new geometry_msgs::Point); - for(int i=0; iboxes.size(); i++){ + if (msg.boxes.empty()) { + ROS_DEBUG("No handle candidates"); + } else { + ROS_DEBUG_STREAM(msg.boxes.size() << " handle candidates" << std::endl); + *handles = msg; + for (int i = 0; i < handles->boxes.size(); i++) { *handle = handles->boxes.at(i); // decide trashbin center position *handleCenterPosition = handle->pose.position; - trashbinCenterPosition->x = handleCenterPosition->x + this->_trashbinL/2.0; + trashbinCenterPosition->x = + handleCenterPosition->x + this->_trashbinL / 2.0; trashbinCenterPosition->y = handleCenterPosition->y; - trashbinCenterPosition->z = handleCenterPosition->z - this->_trashbinH/2.0; + trashbinCenterPosition->z = + handleCenterPosition->z - this->_trashbinH / 2.0; // make BoundingBox trashbin trashbin->header = handle->header; trashbin->pose.position = *trashbinCenterPosition; @@ -60,28 +65,19 @@ class TrashbinOccupancyDetector{ trashbin->dimensions.y = this->_trashbinW; trashbin->dimensions.z = this->_trashbinH; trashbin->label = i; - // push to array trashbins->boxes.push_back(*trashbin); } trashbins->header = handles->header; this->_virtualTrashbinContainerPub.publish(*trashbins); - }; - - // main callback - void CheckOccupancyCB(const jsk_recognition_msgs::BoundingBoxArray& msg){ - if (msg.boxes.empty()) { - ROS_DEBUG("No handle candidates"); - } else { - ROS_DEBUG_STREAM(msg.boxes.size() << " handle candidates" << std::endl); - this->DrawVirtualTrashbinContainer(msg); - }; - }; + this->_trashbins = *trashbins; + } + } }; int main(int argc, char **argv){ - ros::init(argc, argv, "trashbin_occupancy_detector"); + ros::init(argc, argv, "trashbin_pose_estimator"); ros::NodeHandle nh; ros::NodeHandle pnh("~"); - TrashbinOccupancyDetector node = TrashbinOccupancyDetector(nh, pnh); + TrashbinsPoseEstimator node = TrashbinsPoseEstimator(nh, pnh); ros::spin(); } From fe3433a9746ec9b3efbb2e2c7d008b67334a9a1f Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Tue, 7 Dec 2021 17:30:13 +0900 Subject: [PATCH 086/430] change output message type, use boundingboxarray --- .../src/container_occupancy_detector.cpp | 58 ++++++++++--------- 1 file changed, 30 insertions(+), 28 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp index a26a02593d..ac63579adc 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp +++ b/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp @@ -9,7 +9,6 @@ #include #include -#include #include #include #include @@ -45,13 +44,12 @@ class ContainerOccupancyDetector{ this->_containerBoxesSub = _nh.subscribe("trashbin_occupancy_detector/trashbin/boxes", 10, &ContainerOccupancyDetector::CalculateOccupancyCB, this); this->_pointCloudSub = _nh.subscribe("head_camera/depth_registered/points", 10, &ContainerOccupancyDetector::PointCloudTransformCB, this); // TODO: rename topic name this->_debugPointPub = _nh.advertise("debug_pointcloud", 10); - this->_occupancyPub = _nh.advertise("container_occupancy", 10); + this->_occupancyPub = _nh.advertise("container_occupancy", 10); // init default orientation const this->defaultOrientation.w = 1.0; this->defaultOrientation.x = 0.0; this->defaultOrientation.y = 0.0; - this->defaultOrientation.z = 0.0; - + this->defaultOrientation.z = 0.0; }; // destructor ~ContainerOccupancyDetector(){ @@ -75,41 +73,45 @@ class ContainerOccupancyDetector{ const sensor_msgs::PointCloud2 inputCloud = _transformedCloudMsg; pcl::PCLPointCloud2 pclPC2; pcl::PointCloud::Ptr pclCloud(new pcl::PointCloud); - std_msgs::Float32MultiArray occupancy; - occupancy.data.resize(msg.boxes.size()); + jsk_recognition_msgs::BoundingBoxArray boxOccupancy = msg; if (!inputCloud.data.empty()){ // convert to PCL cloud pcl_conversions::toPCL(inputCloud, pclPC2); pcl::fromPCLPointCloud2(pclPC2, *pclCloud); - for (int i=0; i filter; pcl::CropBox boxFilter; - pcl::PointCloud::Ptr boxFilteredCloud (new pcl::PointCloud); + pcl::PointCloud::Ptr boxFilteredCloud( + new pcl::PointCloud); pcl::PointXYZ minPt, maxPt; - boxFilter.setMin(Eigen::Vector4f( - (msg.boxes.at(i).pose.position.x - msg.boxes.at(i).dimensions.x / 2.0), - (msg.boxes.at(i).pose.position.y - msg.boxes.at(i).dimensions.y / 2.0), - FLOAT_MIN, - 1.0f)); - boxFilter.setMax(Eigen::Vector4f( - (msg.boxes.at(i).pose.position.x + msg.boxes.at(i).dimensions.x / 2.0), - (msg.boxes.at(i).pose.position.y + msg.boxes.at(i).dimensions.y / 2.0), - FLOAT_MAX, - 1.0f)); + float occupancy; + boxFilter.setMin(Eigen::Vector4f((msg.boxes.at(i).pose.position.x - + msg.boxes.at(i).dimensions.x / 2.0), + (msg.boxes.at(i).pose.position.y - + msg.boxes.at(i).dimensions.y / 2.0), + FLOAT_MIN, 1.0f)); + boxFilter.setMax(Eigen::Vector4f((msg.boxes.at(i).pose.position.x + + msg.boxes.at(i).dimensions.x / 2.0), + (msg.boxes.at(i).pose.position.y + + msg.boxes.at(i).dimensions.y / 2.0), + FLOAT_MAX, 1.0f)); boxFilter.setInputCloud(pclCloud); boxFilter.filter(*boxFilteredCloud); - pcl::getMinMax3D (*boxFilteredCloud, minPt, maxPt); - ROS_INFO_STREAM("maxPt.z: " << maxPt.z << std::endl); - if(maxPt.z > msg.boxes.at(i).pose.position.z + msg.boxes.at(i).dimensions.z / 2.0){ - // if some point clouds in boundingbox over bounding height - // TODO publish occupancy instead - occupancy.data.push_back(1.0); - } else { - occupancy.data.push_back(0.0); - } + pcl::getMinMax3D(*boxFilteredCloud, minPt, maxPt); + ROS_INFO_STREAM( + "box_id: " << i << " box_pos: " << msg.boxes.at(i).pose.position + << " box_height: " + << msg.boxes.at(i).pose.position.z + + msg.boxes.at(i).dimensions.z / 2.0 + << " maxPt.z: " << maxPt.z); // TODO Move to debug stream + occupancy = maxPt.z / (msg.boxes.at(i).pose.position.z + + msg.boxes.at(i).dimensions.z / 2.0); + // if some point clouds in boundingbox over bounding height + // TODO publish occupancy instead + boxOccupancy.boxes.at(i).value = occupancy; } - this->_occupancyPub.publish(occupancy); + this->_occupancyPub.publish(boxOccupancy); } else { ROS_WARN("No input point clouds."); } From 18ca45abb80a469354ce1a89545bca8069ef4b97 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Tue, 7 Dec 2021 18:31:15 +0900 Subject: [PATCH 087/430] modify name space --- .../launch/trashbin_occupancy_detector.launch | 6 ++++++ .../src/container_occupancy_detector.cpp | 20 +++++++++---------- .../src/trashbins_pose_estimator.cpp | 5 ++--- 3 files changed, 17 insertions(+), 14 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch index 34e45e4e0b..94ab593d4c 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch @@ -128,12 +128,18 @@ trashbin_w: 0.24 trashbin_h: 0.49 + + + + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp index ac63579adc..9203bfe01a 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp +++ b/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp @@ -26,25 +26,23 @@ const float FLOAT_MAX = std::numeric_limits::max(); class ContainerOccupancyDetector{ private: - ros::Subscriber _containerBoxesSub; - ros::Subscriber _pointCloudSub; - ros::Publisher _debugPointPub; - ros::Publisher _occupancyPub; + std::string _inputBoxes, _inputCloud, _debugCloud, _outputBoxes; + ros::Subscriber _containerBoxesSub, _pointCloudSub; + ros::Publisher _debugPointPub, _occupancyPub; geometry_msgs::Quaternion defaultOrientation; jsk_recognition_msgs::BoundingBoxArray _containerBoxes; sensor_msgs::PointCloud2 _transformedCloudMsg; tf2_ros::Buffer _tfBuffer; tf2_ros::TransformListener* _tfListener; - // geometry_msgs::TransformStamped _transformStamped; public: // constructor ContainerOccupancyDetector(ros::NodeHandle &_nh, ros::NodeHandle &_pnh){ this->_tfListener = new tf2_ros::TransformListener(_tfBuffer); - this->_containerBoxesSub = _nh.subscribe("trashbin_occupancy_detector/trashbin/boxes", 10, &ContainerOccupancyDetector::CalculateOccupancyCB, this); - this->_pointCloudSub = _nh.subscribe("head_camera/depth_registered/points", 10, &ContainerOccupancyDetector::PointCloudTransformCB, this); // TODO: rename topic name - this->_debugPointPub = _nh.advertise("debug_pointcloud", 10); - this->_occupancyPub = _nh.advertise("container_occupancy", 10); + this->_containerBoxesSub = _nh.subscribe("input_boxes", 10, &ContainerOccupancyDetector::CalculateOccupancyCB, this); + this->_pointCloudSub = _nh.subscribe("input_cloud", 10, &ContainerOccupancyDetector::PointCloudTransformCB, this); + this->_debugPointPub = _nh.advertise("debug_cloud", 10); + this->_occupancyPub = _nh.advertise("output_boxes", 10); // init default orientation const this->defaultOrientation.w = 1.0; this->defaultOrientation.x = 0.0; @@ -99,12 +97,12 @@ class ContainerOccupancyDetector{ boxFilter.setInputCloud(pclCloud); boxFilter.filter(*boxFilteredCloud); pcl::getMinMax3D(*boxFilteredCloud, minPt, maxPt); - ROS_INFO_STREAM( + ROS_DEBUG_STREAM( "box_id: " << i << " box_pos: " << msg.boxes.at(i).pose.position << " box_height: " << msg.boxes.at(i).pose.position.z + msg.boxes.at(i).dimensions.z / 2.0 - << " maxPt.z: " << maxPt.z); // TODO Move to debug stream + << " maxPt.z: " << maxPt.z); occupancy = maxPt.z / (msg.boxes.at(i).pose.position.z + msg.boxes.at(i).dimensions.z / 2.0); // if some point clouds in boundingbox over bounding height diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/trashbins_pose_estimator.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/trashbins_pose_estimator.cpp index 633b40f495..0adecd9ffb 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/src/trashbins_pose_estimator.cpp +++ b/jsk_fetch_robot/jsk_fetch_startup/src/trashbins_pose_estimator.cpp @@ -23,9 +23,8 @@ class TrashbinsPoseEstimator{ _pnh.getParam("trashbin_l", this->_trashbinL); _pnh.getParam("trashbin_w", this->_trashbinW); _pnh.getParam("trashbin_h", this->_trashbinH); - this->_trashbinHandleSub = _nh.subscribe("trashbin_handle/boxes", 10, &TrashbinsPoseEstimator::DrawVirtualTrashbinContainerCB, this); - // this->_pointCloud = _nh.subscribe("points", 10, &TrashbinOccupancyDetector::CalculateOccupancyCB, this); - this->_virtualTrashbinContainerPub = _nh.advertise("trashbin/boxes", 10); + this->_trashbinHandleSub = _nh.subscribe("input", 10, &TrashbinsPoseEstimator::DrawVirtualTrashbinContainerCB, this); + this->_virtualTrashbinContainerPub = _nh.advertise("output", 10); // init default orientation const this->defaultOrientation.w = 1.0; this->defaultOrientation.x = 0.0; From 4f3040b2b1dfaeedd840bfb2510929e60e83914d Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Wed, 8 Dec 2021 00:02:05 +0900 Subject: [PATCH 088/430] Publish CO2 concentration in go-to-kitchen app --- .../apps/go_to_kitchen/go_to_kitchen.xml | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 60d62199ec..e79815ba02 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -19,6 +19,15 @@ + + + + + port: /dev/rfcomm0 + baud: 115200 + + + From 11e75b1452584668a6dce03fe09d088b7e81d9a4 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Thu, 9 Dec 2021 20:11:56 +0900 Subject: [PATCH 089/430] add TODO --- .../launch/trashbin_occupancy_detector.launch | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch index 94ab593d4c..b249e560b4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch @@ -123,9 +123,15 @@ + + + + + + - trashbin_l: 0.34 - trashbin_w: 0.24 + trashbin_l: 0.3 + trashbin_w: 0.2 trashbin_h: 0.49 From 856e7bc180e862eda10aed0ca2a66f3378e2aec1 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Sun, 19 Dec 2021 17:25:47 +0900 Subject: [PATCH 090/430] [jsk_fetch_startup] Add take-photo function --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index df0f96174d..19a3d7ff92 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -10,6 +10,7 @@ (ros::load-ros-manifest "jsk_robot_startup") (ros::load-ros-manifest "jsk_recognition_msgs") (ros::load-ros-manifest "power_msgs") +(ros::load-ros-manifest "sensor_msgs") (defparameter *dock-action* nil) (defparameter *undock-action* nil) From 16f3ea9eed2926ce077657f72b851c3a83a1e3ca Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Sun, 19 Dec 2021 17:26:18 +0900 Subject: [PATCH 091/430] [jsk_fetch_startup] Add trashcan_inside picture --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index f2d6f083bd..0fed92f1ea 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -112,6 +112,7 @@ plugins: - /tmp/go_to_kitchen_rviz.avi - /tmp/go_to_kitchen_audio.wav - /tmp/go_to_kitchen_rosbag.bag + - /tmp/trashcan_inside.jpg upload_file_titles: - go_to_kitchen_result.yaml - go_to_kitchen_head_camera.avi @@ -120,6 +121,7 @@ plugins: - go_to_kitchen_rviz.avi - go_to_kitchen_audio.wav - go_to_kitchen_rosbag.bag + - trashcan_inside.jpg upload_parents_path: fetch_go_to_kitchen upload_server_name: /gdrive_server - name: tweet_notifier_plugin From 6f2087f9026b90f0ea40631e279f440683689b9c Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Sun, 19 Dec 2021 18:06:35 +0900 Subject: [PATCH 092/430] Add trashcan occupancy detection to navigation-utils.l --- .../euslisp/navigation-utils.l | 20 +++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 19a3d7ff92..a8c6272b6f 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -402,6 +402,25 @@ Args: location (format nil "CO2 concentration is ~A ppm" (send msg :data)))))) +(defun notify-trashcan-occupancy (&key (location "kitchen")) + (let* ((msg (one-shot-subscribe "/trashbin_occupancy_detect/trashbin/occupancy" + jsk_recognition_msgs::BoundingBoxArray + :timeout 3000)) + (occupancy (send msg :boxes :value)) + (notify-text nil)) + (when occupancy + (ros::ros-info + (format nil "Notify app that the occupancy of trash can is measured.")) + (if (> occupancy 1.0) + (setq notify-text "Trashcan occupancy is full.") + (setq notify-text "Trashcan occupancy is not full.")) + (notify-app "trashcan occupancy" + (ros::time-now) + location + (format nil "~A Trashcan occupancy is ~A%." + notify-text + (* 100 occupancy)))))) + (defun inspect-kitchen (&key (tweet t)) (report-move-to-sink-front-success) (if tweet @@ -572,6 +591,7 @@ Args: (ros::publish "/photo_taken" img)) (take-photo "trashcan_inside.jpg") (notify-recognition :location "trash cans inside") + (notify-trashcan-occupancy :location "trash can") (send *ri* :go-pos-unsafe -0.2 0 0)) (progn (notify-recognition :location "trash cans")))) From 99d52309c9972a8c43768e6c9a31f58038b95256 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Sun, 19 Dec 2021 18:07:08 +0900 Subject: [PATCH 093/430] Add trashcan occupancy detection to go_to_kitchen.xml --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index e79815ba02..09c9f3cf28 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -28,6 +28,9 @@ + + + From 2cfaa83a91af40a1fa5472626893ac40f5bfc8c4 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Tue, 21 Dec 2021 17:33:57 +0900 Subject: [PATCH 094/430] not displaying burnable_trashbin_label_extractor window as default --- .../jsk_fetch_startup/launch/trashbin_occupancy_detector.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch index b249e560b4..cdae23dda3 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch @@ -161,6 +161,7 @@ + From 6b440798fb5f72bd0138673e239f9b984c9d71eb Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Tue, 21 Dec 2021 17:37:02 +0900 Subject: [PATCH 095/430] fix topic name and topic method --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index a8c6272b6f..51d4cfd57f 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -403,10 +403,10 @@ Args: (format nil "CO2 concentration is ~A ppm" (send msg :data)))))) (defun notify-trashcan-occupancy (&key (location "kitchen")) - (let* ((msg (one-shot-subscribe "/trashbin_occupancy_detect/trashbin/occupancy" + (let* ((msg (one-shot-subscribe "/trashbin_occupancy_detector/trashbin/occupancy" jsk_recognition_msgs::BoundingBoxArray :timeout 3000)) - (occupancy (send msg :boxes :value)) + (occupancy (send (elt (send msg :boxes) 0) :value)) (notify-text nil)) (when occupancy (ros::ros-info From 8af029ac4754cf97fd9ae6da60aa1610c472fd7f Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Tue, 21 Dec 2021 17:37:25 +0900 Subject: [PATCH 096/430] update notify text --- .../jsk_fetch_startup/euslisp/navigation-utils.l | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 51d4cfd57f..825f6180f0 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -412,14 +412,14 @@ Args: (ros::ros-info (format nil "Notify app that the occupancy of trash can is measured.")) (if (> occupancy 1.0) - (setq notify-text "Trashcan occupancy is full.") - (setq notify-text "Trashcan occupancy is not full.")) + (setq notify-text "Trashcan is full.") + (setq notify-text "Trashcan is not full.")) (notify-app "trashcan occupancy" (ros::time-now) location - (format nil "~A Trashcan occupancy is ~A%." + (format nil "~A Trashcan occupancy is ~A" notify-text - (* 100 occupancy)))))) + occupancy))))) (defun inspect-kitchen (&key (tweet t)) (report-move-to-sink-front-success) From 0e39a7c754c76f7db13f65c45a8bebe32880874d Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 22 Dec 2021 16:33:37 +0900 Subject: [PATCH 097/430] [jsk_fetch_startup] Auto-dock when failing to move to sink front --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 825f6180f0..d57cbd6c1f 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -700,7 +700,7 @@ Args: (:move-to-sink-front -> :inspect-kitchen) (:move-to-sink-front !-> :report-move-to-sink-front-failure) ;;(:inspect-kitchen -> :auto-dock) - ;;(:report-move-to-sink-front-failure -> :auto-dock) + (:report-move-to-sink-front-failure -> :auto-dock) (:inspect-kitchen -> :move-to-trashcan-front) (:move-to-trashcan-front -> :inspect-trashcan) (:move-to-trashcan-front !-> :report-move-to-trashcan-front-failure) From 9bdef2c51b6cafb82055d83c87ffadb37bf58a68 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 22 Dec 2021 17:06:59 +0900 Subject: [PATCH 098/430] [jsk_fetch_startup] Add behavior when auto-dock fails --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index d57cbd6c1f..90222611c9 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -707,6 +707,8 @@ Args: (:inspect-trashcan -> :auto-dock) (:report-move-to-trashcan-front-failure -> :auto-dock) (:auto-dock -> :room-light-off) + (:auto-dock !-> :auto-dock-failure) + (:auto-dock-failure -> :room-light-off) (:room-light-off -> :finish) (:finish -> t) (:finish !-> nil)) From 11ba26defbc945a23470ab39cc03e8b811511369 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Sat, 25 Dec 2021 22:03:34 +0900 Subject: [PATCH 099/430] [jsk_fetch_startup] Fix the process for no recognition result of trashcan occupancy --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 90222611c9..9896013ed3 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -406,9 +406,10 @@ Args: (let* ((msg (one-shot-subscribe "/trashbin_occupancy_detector/trashbin/occupancy" jsk_recognition_msgs::BoundingBoxArray :timeout 3000)) - (occupancy (send (elt (send msg :boxes) 0) :value)) + (occupancy nil) (notify-text nil)) - (when occupancy + (when msg + (setq occcupancy (send (elt (send msg :boxes) 0) :value)) (ros::ros-info (format nil "Notify app that the occupancy of trash can is measured.")) (if (> occupancy 1.0) From 5da1b883e672865ebc5d96ea9c44a167b023c161 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Sat, 25 Dec 2021 22:39:32 +0900 Subject: [PATCH 100/430] [jsk_fetch_startup] Remove setq in notify-trashcan-occupancy --- .../jsk_fetch_startup/euslisp/navigation-utils.l | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 9896013ed3..983fff752b 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -406,15 +406,13 @@ Args: (let* ((msg (one-shot-subscribe "/trashbin_occupancy_detector/trashbin/occupancy" jsk_recognition_msgs::BoundingBoxArray :timeout 3000)) - (occupancy nil) - (notify-text nil)) - (when msg - (setq occcupancy (send (elt (send msg :boxes) 0) :value)) + (occupancy (if msg (send (elt (send msg :boxes) 0) :value))) + (notify-text (if occupancy (if (> occupancy 1.0) + "Trashcan is full." + "Trashcan is not full.")))) + (when occupancy (ros::ros-info (format nil "Notify app that the occupancy of trash can is measured.")) - (if (> occupancy 1.0) - (setq notify-text "Trashcan is full.") - (setq notify-text "Trashcan is not full.")) (notify-app "trashcan occupancy" (ros::time-now) location From d23a6888b8adf700098bb9dfac270957b22fb5e0 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Sat, 25 Dec 2021 22:40:03 +0900 Subject: [PATCH 101/430] [jsk_fetch_startup] Add occupancy value to ros-info --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 983fff752b..c672b8254c 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -412,7 +412,7 @@ Args: "Trashcan is not full.")))) (when occupancy (ros::ros-info - (format nil "Notify app that the occupancy of trash can is measured.")) + (format nil "Notify app that the occupancy of trash can is measured. ~A." occupancy)) (notify-app "trashcan occupancy" (ros::time-now) location From 97716a2e5b07651c65390005cf83fc96e8db616f Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Fri, 7 Jan 2022 08:17:05 +0900 Subject: [PATCH 102/430] [jsk_fetch_startup] catkin clean libcmt before build in daily update_workspace.sh --- jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index f27e401366..bd90be1d83 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -13,7 +13,7 @@ wstool foreach --git 'git stash' wstool update --delete-changed-uris WSTOOL_UPDATE_RESULT=$? cd $HOME/ros/melodic -catkin clean aques_talk collada_urdf_jsk_patch -y +catkin clean aques_talk collada_urdf_jsk_patch libcmt -y catkin init catkin config -DCMAKE_BUILD_TYPE=Release catkin build From b1010b76ad33eebb01a1156eba71b8c20bcad8c1 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Mon, 24 Jan 2022 18:33:53 +0900 Subject: [PATCH 103/430] [jsk_fetch_startup] storage warning --- .../scripts/storage_warning.sh | 35 +++++++++++++++++++ 1 file changed, 35 insertions(+) create mode 100755 jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh new file mode 100755 index 0000000000..30d6a7a038 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh @@ -0,0 +1,35 @@ +#!/usr/bin/env bash + +MAIL_BODY="" + +# Check storage percentage +STORAGE_PERCENTAGE=`df -h / | awk 'NR==2 {print $5}' | sed -e 's/\%//g'` + +# If storage_percentage greater than 80% +if [ $STORAGE_PERCENTAGE -gt 80 ]; then + MAIL_BODY=$MAIL_BODY"Storage usage is ${STORAGE_PERCENTAGE}. Please remove unnecessary files.\n" + + # In root directory + ROOTDIR_STORAGE=`du -h -d 0 /* 2>/dev/null | sort -hr` + MAIL_BODY=$MAIL_BODY"In root directory:\n" + MAIL_BODY=$MAIL_BODY"${ROOTDIR_STORAGE}\n" + + # In home directory + HOMEDIR_STORAGE=`du -h -d 0 /home/* 2>/dev/null | sort -hr` + MAIL_BODY=$MAIL_BODY"In home directory:\n" + MAIL_BODY=$MAIL_BODY"${HOMEDIR_STORAGE}\n" +fi + +if [ -n "$MAIL_BODY" ]; then + rostopic pub -1 /email jsk_robot_startup/Email "header: + seq: 0 + stamp: {secs: 0, nsecs: 0} + frame_id: '' +subject: 'Storage warning' +body: '$MAIL_BODY' +sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp' +receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp' +smtp_server: '' +smtp_port: '' +attached_files: ''" +fi From c057dfdf0c8a739d14fc69f5f387af1f66b76a66 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Mon, 24 Jan 2022 20:06:13 +0900 Subject: [PATCH 104/430] [jsk_fetch_startup] fix change line bug --- .../scripts/storage_warning.sh | 30 ++++++++++--------- 1 file changed, 16 insertions(+), 14 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh index 30d6a7a038..76af2e39ed 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh @@ -1,35 +1,37 @@ #!/usr/bin/env bash -MAIL_BODY="" - # Check storage percentage STORAGE_PERCENTAGE=`df -h / | awk 'NR==2 {print $5}' | sed -e 's/\%//g'` # If storage_percentage greater than 80% if [ $STORAGE_PERCENTAGE -gt 80 ]; then - MAIL_BODY=$MAIL_BODY"Storage usage is ${STORAGE_PERCENTAGE}. Please remove unnecessary files.\n" - + SEND_EMAIL=1 # In root directory - ROOTDIR_STORAGE=`du -h -d 0 /* 2>/dev/null | sort -hr` - MAIL_BODY=$MAIL_BODY"In root directory:\n" - MAIL_BODY=$MAIL_BODY"${ROOTDIR_STORAGE}\n" - + ROOTDIR_STORAGE=`du -h -d 0 /* 2>/dev/null | sort -hr | awk '{print $2 " " $1}'` # In home directory - HOMEDIR_STORAGE=`du -h -d 0 /home/* 2>/dev/null | sort -hr` - MAIL_BODY=$MAIL_BODY"In home directory:\n" - MAIL_BODY=$MAIL_BODY"${HOMEDIR_STORAGE}\n" + HOMEDIR_STORAGE=`du -h -d 0 /home/* 2>/dev/null | sort -hr | awk '{print $2 " " $1}'` fi -if [ -n "$MAIL_BODY" ]; then +if [ -n "$SEND_EMAIL" ]; then rostopic pub -1 /email jsk_robot_startup/Email "header: seq: 0 stamp: {secs: 0, nsecs: 0} frame_id: '' subject: 'Storage warning' -body: '$MAIL_BODY' +body: 'Storage usage is ${STORAGE_PERCENTAGE}%. Please remove unnecessary files. + + +In root directory: + +${ROOTDIR_STORAGE} + + +In home directory: + +${HOMEDIR_STORAGE}' sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp' receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp' smtp_server: '' smtp_port: '' -attached_files: ''" +attached_files: []" fi From fdee3395731d67faaa6258b72ff78850fcfa0b91 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Mon, 24 Jan 2022 20:15:32 +0900 Subject: [PATCH 105/430] [jsk_fetch_startup] add storage_warn to cron job --- jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf index 839bc9e138..a4a6893521 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf @@ -1 +1,2 @@ 0 3 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup update_workspace.sh &> /home/fetch/ros/melodic/update_workspace.log" +0 3 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup storage_warning.sh &> /home/fetch/ros/melodic/storage_warning.log" From 8815635579f1af4f17666bc5003f8be28ba95ca2 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Wed, 26 Jan 2022 14:39:07 +0900 Subject: [PATCH 106/430] std output, fix cron schedule --- jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf | 2 +- jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf index a4a6893521..03fadaf878 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf @@ -1,2 +1,2 @@ 0 3 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup update_workspace.sh &> /home/fetch/ros/melodic/update_workspace.log" -0 3 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup storage_warning.sh &> /home/fetch/ros/melodic/storage_warning.log" +0 5 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup storage_warning.sh &> /home/fetch/ros/melodic/storage_warning.log" diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh index 76af2e39ed..697a396c71 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh @@ -34,4 +34,5 @@ receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp' smtp_server: '' smtp_port: '' attached_files: []" + echo -e "Storage percentage: $STORAGE_PERCENTAGE\n Root directory: $ROOTDIR_STORAGE\n Home directory: $HOMEDIR_STORAGE\n" fi From c15a4601cd5fe08d9e301b976dc99b3ceb738867 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Tue, 1 Feb 2022 14:58:10 +0900 Subject: [PATCH 107/430] [jsk_fetch_startup] echo storage percentage even not greater than 80 --- jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh index 697a396c71..10f059f0b4 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh @@ -10,6 +10,8 @@ if [ $STORAGE_PERCENTAGE -gt 80 ]; then ROOTDIR_STORAGE=`du -h -d 0 /* 2>/dev/null | sort -hr | awk '{print $2 " " $1}'` # In home directory HOMEDIR_STORAGE=`du -h -d 0 /home/* 2>/dev/null | sort -hr | awk '{print $2 " " $1}'` +else + echo -e "No problem with the storace capacity. Storage percentage: $STORAGE_PERCENTAGE" fi if [ -n "$SEND_EMAIL" ]; then From 7247f3c139e3dd5443fbc21c66407e5837ccbfb1 Mon Sep 17 00:00:00 2001 From: Guilherme Affonso Date: Mon, 21 Mar 2022 13:19:48 +0900 Subject: [PATCH 108/430] [fetch] Use run instead of launch in single node apps --- jsk_fetch_robot/jsk_fetch_startup/apps/auto_dock/auto_dock.app | 2 +- .../jsk_fetch_startup/apps/call_k_okada/call_k_okada.app | 2 +- jsk_fetch_robot/jsk_fetch_startup/apps/dock/dock.app | 2 +- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app | 2 +- .../jsk_fetch_startup/apps/hello_world/hello_world.app | 2 +- jsk_fetch_robot/jsk_fetch_startup/apps/light_off/light_off.app | 2 +- jsk_fetch_robot/jsk_fetch_startup/apps/light_on/light_on.app | 2 +- .../apps/software_runstop/software_runstop.app | 3 ++- .../jsk_fetch_startup/apps/speak_battery/speak_battery.app | 2 +- .../jsk_fetch_startup/apps/time_signal/time_signal.app | 2 +- jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app | 2 +- jsk_fetch_robot/jsk_fetch_startup/apps/undock/undock.app | 2 +- .../jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app | 3 ++- 13 files changed, 15 insertions(+), 13 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/auto_dock/auto_dock.app b/jsk_fetch_robot/jsk_fetch_startup/apps/auto_dock/auto_dock.app index d628e8e57a..fd09baa3eb 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/auto_dock/auto_dock.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/auto_dock/auto_dock.app @@ -1,5 +1,5 @@ display: Fetch auto dock platform: fetch -launch: jsk_fetch_startup/auto_dock.xml +run: jsk_fetch_startup/auto-dock.l interface: jsk_fetch_startup/auto_dock.interface icon: jsk_fetch_startup/auto_dock.png diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/call_k_okada/call_k_okada.app b/jsk_fetch_robot/jsk_fetch_startup/apps/call_k_okada/call_k_okada.app index acfcb25162..4577ac55ae 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/call_k_okada/call_k_okada.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/call_k_okada/call_k_okada.app @@ -1,5 +1,5 @@ display: Call k-okada platform: fetch -launch: jsk_fetch_startup/call_k_okada.xml +run: jsk_fetch_startup/call-k-okada.l interface: jsk_fetch_startup/call_k_okada.interface icon: jsk_fetch_startup/call_k_okada.png diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/dock/dock.app b/jsk_fetch_robot/jsk_fetch_startup/apps/dock/dock.app index 916d8fb34c..6c034bd9aa 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/dock/dock.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/dock/dock.app @@ -1,5 +1,5 @@ display: Fetch dock platform: fetch -launch: jsk_fetch_startup/dock.xml +run: jsk_fetch_startup/dock.l interface: jsk_fetch_startup/dock.interface icon: jsk_fetch_startup/dock.png diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index 0fed92f1ea..c9fc5515ff 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -1,6 +1,6 @@ display: Go to kitchen platform: fetch -launch: jsk_fetch_startup/go_to_kitchen.xml +run: jsk_fetch_startup/go-to-kitchen.l interface: jsk_fetch_startup/go_to_kitchen.interface icon: jsk_fetch_startup/go_to_kitchen.png timeout: 1200 diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/hello_world/hello_world.app b/jsk_fetch_robot/jsk_fetch_startup/apps/hello_world/hello_world.app index 7b9b90ea81..a2dc73bd13 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/hello_world/hello_world.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/hello_world/hello_world.app @@ -1,5 +1,5 @@ display: Fetch hello world platform: fetch -launch: jsk_fetch_startup/hello_world.xml +run: jsk_robot_startup/boot_sound.py interface: jsk_fetch_startup/hello_world.interface icon: jsk_fetch_startup/hello_world.png diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/light_off/light_off.app b/jsk_fetch_robot/jsk_fetch_startup/apps/light_off/light_off.app index daf7f86708..f8aeb69c3c 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/light_off/light_off.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/light_off/light_off.app @@ -1,6 +1,6 @@ display: Fetch light off platform: fetch -launch: jsk_fetch_startup/light_off.xml +run: jsk_fetch_startup/light-off.l interface: jsk_fetch_startup/light_off.interface icon: jsk_fetch_startup/light_off.png plugins: diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/light_on/light_on.app b/jsk_fetch_robot/jsk_fetch_startup/apps/light_on/light_on.app index ef63123502..eb66297f74 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/light_on/light_on.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/light_on/light_on.app @@ -1,6 +1,6 @@ display: Fetch light on platform: fetch -launch: jsk_fetch_startup/light_on.xml +run: jsk_fetch_startup/light-on.l interface: jsk_fetch_startup/light_on.interface icon: jsk_fetch_startup/light_on.png plugins: diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/software_runstop/software_runstop.app b/jsk_fetch_robot/jsk_fetch_startup/apps/software_runstop/software_runstop.app index 6c86c77347..ed4a25c745 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/software_runstop/software_runstop.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/software_runstop/software_runstop.app @@ -1,5 +1,6 @@ display: Fetch software runstop platform: fetch -launch: jsk_fetch_startup/software_runstop.xml +run: rostopic/rostopic +run_args: "pub -1 /enable_software_runstop std_msgs/Bool 'data: true'" interface: jsk_fetch_startup/software_runstop.interface icon: jsk_fetch_startup/software_runstop.png diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app b/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app index cb4d371e00..2dc162d470 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app @@ -1,6 +1,6 @@ display: Speak battery platform: fetch -launch: jsk_fetch_startup/speak_battery.xml +run: jsk_fetch_startup/speak-battery.l interface: jsk_fetch_startup/speak_battery.interface icon: jsk_fetch_startup/speak_battery.png plugins: diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app index 07c42622d4..6137ee226b 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app @@ -1,6 +1,6 @@ display: Speak time signal platform: fetch -launch: jsk_fetch_startup/time_signal.xml +run: jsk_fetch_startup/time_signal.py interface: jsk_fetch_startup/time_signal.interface icon: jsk_fetch_startup/time_signal.png timeout: 120 diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app b/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app index e95306664e..28d7cc4bf1 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app @@ -1,6 +1,6 @@ display: Fetch tweet platform: fetch -launch: jsk_fetch_startup/tweet.xml +run: jsk_fetch_startup/tweet.l interface: jsk_fetch_startup/tweet.interface icon: jsk_fetch_startup/tweet.png plugins: diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/undock/undock.app b/jsk_fetch_robot/jsk_fetch_startup/apps/undock/undock.app index da845f0a25..78a4b30891 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/undock/undock.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/undock/undock.app @@ -1,5 +1,5 @@ display: Fetch undock platform: fetch -launch: jsk_fetch_startup/undock.xml +run: jsk_fetch_startup/undock.l interface: jsk_fetch_startup/undock.interface icon: jsk_fetch_startup/undock.png diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app b/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app index ded1914d18..210ba6e4bd 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app @@ -1,6 +1,7 @@ display: Welcome to jsk platform: fetch -launch: jsk_fetch_startup/welcome_to_jsk.xml +run: welcome_to_jsk_fetch/welcome-to-jsk.l +run_args: '"(progn (init) (give-bag))"' interface: jsk_fetch_startup/welcome_to_jsk.interface icon: jsk_fetch_startup/welcome_to_jsk.png plugins: From 69c538ec42f2c63a227bb3e9cfd8a85db6195134 Mon Sep 17 00:00:00 2001 From: Guilherme Affonso Date: Wed, 23 Mar 2022 14:21:01 +0900 Subject: [PATCH 109/430] [fetch] Update luminance threshold --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 3 +++ 1 file changed, 3 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 5fd2e74b38..4708d29734 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -253,6 +253,9 @@ + + luminance_threshold: 40 + From 58a7109293aeecd11444721897fcdf6f582f74cb Mon Sep 17 00:00:00 2001 From: Guilherme Affonso Date: Fri, 25 Mar 2022 17:52:13 +0900 Subject: [PATCH 110/430] [fetch] Update luminance threshold (again) --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 4708d29734..b2fcf24d38 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -254,7 +254,7 @@ - luminance_threshold: 40 + luminance_threshold: 70 From 797f4006ea062defd911d772bd6c46ef4bd70e20 Mon Sep 17 00:00:00 2001 From: Guilherme Affonso Date: Tue, 5 Apr 2022 16:03:51 +0900 Subject: [PATCH 111/430] Suppress warnings when using :fast in :angle-vector --- jsk_fetch_robot/fetcheus/fetch-interface.l | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l index 5dd33840df..78f80f62fa 100644 --- a/jsk_fetch_robot/fetcheus/fetch-interface.l +++ b/jsk_fetch_robot/fetcheus/fetch-interface.l @@ -131,8 +131,8 @@ Example usage: (subseq args (+ (position :use-torso args) 2)))))) (return-from :angle-vector (send* self :angle-vector-raw av tm ctype start-time args))) ;; - (when (not (numberp tm)) - (ros::warn ":angle-vector tm is not a number, use :angle-vector av tm args")) + (when (and (not (numberp tm)) (not (eql tm :fast))) + (ros::warn ":angle-vector tm is not a number, use :angle-vector av tm args~%")) (send* self :angle-vector-motion-plan av :ctype ctype :move-arm :rarm :total-time tm :start-offset-time (if start-offset-time start-offset-time start-time) :clear-velocities clear-velocities :use-torso use-torso args))) From a6ad822d7d2132ced769160cf5c0f18cf90b5284 Mon Sep 17 00:00:00 2001 From: Guilherme Affonso Date: Tue, 5 Apr 2022 22:28:59 +0900 Subject: [PATCH 112/430] Add :use-base to fetch-utils :inverse-kinematics --- jsk_fetch_robot/fetcheus/fetch-utils.l | 34 ++++++++++++++++++++++---- 1 file changed, 29 insertions(+), 5 deletions(-) diff --git a/jsk_fetch_robot/fetcheus/fetch-utils.l b/jsk_fetch_robot/fetcheus/fetch-utils.l index ea4a1d27e2..67932a47fe 100644 --- a/jsk_fetch_robot/fetcheus/fetch-utils.l +++ b/jsk_fetch_robot/fetcheus/fetch-utils.l @@ -5,16 +5,40 @@ (defmethod fetch-robot (:inverse-kinematics - (target-coords &rest args &key link-list move-arm (use-torso t) move-target &allow-other-keys) + (target-coords &rest args &key link-list move-arm (use-torso t) + use-base (start-coords (send self :copy-worldcoords)) + (base-range (list :min #f(-30 -30 -30) + :max #f( 30 30 30))) + move-target &allow-other-keys) (unless move-arm (setq move-arm :rarm)) (unless move-target (setq move-target (send self :rarm :end-coords))) (unless link-list (setq link-list (send self :link-list (send move-target :parent) (unless use-torso (car (send self :rarm)))))) - (send-super* :inverse-kinematics target-coords - :move-target move-target - :link-list link-list - args)) + (cond + (use-base + (let ((diff-pos-rot + (concatenate float-vector + (send start-coords :difference-position self) + (send start-coords :difference-rotation self)))) + (send self :move-to start-coords :world) + (with-append-root-joint + (ll self link-list + :joint-class omniwheel-joint + :joint-args base-range) + (send (caar ll) :joint :joint-angle + (float-vector (elt diff-pos-rot 0) + (elt diff-pos-rot 1) + (rad2deg (elt diff-pos-rot 5)))) + (send-super* :inverse-kinematics target-coords + :move-target move-target + :link-list ll ;; link-list + args)))) + (t + (send-super* :inverse-kinematics target-coords + :move-target move-target + :link-list link-list + args)))) (:go-grasp (&key (pos 0)) ;; pos is between 0.0 and 0.1 (send self :l_gripper_finger_joint :joint-angle (/ (* pos 1000) 2)) ;; m -> mm From cf20f2569f8f68ce8bc8053d1ea19e5278ea923e Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 7 Apr 2022 15:00:24 +0900 Subject: [PATCH 113/430] [jsk_fetch_startup] Fix go-to-kitchen launch app --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index c9fc5515ff..0fed92f1ea 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -1,6 +1,6 @@ display: Go to kitchen platform: fetch -run: jsk_fetch_startup/go-to-kitchen.l +launch: jsk_fetch_startup/go_to_kitchen.xml interface: jsk_fetch_startup/go_to_kitchen.interface icon: jsk_fetch_startup/go_to_kitchen.png timeout: 1200 From 944408107da0c8f877c8f6e106b02b8ae97d99ec Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 14 Apr 2022 19:22:29 +0900 Subject: [PATCH 114/430] [jsk_fetch_robot] Update README.md --- jsk_fetch_robot/README.md | 29 +++++++++++++++++++++-------- 1 file changed, 21 insertions(+), 8 deletions(-) diff --git a/jsk_fetch_robot/README.md b/jsk_fetch_robot/README.md index 9aab1b786d..732edbd5a6 100644 --- a/jsk_fetch_robot/README.md +++ b/jsk_fetch_robot/README.md @@ -33,21 +33,17 @@ ## How to Run +### Setup Environment (For Remote PC) -### Setup Environment - -First, you need to install ros. For ros indigo, please refer to install guide like [here](http://wiki.ros.org/indigo/Installation/Ubuntu) +First, you need to install ROS. For ROS melodic, please refer to install guide like [here](http://wiki.ros.org/melodic/Installation/Ubuntu). +Please make sure your ROS Distribution is indigo, kinetic or melodic. ```bash mkdir -p catkin_ws/src cd catkin_ws/src wstool init . wstool set --git jsk-ros-pkg/jsk_robot https://github.com/jsk-ros-pkg/jsk_robot.git -y -if [[ $ROS_DISTRO =~ ^(indigo|kinetic|melodic)$ ]]; then - wstool merge -t . https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_fetch_robot/jsk_fetch_user.rosinstall.$ROS_DISTRO -else - echo "Your ROS distribution $ROS_DISTRO is not supported." -fi +wstool merge -t . https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_fetch_robot/jsk_fetch_user.rosinstall.$ROS_DISTRO wstool update -t . source /opt/ros/$ROS_DISTRO/setup.bash rosdep install -y -r --from-paths . --ignore-src @@ -56,6 +52,23 @@ catkin build fetcheus jsk_fetch_startup source devel/setup.bash ``` +#### Setup Environment (For Robot Internal PC, only for advanced developer) + +```bash +mkdir -p catkin_ws/src +cd catkin_ws/src +wstool init . +wstool set --git jsk-ros-pkg/jsk_robot https://github.com/knorth55/jsk_robot.git -v fetch15 -y +wstool update -t . +wstool merge -t . jsk-ros-pkg/jsk_robot/jsk_fetch_robot/jsk_fetch.rosinstall.$ROS_DISTRO +wstool update -t . +source /opt/ros/$ROS_DISTRO/setup.bash +rosdep install -y -r --from-paths . --ignore-src +cd ../ +catkin build +source devel/setup.bash +``` + ### Connecting to Fetch You need to install `ros-indigo-jsk-tools` to use `rosset*` tools, otherwise use setenv command From 5cecf8bee950e4124063f478e99b183e53b20c69 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Fri, 15 Apr 2022 10:01:15 +0900 Subject: [PATCH 115/430] [jsk_fetch_startup] update README.md --- jsk_fetch_robot/jsk_fetch_startup/README.md | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md index a509050a34..e7baff4793 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/README.md +++ b/jsk_fetch_robot/jsk_fetch_startup/README.md @@ -8,12 +8,22 @@ rosrun jsk_fetch_startup install_udev.sh ``` #### For realsense -udev rule have to be manually installed according to [this issue](https://github.com/IntelRealSense/realsense-ros/issues/1426) when using realsense-ros from ROS repository. + +Before start this, remove `librealsense2` and `realsense2-ros` from ROS repository and set not to be installed. + +```bash +sudo apt purge ros-melodic-librealsense2* ros-melodic-realsense* +sudo apt-mark hold ros-melodic-librealsense2 ros-melodic-realsense2-camera +``` + +After that, please add Intel repository and install `librealsense2` packages. (see [this page](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages)) ```bash -wget https://github.com/IntelRealSense/librealsense/raw/master/config/99-realsense-libusb.rules -sudo mv 99-realsense-libusb.rules /etc/udev/rules.d/ -sudo udevadm control --reload-rules && sudo udevadm trigger +sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE +sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u +sudo apt install librealsense2=2.45.0-0~realsense0.4551 +sudo apt install librealsense2-dev=2.45.0-0~realsense0.4551 +sudo apt-mark hold librealsense2 librealsense2-dev ``` ### supervisor From d9e3e0561f253356fb65df494c5450825f164bee Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Fri, 15 Apr 2022 18:15:21 +0900 Subject: [PATCH 116/430] [jsk_fetch_startup] update workspace script --- jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index bd90be1d83..a81e23d1c0 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -8,10 +8,14 @@ LOGFILE=$HOME/ros/melodic/update_workspace.txt set -x # Update workspace cd $HOME/ros/melodic/src +if [ -e $HOME/ros/melodic/src/.rosinstall]; then + rm $HOME/ros/melodic/src/.rosinstall +fi ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/melodic/src/.rosinstall wstool foreach --git 'git stash' wstool update --delete-changed-uris WSTOOL_UPDATE_RESULT=$? +# Build workspace cd $HOME/ros/melodic catkin clean aques_talk collada_urdf_jsk_patch libcmt -y catkin init From 6a8490d2062517b70508f988d3fa78172a9bc9f6 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Sat, 16 Apr 2022 20:32:32 +0900 Subject: [PATCH 117/430] [jsk_fetch_startup] update update_workspace.sh --- jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index a81e23d1c0..58ed7b710b 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -14,6 +14,8 @@ fi ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/melodic/src/.rosinstall wstool foreach --git 'git stash' wstool update --delete-changed-uris +wstool foreach --git 'branch-name=$(git rev-parse --abbrev-ref HEAD) && git reset --hard HEAD && git checkout origin/$branch-name && git branch -D $branch-name && git checkout $branch-name' # Forcefully checkout specified branch +wstool update WSTOOL_UPDATE_RESULT=$? # Build workspace cd $HOME/ros/melodic From 77fa634c45c9963147b4bd4848c10bf65ac5704e Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Sat, 16 Apr 2022 20:34:21 +0900 Subject: [PATCH 118/430] [jsk_fetch_startup] remove redundant section --- jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 3 --- 1 file changed, 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index 58ed7b710b..4035e45eb6 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -8,9 +8,6 @@ LOGFILE=$HOME/ros/melodic/update_workspace.txt set -x # Update workspace cd $HOME/ros/melodic/src -if [ -e $HOME/ros/melodic/src/.rosinstall]; then - rm $HOME/ros/melodic/src/.rosinstall -fi ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/melodic/src/.rosinstall wstool foreach --git 'git stash' wstool update --delete-changed-uris From 41b4c80cbcc27b31bb992d7d88205e00585d8f7e Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Mon, 18 Apr 2022 14:46:32 +0900 Subject: [PATCH 119/430] set lower battery charge warning threshold --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index b2fcf24d38..3d3e47950c 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -34,7 +34,7 @@ respawn="true" output="screen" if="$(arg battery_warning)"> duration: 180 - charge_level_threshold: 80.0 + charge_level_threshold: 65.0 shutdown_level_threshold: 60.0 charge_level_step: 10.0 volume: 1.0 From 8dd7ba33d27f7372e1d4f3e4e8caba2be7c3ad24 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 18 Apr 2022 14:39:53 +0900 Subject: [PATCH 120/430] [jsk_fetch_startup] parameterize workspace path and make it as argument --- .../scripts/update_workspace.sh | 35 ++++++++++++++++--- 1 file changed, 30 insertions(+), 5 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index 4035e45eb6..a2d9892cf5 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -1,21 +1,46 @@ #!/usr/bin/env bash -. $HOME/ros/melodic/devel/setup.bash +function usage() +{ + echo "Usage: $0 [-w workspace_directory] [-h]" +} + +WORKSPACE=$HOME/ros/melodic/ + +while getopts hw: OPT +do + case $OPT in + w) + WORKSPACE=$(cd $(dirname $OPTARG) && pwd)/$(basename $OPTARG) + ;; + h) + usage + exit 1 + ;; + esac +done + +if [ ! -e $WORKSPACE ]; then + echo "No workspace $WORKSPACE" + exit 1 +fi + +. $WORKSPACE/devel/setup.bash # Filename should end with .txt to preview the contents in a web browser -LOGFILE=$HOME/ros/melodic/update_workspace.txt +LOGFILE=$WORKSPACE/update_workspace.txt { set -x # Update workspace -cd $HOME/ros/melodic/src -ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/melodic/src/.rosinstall +cd $WORKSPACE/src +ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall wstool foreach --git 'git stash' wstool update --delete-changed-uris wstool foreach --git 'branch-name=$(git rev-parse --abbrev-ref HEAD) && git reset --hard HEAD && git checkout origin/$branch-name && git branch -D $branch-name && git checkout $branch-name' # Forcefully checkout specified branch wstool update WSTOOL_UPDATE_RESULT=$? # Build workspace -cd $HOME/ros/melodic +cd $WORKSPACE catkin clean aques_talk collada_urdf_jsk_patch libcmt -y catkin init catkin config -DCMAKE_BUILD_TYPE=Release From 058ae91a9a788f1d2bcf3b09b8b8a4e9e0a9eadd Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 18 Apr 2022 15:02:37 +0900 Subject: [PATCH 121/430] [jsk_fetch_startup] update update_workspace.sh --- .../jsk_fetch_startup/scripts/update_workspace.sh | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index a2d9892cf5..5a5041c424 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -32,12 +32,12 @@ LOGFILE=$WORKSPACE/update_workspace.txt { set -x # Update workspace -cd $WORKSPACE/src +wstool -t $WORKSPACE/src foreach --git 'git stash' +wstool -t $WORKSPACE/src update jsk-ros-pkg/jsk_robot ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall -wstool foreach --git 'git stash' -wstool update --delete-changed-uris -wstool foreach --git 'branch-name=$(git rev-parse --abbrev-ref HEAD) && git reset --hard HEAD && git checkout origin/$branch-name && git branch -D $branch-name && git checkout $branch-name' # Forcefully checkout specified branch -wstool update +wstool -t $WORKSPACE/src update --delete-changed-uris +wstool -t $WORKSPACE/src foreach --git 'branch-name=$(git rev-parse --abbrev-ref HEAD) && git reset --hard HEAD && git checkout origin/$branch-name && git branch -D $branch-name && git checkout $branch-name' # Forcefully checkout specified branch +wstool -t $WORKSPACE/src update WSTOOL_UPDATE_RESULT=$? # Build workspace cd $WORKSPACE From c0025d61d9c2bec6f37fdda88d6025f15b155f45 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 18 Apr 2022 15:08:08 +0900 Subject: [PATCH 122/430] [jsk_fetch_startup] fix --- jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index 5a5041c424..fe716ed534 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -36,7 +36,7 @@ wstool -t $WORKSPACE/src foreach --git 'git stash' wstool -t $WORKSPACE/src update jsk-ros-pkg/jsk_robot ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall wstool -t $WORKSPACE/src update --delete-changed-uris -wstool -t $WORKSPACE/src foreach --git 'branch-name=$(git rev-parse --abbrev-ref HEAD) && git reset --hard HEAD && git checkout origin/$branch-name && git branch -D $branch-name && git checkout $branch-name' # Forcefully checkout specified branch +wstool -t $WORKSPACE/src foreach --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout $branchname' # Forcefully checkout specified branch wstool -t $WORKSPACE/src update WSTOOL_UPDATE_RESULT=$? # Build workspace From eb9d4fd3d8e3bc404cee696821124b8bc7658ddd Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 19 Apr 2022 09:44:46 +0900 Subject: [PATCH 123/430] [jsk_fetch_startup] update workspace script --- .../jsk_fetch_startup/scripts/update_workspace.sh | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index fe716ed534..c7e9545551 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -5,14 +5,17 @@ function usage() echo "Usage: $0 [-w workspace_directory] [-h]" } +SEND_MAIL=true WORKSPACE=$HOME/ros/melodic/ -while getopts hw: OPT +while getopts hl:w: OPT do case $OPT in w) WORKSPACE=$(cd $(dirname $OPTARG) && pwd)/$(basename $OPTARG) ;; + l) + SEND_MAIL=false h) usage exit 1 @@ -55,8 +58,8 @@ if [ $CATKIN_BUILD_RESULT -ne 0 ]; then MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually." fi set +x -} > $LOGFILE 2>&1 -if [ -n "$MAIL_BODY" ]; then +} 2>&1 | tee $LOGFILE +if [ -n "$MAIL_BODY" ] && "${SEND_MAIL}"; then rostopic pub -1 /email jsk_robot_startup/Email "header: seq: 0 stamp: {secs: 0, nsecs: 0} From e14933fccccb772a4b58b97274d7dac0775f2816 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 19 Apr 2022 11:48:27 +0900 Subject: [PATCH 124/430] [jsk_fetch_startup] update workspace script --- .../scripts/update_workspace.sh | 65 ++++++++++++++++--- 1 file changed, 57 insertions(+), 8 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index c7e9545551..9a18b41195 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -2,7 +2,13 @@ function usage() { - echo "Usage: $0 [-w workspace_directory] [-h]" + echo "Usage: $0 [-w workspace_directory] [-h] [-l] + +optional arguments: + -h show this help + -w WORKSPACE_PATH specify target workspace + -l do not send a mail +" } SEND_MAIL=true @@ -16,10 +22,15 @@ do ;; l) SEND_MAIL=false + ;; h) usage exit 1 ;; + *) + usage + exit 1 + ;; esac done @@ -35,13 +46,47 @@ LOGFILE=$WORKSPACE/update_workspace.txt { set -x # Update workspace -wstool -t $WORKSPACE/src foreach --git 'git stash' -wstool -t $WORKSPACE/src update jsk-ros-pkg/jsk_robot +wstool foreach -t $WORKSPACE/src --git 'git stash' +wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall -wstool -t $WORKSPACE/src update --delete-changed-uris -wstool -t $WORKSPACE/src foreach --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout $branchname' # Forcefully checkout specified branch -wstool -t $WORKSPACE/src update +wstool update -t $WORKSPACE/src --delete-changed-uris +wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout $branchname' # Forcefully checkout specified branch +wstool update -t $WORKSPACE/src WSTOOL_UPDATE_RESULT=$? +# Rosdep Install +sudo apt-get update -y +rosdep update +rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r \ + --skip-keys="\ + baxter_core_msgs + baxter_description + baxter_moveit_config + baxter_tools + cobotta_teleop + denso_cobotta_descriptions + dynamixel_controllers + face_recognition + gen3_lite_gen3_lite_2f_moveit_config + json_prolog + kinova_teleop + librealsense2 + linux_hardware + magni_nav + mjpeg_server + nao_bringup + nao_description + nao_interaction_launchers + naoqi_msgs + pepper_bringup + pepper_description + pr2eus_openrave + ps4eye + python3-pykdl + realsense2-camera + rqt_pr2_dashboard + snap_map_icp + " +ROSDEP_INSTALL_RESULT=$? # Build workspace cd $WORKSPACE catkin clean aques_talk collada_urdf_jsk_patch libcmt -y @@ -54,13 +99,17 @@ MAIL_BODY="" if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. " fi +if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then + MAIL_BODY=$MAIL_BODY"Please install dependencies manually. " +fi if [ $CATKIN_BUILD_RESULT -ne 0 ]; then MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually." fi set +x } 2>&1 | tee $LOGFILE -if [ -n "$MAIL_BODY" ] && "${SEND_MAIL}"; then - rostopic pub -1 /email jsk_robot_startup/Email "header: +if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" = "true" ]; then + echo "Sent a mail" + rostopic pub -1 /email jsk_robot_startup/Email "header: seq: 0 stamp: {secs: 0, nsecs: 0} frame_id: '' From a481af98c7d0be5b0418232b607309d6e1c0e525 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 19 Apr 2022 14:14:44 +0900 Subject: [PATCH 125/430] [jsk_fetch_startup] update update-workspace.sh --- .../scripts/update_workspace.sh | 52 ++++++------------- 1 file changed, 17 insertions(+), 35 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index 9a18b41195..4cfcb89217 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -5,16 +5,16 @@ function usage() echo "Usage: $0 [-w workspace_directory] [-h] [-l] optional arguments: - -h show this help - -w WORKSPACE_PATH specify target workspace - -l do not send a mail + -h show this help + -w WORKSPACE_PATH specify target workspace + -l do not send a mail " } SEND_MAIL=true WORKSPACE=$HOME/ros/melodic/ -while getopts hl:w: OPT +while getopts hlw: OPT do case $OPT in w) @@ -56,43 +56,25 @@ WSTOOL_UPDATE_RESULT=$? # Rosdep Install sudo apt-get update -y rosdep update -rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r \ - --skip-keys="\ - baxter_core_msgs - baxter_description - baxter_moveit_config - baxter_tools - cobotta_teleop - denso_cobotta_descriptions - dynamixel_controllers - face_recognition - gen3_lite_gen3_lite_2f_moveit_config - json_prolog - kinova_teleop - librealsense2 - linux_hardware - magni_nav - mjpeg_server - nao_bringup - nao_description - nao_interaction_launchers - naoqi_msgs - pepper_bringup - pepper_description - pr2eus_openrave - ps4eye - python3-pykdl - realsense2-camera - rqt_pr2_dashboard - snap_map_icp - " +# jsk_footstep_planner is not released for melodic +# jsk_footstep_controller is not released for melodic +# librealsense2 should not be installed from ROS repository +# realsense-ros should not be installed from ROS repository +rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys \ +"\ +jsk_footstep_controller \ +jsk_footstep_planner \ +librealsense2 \ +realsense2_camera \ +realsense2_description \ +" ROSDEP_INSTALL_RESULT=$? # Build workspace cd $WORKSPACE catkin clean aques_talk collada_urdf_jsk_patch libcmt -y catkin init catkin config -DCMAKE_BUILD_TYPE=Release -catkin build +catkin build --continue-on-failure CATKIN_BUILD_RESULT=$? # Send mail MAIL_BODY="" From 6818121575ff68476aeb5451edf6b9e413a8fc19 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 19 Apr 2022 16:27:59 +0900 Subject: [PATCH 126/430] [jsk_fetch_startup] fix --- jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index 4cfcb89217..d0ce39357f 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -89,7 +89,7 @@ if [ $CATKIN_BUILD_RESULT -ne 0 ]; then fi set +x } 2>&1 | tee $LOGFILE -if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" = "true" ]; then +if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then echo "Sent a mail" rostopic pub -1 /email jsk_robot_startup/Email "header: seq: 0 From 0c1afda11590e2b1cc0c75782e9b9e06b197a6ce Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 19 Apr 2022 15:17:30 +0900 Subject: [PATCH 127/430] [jsk_fetch_startup] update jsk fetch models --- .../jsk_fetch_startup/robots/head_l515.urdf.xacro | 10 ++++++++-- .../robots/insta360_stand.urdf.xacro | 15 +++++++++++++++ .../jsk_fetch_startup/robots/jsk_fetch.urdf.xacro | 8 ++++++-- 3 files changed, 29 insertions(+), 4 deletions(-) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/robots/insta360_stand.urdf.xacro diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro index 8361f9dc20..dd2f9b7a5e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro +++ b/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro @@ -22,10 +22,16 @@ - + + + + + + + - + diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/insta360_stand.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/insta360_stand.urdf.xacro new file mode 100644 index 0000000000..690742cfa6 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/robots/insta360_stand.urdf.xacro @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro index 460086a8da..ede62cbb2c 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro +++ b/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro @@ -1,10 +1,11 @@ + - + - + @@ -21,4 +22,7 @@ + + + From 8412b793f9c9300e3c81a682ec68ee0e60eea7d8 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 19 Apr 2022 15:19:07 +0900 Subject: [PATCH 128/430] [jsk_fetch_startup] add view_model launch and config --- .../jsk_fetch_startup/config/view_model.rviz | 426 ++++++++++++++++++ .../launch/view_model.launch | 17 + 2 files changed, 443 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/view_model.rviz create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/view_model.launch diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/view_model.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/view_model.rviz new file mode 100644 index 0000000000..e8978465a4 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/config/view_model.rviz @@ -0,0 +1,426 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 728 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.5 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_camera_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bellows_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bellows_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + d435_front_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + d435_front_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + estop_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_box_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_l515_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_l515_virtual_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + insta360_link: + Alpha: 1 + Show Axes: false + Show Trail: false + l515_head_link: + Alpha: 1 + Show Axes: false + Show Trail: false + l_gripper_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_fixed_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + upperarm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_camera_mount: + Value: true + base_link: + Value: true + bellows_link: + Value: true + bellows_link2: + Value: true + d435_front_left_link: + Value: true + d435_front_right_link: + Value: true + elbow_flex_link: + Value: true + estop_link: + Value: true + forearm_roll_link: + Value: true + gripper_link: + Value: true + head_box_link: + Value: true + head_camera_depth_frame: + Value: true + head_camera_depth_optical_frame: + Value: true + head_camera_link: + Value: true + head_camera_rgb_frame: + Value: true + head_camera_rgb_optical_frame: + Value: true + head_l515_mount_link: + Value: true + head_l515_virtual_mount_link: + Value: true + head_pan_link: + Value: true + head_tilt_link: + Value: true + insta360_link: + Value: true + l515_head_link: + Value: true + l_gripper_finger_link: + Value: true + l_wheel_link: + Value: true + laser_link: + Value: true + r_gripper_finger_link: + Value: true + r_wheel_link: + Value: true + shoulder_lift_link: + Value: true + shoulder_pan_link: + Value: true + torso_fixed_link: + Value: true + torso_lift_link: + Value: true + upperarm_roll_link: + Value: true + wrist_flex_link: + Value: true + wrist_roll_link: + Value: true + Marker Scale: 0.5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + base_camera_mount: + {} + d435_front_left_link: + {} + d435_front_right_link: + {} + estop_link: + {} + l_wheel_link: + {} + laser_link: + {} + r_wheel_link: + {} + torso_fixed_link: + {} + torso_lift_link: + bellows_link: + {} + bellows_link2: + {} + head_pan_link: + head_box_link: + {} + head_tilt_link: + head_camera_link: + head_camera_depth_frame: + head_camera_depth_optical_frame: + {} + head_camera_rgb_frame: + head_camera_rgb_optical_frame: + {} + head_l515_virtual_mount_link: + head_l515_mount_link: + l515_head_link: + {} + insta360_link: + {} + shoulder_pan_link: + shoulder_lift_link: + upperarm_roll_link: + elbow_flex_link: + forearm_roll_link: + wrist_flex_link: + wrist_roll_link: + gripper_link: + l_gripper_finger_link: + {} + r_gripper_finger_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 4.618305206298828 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.564796507358551 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.5854246616363525 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1025 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000015600000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 27 diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/view_model.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/view_model.launch new file mode 100644 index 0000000000..4f8ef6e3f9 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/view_model.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + From 0c9b9294e6aab43e033af2423d99ca16aa011f0a Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Tue, 19 Apr 2022 17:08:12 +0900 Subject: [PATCH 129/430] Use VOICEVOX by default --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 8 ++++---- .../supervisor_scripts/jsk-fetch-startup.conf | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 3d3e47950c..3a39eafeb0 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -4,7 +4,8 @@ - + + @@ -73,9 +74,8 @@ - - - + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index 8d5fe6f077..11dedc0a6b 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && if [ -d /usr/vt ]; then VOICE_TEXT=true; else VOICE_TEXT=false; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true use_voice_text:=$VOICE_TEXT --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true From bbfd55f4eb79b1ae78d43f749e89be7efbbf04d9 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 20 Apr 2022 09:11:59 +0900 Subject: [PATCH 130/430] [jsk_fetch_startup] fix default workspace path --- .../jsk_fetch_startup/scripts/update_workspace.sh | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index d0ce39357f..4c29ddd17f 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -11,14 +11,19 @@ optional arguments: " } +function get_full_path() +{ + echo "$(cd $(dirname $1) && pwd)/$(basename $1)" +} + SEND_MAIL=true -WORKSPACE=$HOME/ros/melodic/ +WORKSPACE=$(get_full_path $HOME/ros/melodic) while getopts hlw: OPT do case $OPT in w) - WORKSPACE=$(cd $(dirname $OPTARG) && pwd)/$(basename $OPTARG) + WORKSPACE=$(get_full_path $OPTARG) ;; l) SEND_MAIL=false From f16a171b414b12ee383e278c578ed6f58a6db173 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 20 Apr 2022 09:31:50 +0900 Subject: [PATCH 131/430] [jsk_fetch_startup] fix --- .../jsk_fetch_startup/scripts/update_workspace.sh | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index 4c29ddd17f..17ec206128 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -55,7 +55,15 @@ wstool foreach -t $WORKSPACE/src --git 'git stash' wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall wstool update -t $WORKSPACE/src --delete-changed-uris -wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout $branchname' # Forcefully checkout specified branch +# Forcefully checkout specified branch +wstool foreach -t $WORKSPACE/src --git --shell \ +'\ +branchname=$(git rev-parse --abbrev-ref HEAD); +git fetch --all --prune; +git reset --hard HEAD; +git checkout origin/$branchname; +git branch -D $branchname; +git checkout -b $branchname origin/$branchname' wstool update -t $WORKSPACE/src WSTOOL_UPDATE_RESULT=$? # Rosdep Install From 8393acfefa163ab9d02efd42e13d47f339872b5f Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 20 Apr 2022 10:15:08 +0900 Subject: [PATCH 132/430] [jsk_fetch_startup] update --- .../jsk_fetch_startup/scripts/update_workspace.sh | 11 +++-------- 1 file changed, 3 insertions(+), 8 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index 17ec206128..7786444579 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -51,19 +51,14 @@ LOGFILE=$WORKSPACE/update_workspace.txt { set -x # Update workspace + wstool foreach -t $WORKSPACE/src --git 'git stash' +wstool foreach -t $WORKSPACE/src --git 'git fetch --all --prune' wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall wstool update -t $WORKSPACE/src --delete-changed-uris # Forcefully checkout specified branch -wstool foreach -t $WORKSPACE/src --git --shell \ -'\ -branchname=$(git rev-parse --abbrev-ref HEAD); -git fetch --all --prune; -git reset --hard HEAD; -git checkout origin/$branchname; -git branch -D $branchname; -git checkout -b $branchname origin/$branchname' +wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi' wstool update -t $WORKSPACE/src WSTOOL_UPDATE_RESULT=$? # Rosdep Install From c68055b37af6e53d1c7dbf5db50e44689a5f30ee Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Wed, 20 Apr 2022 10:31:28 +0900 Subject: [PATCH 133/430] run coral_usb in default ws --- .../supervisor_scripts/jsk-human-pose-estimator.conf | 6 ++++-- .../supervisor_scripts/jsk-object-detector.conf | 6 ++++-- .../jsk-panorama-human-pose-estimator.conf | 6 ++++-- .../supervisor_scripts/jsk-panorama-object-detector.conf | 6 ++++-- 4 files changed, 16 insertions(+), 8 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf index 8021ee6ce4..dfcb5d522b 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf @@ -1,8 +1,10 @@ [program:jsk-human-pose-estimator] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait" +; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait" stopsignal=TERM -directory=/home/fetch/ros/coral_ws +; directory=/home/fetch/ros/coral_ws +directory=/home/fetch/ros/melodic ; You can set "autostart=true" if "autostart=false" in jsk-panorama-human-pose-estimator.conf autostart=true autorestart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf index 2e8e147a9e..d543cf6ea5 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf @@ -1,8 +1,10 @@ [program:jsk-object-detector] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" +; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" stopsignal=TERM -directory=/home/fetch/ros/coral_ws +; directory=/home/fetch/ros/coral_ws +directory=/home/fetch/ros/melodic ; You can set "autostart=true" if "autostart=false" in jsk-panorama-object-detector.conf autostart=true autorestart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf index 48b5fc4dc3..46f6e6516e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf @@ -1,8 +1,10 @@ [program:jsk-panorama-human-pose-estimator] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" +; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" stopsignal=TERM -directory=/home/fetch/ros/coral_ws +; directory=/home/fetch/ros/coral_ws +directory=/home/fetch/ros/melodic ; You can set "autostart=true" if "autostart=false" in jsk-human-pose-estimator.conf autostart=false autorestart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf index 434ab2fe48..fb849e0a5e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf @@ -1,8 +1,10 @@ [program:jsk-panorama-object-detector] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" +; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" stopsignal=TERM -directory=/home/fetch/ros/coral_ws +; directory=/home/fetch/ros/coral_ws +directory=/home/fetch/ros/melodic ; You can set "autostart=true" if "autostart=false" in jsk-object-detector.conf autostart=false autorestart=false From 77a4c7459d3fa93349b0bbe83ca678245a89e3e4 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 20 Apr 2022 16:35:08 +0900 Subject: [PATCH 134/430] [jsk_fetch_startup] support other hotword in dialogflow task executive --- .../config/dialogflow_hotword.yaml | 2 + .../launch/dialogflow_task_executive.launch | 55 +++++++++++++++++++ .../supervisor_scripts/jsk-dialog.conf | 2 +- 3 files changed, 58 insertions(+), 1 deletion(-) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml new file mode 100644 index 0000000000..359c385b3e --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml @@ -0,0 +1,2 @@ +- やあ +- <ロボット名に置き換えてください> diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch new file mode 100644 index 0000000000..ba9c76ac6c --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + + + + + + + + + use_audio: $(arg use_audio) + use_tts: $(arg use_tts) + language: $(arg language) + soundplay_action_name: $(arg soundplay_action_name) + volume: $(arg volume) + project_id: $(arg project_id) + google_cloud_credentials_json: $(arg credential) + enable_hotword: $(arg enable_hotword) + + + + + + + + + + + + + + + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf index 8e8aa85903..80e2b1366d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf @@ -1,5 +1,5 @@ [program:jsk-dialog] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch dialogflow_task_executive dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true --wait --screen " +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true --wait --screen " stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true From 57a6e5f9ea48b7715cbeff98e15348e3cdead543 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 20 Apr 2022 18:32:47 +0900 Subject: [PATCH 135/430] compile dialogflow hotword with robot name --- .../jsk_fetch_startup/CMakeLists.txt | 17 +++++++++++++++++ .../jsk_fetch_startup/config/.gitignore | 1 + .../config/dialogflow_hotword.yaml | 2 -- .../config/dialogflow_hotword.yaml.in | 5 +++++ 4 files changed, 23 insertions(+), 2 deletions(-) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/.gitignore delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml.in diff --git a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt index 9b98af04b1..29683126ba 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt +++ b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt @@ -86,8 +86,25 @@ macro(configure_icon_files icol iname) endif() endmacro(configure_icon_files) +macro(configure_dialogflow_hotword_yaml dname) + set(FETCH_NAME ${dname}) + if (${FETCH_NAME} STREQUAL "fetch15") + set(ROBOT_NICKNAME_KANA "ヘンゼル") + set(ROBOT_NICKNAME_HIRA "へんぜる") + configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config/dialogflow_hotword.yaml.in + ${CMAKE_CURRENT_SOURCE_DIR}/config/${FETCH_NAME}_dialogflow_hotword.yaml) + elseif (${FETCH_NAME} STREQUAL "fetch1075") + set(ROBOT_NICKNAME_KANA "グレーテル") + set(ROBOT_NICKNAME_HIRA "ぐれーてる") + configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config/dialogflow_hotword.yaml.in + ${CMAKE_CURRENT_SOURCE_DIR}/config/${FETCH_NAME}_dialogflow_hotword.yaml) + endif() +endmacro(configure_dialogflow_hotword_yaml) + configure_icon_files(blue fetch15) configure_icon_files(red fetch1075) +configure_dialogflow_hotword_yaml(fetch15) +configure_dialogflow_hotword_yaml(fetch1075) ############# ## Testing ## diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/.gitignore b/jsk_fetch_robot/jsk_fetch_startup/config/.gitignore new file mode 100644 index 0000000000..97ed018fbb --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/config/.gitignore @@ -0,0 +1 @@ +fetch*_dialogflow_hotword.yaml diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml deleted file mode 100644 index 359c385b3e..0000000000 --- a/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml +++ /dev/null @@ -1,2 +0,0 @@ -- やあ -- <ロボット名に置き換えてください> diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml.in b/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml.in new file mode 100644 index 0000000000..73714a65a9 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml.in @@ -0,0 +1,5 @@ +- ねえねえ +- こんにちわ +- やあ +- @ROBOT_NICKNAME_KANA@ +- @ROBOT_NICKNAME_HIRA@ From 9c105bb2c5bbbe3e8af4d5d8aff29be877977f50 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 20 Apr 2022 18:33:16 +0900 Subject: [PATCH 136/430] include dialogflow_task_executive.launch and use own yaml --- .../launch/dialogflow_task_executive.launch | 55 ------------------- .../fetch_dialogflow_task_executive.launch | 32 +++++++++++ 2 files changed, 32 insertions(+), 55 deletions(-) delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch deleted file mode 100644 index ba9c76ac6c..0000000000 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch +++ /dev/null @@ -1,55 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - use_audio: $(arg use_audio) - use_tts: $(arg use_tts) - language: $(arg language) - soundplay_action_name: $(arg soundplay_action_name) - volume: $(arg volume) - project_id: $(arg project_id) - google_cloud_credentials_json: $(arg credential) - enable_hotword: $(arg enable_hotword) - - - - - - - - - - - - - - - - - diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch new file mode 100644 index 0000000000..17f7aa0995 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From f0b09b46e143e8c030facc86f0d62c5217656253 Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Wed, 20 Apr 2022 18:41:56 +0900 Subject: [PATCH 137/430] update jsk-dialog.conf --- .../jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf index 80e2b1366d..f4b9db6078 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf @@ -1,5 +1,5 @@ [program:jsk-dialog] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true --wait --screen " +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen " stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true From b65536e2da1451d3e4632a038a5a2c20d2626345 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Thu, 6 Jan 2022 15:45:35 +0900 Subject: [PATCH 138/430] add cron scripts for update ssl key --- .../jsk_fetch_startup/cron_scripts/cron_certbot.conf | 1 + .../jsk_fetch_startup/scripts/certbot_renewhook.sh | 7 +++++++ 2 files changed, 8 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf create mode 100755 jsk_fetch_robot/jsk_fetch_startup/scripts/certbot_renewhook.sh diff --git a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf new file mode 100644 index 0000000000..387f504041 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf @@ -0,0 +1 @@ +0 0 1 Jan,Apr,Jul,Oct * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && certbot renew -v --standalone --renew-hook \"$(rospack find jsk_fetch_startup)/scripts/certbot_renewhook.sh\" >> /var/log/certbot_renewal.log" \ No newline at end of file diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/certbot_renewhook.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/certbot_renewhook.sh new file mode 100755 index 0000000000..d37fe27421 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/certbot_renewhook.sh @@ -0,0 +1,7 @@ +#!/bin/sh + +SITE=dialogflow.$(hostname).jsk.imi.i.u-tokyo.ac.jp + +cd /etc/letsencrypt/live/$SITE +cat fullchain.pem privkey.pem > /etc/haproxy/certs/$SITE.pem +systemctl restart haproxy From b1fe990890e11fbecb4828cf49aedd165ed2ff03 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Thu, 21 Apr 2022 10:10:52 +0900 Subject: [PATCH 139/430] [jsk_fetch_startup] update ssl key from letsencrypt --- .../jsk_fetch_startup/cron_scripts/cron_certbot.conf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf index 387f504041..8c7cc3ea3b 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf @@ -1 +1 @@ -0 0 1 Jan,Apr,Jul,Oct * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && certbot renew -v --standalone --renew-hook \"$(rospack find jsk_fetch_startup)/scripts/certbot_renewhook.sh\" >> /var/log/certbot_renewal.log" \ No newline at end of file +0 0 1 Jan,Apr,Jul,Oct * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && systemctl stop haproxy && certbot renew -v --standalone --renew-hook \"$(rospack find jsk_fetch_startup)/scripts/certbot_renewhook.sh\" >> /var/log/certbot_renewal.log" From b7f3951493422b4228e3ebe2dee1c838cb6beb2b Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Mon, 18 Apr 2022 13:34:21 +0900 Subject: [PATCH 140/430] [jsk_fetch_startup] Use image hz convert for recording kitchen demo --- .../apps/go_to_kitchen/go_to_kitchen.app | 6 +++--- .../apps/go_to_kitchen/go_to_kitchen.xml | 21 +++++++++++++++++++ 2 files changed, 24 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index 0fed92f1ea..a924c0648f 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -19,7 +19,7 @@ plugins: audio_sample_rate: 16000 audio_format: wave audio_sample_format: S16LE - video_topic_name: /head_camera/rgb/image_rect_color + video_topic_name: /head_camera/rgb/image_rect_color/hz_converted video_height: 480 video_width: 640 video_framerate: 30 @@ -34,10 +34,10 @@ plugins: audio_sample_rate: 16000 audio_format: wave audio_sample_format: S16LE - video_topic_name: /edgetpu_object_detector/output/image + video_topic_name: /edgetpu_object_detector/output/image/hz_converted video_height: 480 video_width: 640 - video_framerate: 10 + video_framerate: 30 video_encoding: RGB - name: panorama_video_recorder_plugin type: app_recorder/video_recorder_plugin diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 09c9f3cf28..7b599f21b6 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -19,6 +19,27 @@ + + + + + + desired_topic_hz: 30 + + + + + + + + desired_topic_hz: 30 + + + From ff09f9d156ccb1d027b74c8377dd6d0a1babfbac Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 21 Apr 2022 08:49:11 +0900 Subject: [PATCH 141/430] [jsk_fetch_startup] update rviz config --- .../jsk_fetch_startup/config/jsk_startup.rviz | 47 ++++++++++++------- 1 file changed, 31 insertions(+), 16 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz index ab198412bf..7d8d6777a8 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz +++ b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz @@ -5,7 +5,7 @@ Panels: Property Tree Widget: Expanded: ~ Splitter Ratio: 0.4187380373477936 - Tree Height: 1319 + Tree Height: 479 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -138,6 +138,10 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + head_l515_virtual_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false head_pan_link: Alpha: 1 Show Axes: false @@ -148,6 +152,10 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + insta360_link: + Alpha: 1 + Show Axes: false + Show Trail: false l515_head_link: Alpha: 1 Show Axes: false @@ -339,12 +347,12 @@ Visualization Manager: Class: rviz/Map Color Scheme: costmap Draw Behind: false - Enabled: false + Enabled: true Name: SafeCostMap Topic: /safe_teleop_base/local_costmap/costmap Unreliable: false Use Timestamp: false - Value: false + Value: true - Alpha: 0.3499999940395355 Class: rviz/Map Color Scheme: costmap @@ -396,9 +404,7 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: BaseScan Position Transformer: XYZ Queue Size: 10 @@ -426,9 +432,7 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: XtionPointCloud Position Transformer: XYZ Queue Size: 10 @@ -454,6 +458,19 @@ Visualization Manager: top: 10 transport hint: raw width: 320 + - Class: jsk_rviz_plugin/OverlayImage + Enabled: true + Name: PanoramaImage + Topic: /dual_fisheye_to_panorama/quater/output + Value: true + alpha: 0.800000011920929 + height: 128 + keep aspect ratio: true + left: 340 + overwrite alpha value: false + top: 10 + transport hint: raw + width: 480 - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -469,9 +486,7 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: HeadL515PointCloud Position Transformer: XYZ Queue Size: 10 @@ -536,13 +551,13 @@ Visualization Manager: Saved: ~ Window Geometry: CancelAction: - collapsed: true + collapsed: false Displays: - collapsed: true - Height: 1865 - Hide Left Dock: true + collapsed: false + Height: 1025 + Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false Time: @@ -551,6 +566,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1013 - X: 67 + Width: 1920 + X: 0 Y: 27 From 4fed1ac6bee69e7c67278a768887dd6f7b10d887 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 21 Apr 2022 14:12:51 +0900 Subject: [PATCH 142/430] [jsk_fetch_startup] add panorama image and detection results to rviz config --- .../jsk_fetch_startup/config/jsk_startup.rviz | 134 +++++++++++++----- 1 file changed, 97 insertions(+), 37 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz index 7d8d6777a8..c8dd4f9418 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz +++ b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz @@ -5,7 +5,7 @@ Panels: Property Tree Widget: Expanded: ~ Splitter Ratio: 0.4187380373477936 - Tree Height: 479 + Tree Height: 477 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -445,32 +445,6 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: true - - Class: jsk_rviz_plugin/OverlayImage - Enabled: true - Name: XtionRGB - Topic: /head_camera/rgb/quater/image_rect_color - Value: true - alpha: 0.800000011920929 - height: 128 - keep aspect ratio: true - left: 10 - overwrite alpha value: false - top: 10 - transport hint: raw - width: 320 - - Class: jsk_rviz_plugin/OverlayImage - Enabled: true - Name: PanoramaImage - Topic: /dual_fisheye_to_panorama/quater/output - Value: true - alpha: 0.800000011920929 - height: 128 - keep aspect ratio: true - left: 340 - overwrite alpha value: false - top: 10 - transport hint: raw - width: 480 - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -483,7 +457,7 @@ Visualization Manager: Color: 255; 255; 255 Color Transformer: RGB8 Decay Time: 0 - Enabled: true + Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Min Color: 0; 0; 0 @@ -498,7 +472,93 @@ Visualization Manager: Unreliable: false Use Fixed Frame: true Use rainbow: true - Value: true + Value: false + - Class: rviz/Group + Displays: + - Class: jsk_rviz_plugin/OverlayImage + Enabled: true + Name: XtionRGB + Topic: /head_camera/rgb/quater/image_rect_color + Value: true + alpha: 0.800000011920929 + height: 128 + keep aspect ratio: true + left: 10 + overwrite alpha value: false + top: 10 + transport hint: raw + width: 320 + - Class: jsk_rviz_plugin/OverlayImage + Enabled: false + Name: XtionRGBHumanPoseEstimator + Topic: /edgetpu_human_pose_estimator/output/image + Value: false + alpha: 0.800000011920929 + height: 128 + keep aspect ratio: true + left: 10 + overwrite alpha value: false + top: 10 + transport hint: raw + width: 320 + - Class: jsk_rviz_plugin/OverlayImage + Enabled: false + Name: XtionRGBObjectDetector + Topic: /edgetpu_human_pose_estimator/output/image + Value: false + alpha: 0.800000011920929 + height: 128 + keep aspect ratio: true + left: 10 + overwrite alpha value: false + top: 10 + transport hint: raw + width: 320 + Enabled: true + Name: XtionRGB + - Class: rviz/Group + Displays: + - Class: jsk_rviz_plugin/OverlayImage + Enabled: true + Name: PanoramaImage + Topic: /dual_fisheye_to_panorama/quater/output + Value: true + alpha: 0.800000011920929 + height: 128 + keep aspect ratio: true + left: 340 + overwrite alpha value: false + top: 10 + transport hint: raw + width: 480 + - Class: jsk_rviz_plugin/OverlayImage + Enabled: false + Name: PanoramaHumanPoseEstimator + Topic: /edgetpu_panorama_human_pose_estimator/output/image + Value: false + alpha: 0.800000011920929 + height: 128 + keep aspect ratio: true + left: 340 + overwrite alpha value: false + top: 10 + transport hint: raw + width: 480 + - Class: jsk_rviz_plugin/OverlayImage + Enabled: false + Name: PanoramaObjectDetector + Topic: /edgetpu_panorama_object_detector/output/image + Value: false + alpha: 0.800000011920929 + height: 128 + keep aspect ratio: true + left: 340 + overwrite alpha value: false + top: 10 + transport hint: raw + width: 480 + Enabled: true + Name: PanoramaImage Enabled: true Global Options: Background Color: 48; 48; 48 @@ -529,25 +589,25 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 10.471776962280273 + Distance: 10 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: -0.00829183217138052 - Y: 0.022624600678682327 - Z: -0.003759089857339859 - Focal Shape Fixed Size: true + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.5747973322868347 + Pitch: 0.7853981852531433 Target Frame: base_link Value: Orbit (rviz) - Yaw: 1.745403528213501 + Yaw: 0.7853981852531433 Saved: ~ Window Geometry: CancelAction: @@ -557,7 +617,7 @@ Window Geometry: Height: 1025 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false Time: From 5bb495da902d844b5e5555ce7ddd7739cd9fd139 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 25 Apr 2022 15:13:14 +0900 Subject: [PATCH 143/430] [jsk_fetch_startup] fix format, remove old document, and add TOC --- jsk_fetch_robot/jsk_fetch_startup/README.md | 120 ++++++++++++++------ 1 file changed, 84 insertions(+), 36 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md index e7baff4793..0c65fb347d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/README.md +++ b/jsk_fetch_robot/jsk_fetch_startup/README.md @@ -1,5 +1,28 @@ # jsk_fetch_startup +- [jsk_fetch_startup](#jsk_fetch_startup) + - [SetUp (Running following commands in the first time)](#setup-running-following-commands-in-the-first-time) + - [Install a udev rule](#install-a-udev-rule) + - [For realsense](#for-realsense) + - [supervisor](#supervisor) + - [cron](#cron) + - [mongodb](#mongodb) + - [Teleoperation](#teleoperation) + - [Maintenance](#maintenance) + - [re-roslaunch jsk_fetch_startup fetch_bringup.launch](#re-roslaunch-jsk_fetch_startup-fetch_bringuplaunch) + - [re-roslaunch fetch_bringup fetch.launch](#re-roslaunch-fetch_bringup-fetchlaunch) + - [Clock Synchronization](#clock-synchronization) + - [Network](#network) + - [General description](#general-description) + - [Case description](#case-description) + - [Access point](#access-point) + - [Log](#log) + - [Apps](#apps) + - [Note](#note) + - [Add fetch to rwt_app_chooser](#add-fetch-to-rwt_app_chooser) + - [Execute demos](#execute-demos) + - [Administration](#administration) + ## SetUp (Running following commands in the first time) ### Install a udev rule @@ -7,7 +30,7 @@ rosrun jsk_fetch_startup install_udev.sh ``` -#### For realsense +### For realsense Before start this, remove `librealsense2` and `realsense2-ros` from ROS repository and set not to be installed. @@ -27,70 +50,70 @@ sudo apt-mark hold librealsense2 librealsense2-dev ``` ### supervisor + Important jobs for fetch operation are managed by supervisor. Here is a list of jobs that are managed by supervisor. - - roscore +- roscore Start roscore - - robot +- robot Launch Minimum ROS programs to run fetch - - jsk-fetch-startup +- jsk-fetch-startup Launch ROS programs extended by JSK - - jsk-network-monitor +- jsk-network-monitor Restart the network manager automatically if ping does not work. - - jsk-log-wifi +- jsk-log-wifi Monitor network condition - - jsk-app-scheduler +- jsk-app-scheduler Scheduler to launch [app](https://github.com/knorth55/app_manager_utils/tree/master/app_scheduler) at a fixed time - - jsk-object-detector +- jsk-object-detector Object detection using fetch's head camera and [coral_usb_ros](https://github.com/knorth55/coral_usb_ros) - - jsk-panorama-object-detector: +- jsk-panorama-object-detector: Object detection using fetch's 360 camera and [coral_usb_ros](https://github.com/knorth55/coral_usb_ros) - - jsk-human-pose-estimator +- jsk-human-pose-estimator Human pose estimation using fetch's head camera and [coral_usb_ros](https://github.com/knorth55/coral_usb_ros) - - jsk-panorama-human-pose-estimator +- jsk-panorama-human-pose-estimator Human pose estimation using fetch's 360 camera and [coral_usb_ros](https://github.com/knorth55/coral_usb_ros) - - jsk-dialog +- jsk-dialog Launch [dialogflow_task_exective](https://github.com/jsk-ros-pkg/jsk_3rdparty/tree/master/dialogflow_task_executive) - - jsk-gdrive +- jsk-gdrive Launch [app](https://github.com/knorth55/app_manager_utils/tree/master/app_uploader) to upload data to Goole Drive - - jsk-dstat +- jsk-dstat Monitor fetch's resource using dstat command - - jsk-lifelog +- jsk-lifelog Launch program to save fetch's [lifelog](https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_robot_common/jsk_robot_startup/lifelog) - Install supervisor config files. e.g. `robot.conf`, `jsk_fetch_startup.conf` ... -``` +```bash su -c 'rosrun jsk_fetch_startup install_supervisor.sh' ``` @@ -100,17 +123,17 @@ Previously, upstart was used, but it has been moved to supervisor. This is becau ![supervisor_status](https://user-images.githubusercontent.com/19769486/119499716-f142c000-bda1-11eb-9b96-0cfa7e04a1b2.png) - ### cron + Install cron jobs for root user and fetch user. e.g. `shutdown`, `update_workspace`. -``` +```bash su -c 'rosrun jsk_fetch_startup install_cron.sh' ``` ### mongodb -``` +```bash sudo mkdir -p /var/lib/robot/mongodb_store/ # to see the db items from http://lcoalhost/rockmongo @@ -122,11 +145,7 @@ sudo mv rockmongo-1.1.7 /var/www/html/rockmongo # $MONGO["servers"][$i]["control_auth"] = false; // true;//enable control users, works only if mongo_auth=false ``` -### Coral Edge TPU -Create ROS workspace for Coral Edge TPU. Please see: -https://github.com/knorth55/coral_usb_ros - -### Teleoperation +## Teleoperation For the JSK safe teleop system, please see [data flow diagram of safe_teleop.launch](https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_robot_common/jsk_robot_startup#launchsafe_teleoplaunch) @@ -138,19 +157,22 @@ The numbers assigned to the joystick are as follows. ## Maintenance ### re-roslaunch jsk_fetch_startup fetch_bringup.launch -``` + +```bash sudo supervisorctl restart jsk-fetch-startup ``` ### re-roslaunch fetch_bringup fetch.launch -``` + +```bash sudo supervisorctl restart robot ``` ### [Clock Synchronization](https://github.com/fetchrobotics/docs/blob/0c1c63ab47952063bf60280e74b4ff3ae07fd914/source/computer.rst) install `chrony` and add ```server `gethostip -d fetch15` offline minpoll 8``` to /etc/chrony/chrony.conf, restart chronyd by `sudo /etc/init.d/chrony restart` and wait for few seconds, if you get -``` + +```bash $ chronyc tracking Reference ID : 133.11.216.145 (fetch15.jsk.imi.i.u-tokyo.ac.jp) Stratum : 4 @@ -166,21 +188,22 @@ Root dispersion : 0.018803 seconds Update interval : 2.1 seconds Leap status : Normal ``` -it works, if you get `127.127.1.1` for `Reference ID`, something wrong +it works, if you get `127.127.1.1` for `Reference ID`, something wrong ## Network + ### General description + Fetch has wired and wireless network connections. If we use both of wired and wireless connections as DHCP, DNS holds two IP addresses for same hostname (fetch15 in this case). This cause problems in network such as ROS communication or ssh connection. -The solution we take now (2016/11/01) is using wired connection as static IP. -By doing so, DNS holds only one IP adress (for wireless connection) for fetch hostname. - ### Case description + If you see the following result, it is OK. -``` + +```bash $ nslookup fetch15.jsk.imi.i.u-tokyo.ac.jp Server: 127.0.1.1 Address: 127.0.1.1#53 @@ -190,24 +213,28 @@ Address: 133.11.216.145 ``` If two or more IP addresses apper, something is wrong. -Please connect display, open a window of network manager, and check that wired connection uses static IP. +Please connect display, open a window of network manager. ### Access point + Define access point setting, such as ssid: -``` + +```bash cd /etc/NetworkManager/system-connections ``` -### Log +## Log tmuxinator makes it easy to check the important logs of fetch from command line. Currently, it shows the logs of the supervisor jobs. Install tmuxinator config. + ```bash rosrun jsk_fetch_startup install_tmuxinator.sh ``` Show logs + ```bash tmuxinator log ``` @@ -244,6 +271,7 @@ tmuxinator log You can not run this on Firefox. Please use Google Chrome. ### Add fetch to rwt_app_chooser + 1. Access [http://tork-a.github.io/visualization_rwt/rwt_app_chooser](http://tork-a.github.io/visualization_rwt/rwt_app_chooser "website"). - Be careful to access the site via http, not https, to to enable websocket communication. - Modern browsers may automatically redirect from http to https. @@ -254,7 +282,27 @@ You can not run this on Firefox. Please use Google Chrome. 1. Click `ADD ROBOT` button ### Execute demos + 1. Click `fetch15` at `Select Robot` window 1. Select task which are shown with icons. ![select_app](https://user-images.githubusercontent.com/19769486/40872010-7d21d2bc-6681-11e8-8c0b-621f199638dd.png) + +## Administration + +- 2016/10/26 add `allow 133.11.216/8` to /etc/chrony/chrony.conf +- 2018/08/26 add `0 10 * * 1-5 /home/fetch/ros/indigo_robot/devel/env.sh rosservice call /fetch15/start_app "name: 'jsk_fetch_startup/go_to_kitchen'"` to crontab + - `fetch` goes to 73B2 kitchen at 10:00 AM from Monday to Friday. +- 2019/04/19: add `fetch` user in `pulse-access` group. +- 2019/04/19: set `start on runlevel [2345]` in `/etc/init/pulseaudio.conf`. + - this modification is needed for starting `pulseaudio` in boot. + - `pulseaudio` is required to register USB speaker on head in boot. +- 2019/04/19: set `env DISALLOW_MODULE_LOADING=0` in `/etc/init/pulseaudio.conf`. + - this modification is needed for overriding default speaker setting in `/etc/init/jsk-fetch-startup.conf` + - overriding default speaker setting to use USB speaker on head is done with `pactl set-default-sink $AUDIO_DEVICE` in `/etc/init/jsk-fetch-startup.conf` +- 2019/04/19: launch `jsk_fetch_startup/fetch_bringup.launch` by `fetch` user in `/etc/init/jsk-fetch-startup.conf` + - some nodes save files by `fetch` user +- 2019/04/19: add arg `launch_teleop` in `/etc/ros/indigo/robot.launch`. + - We sent PR to upstream [fetchrobotics/fetch_robots PR#40](https://github.com/fetchrobotics/fetch_robots/pull/40). +- 2019/04/19: run `/etc/ros/indigo/robot.launch` with `arg` `launch_teleop:=false`. + - `teleop` in `/etc/ros/indigo/robot.launch` nodes were conflicted with `teleop` nodes in [jsk_fetch_startup/launch/fetch_teleop.xml](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml) From 1ccb8c6ed94ae0399aed8dd532e1449059a16a45 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 28 Apr 2022 12:44:10 +0900 Subject: [PATCH 144/430] [jsk_fetch_startup] enable to change robot_description according to config.bash --- .../jsk_fetch_startup/config/config.bash | 5 +++++ .../jsk_fetch_startup/launch/fetch.launch | 15 ++++++++------- 2 files changed, 13 insertions(+), 7 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index ea364d3b12..ea2ca482dd 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -1,6 +1,11 @@ # This file is bash configuration for robot.conf # This file must be at /var/lib/robot/config.bash +export USE_BASE_CAMERA_MOUNT=true +export USE_HEAD_BOX=true +export USE_HEAD_L515=true +export USE_INSTA360_STAND=true + export RS_SERIAL_NO_T265="" export RS_SERIAL_NO_D435_FRONTRIGHT="" export RS_SERIAL_NO_D435_FRONTLEFT="" diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch index 72826157ec..5157fc18a8 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch @@ -3,14 +3,15 @@ - - - - - + + + + + - + + @@ -136,7 +137,7 @@ command="$(find xacro)/xacro $(find jsk_fetch_startup)/robots/jsk_fetch.urdf.xacro ros_distro:=$(env ROS_DISTRO) use_fetch_description:=$(arg use_fetch_description) base_camera_mount:=$(arg use_base_camera_mount) head_box:=$(arg use_head_box) - head_l515:=$(arg use_head_l515)" /> + head_l515:=$(arg use_head_l515) insta360_stand:=$(arg insta360_stand)" /> From 8677453314a599b4564e64fe888e7bfa3ddb6109 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 27 Apr 2022 17:24:14 +0900 Subject: [PATCH 145/430] [jsk_fetch_startup] rename update_workspace.sh to update_workspace_main.sh and call it from update_workspace.sh --- .../scripts/update_workspace.sh | 113 +----------------- .../scripts/update_workspace_main.sh | 113 ++++++++++++++++++ 2 files changed, 115 insertions(+), 111 deletions(-) create mode 100755 jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index 7786444579..868f0cd1b2 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -1,113 +1,4 @@ #!/usr/bin/env bash -function usage() -{ - echo "Usage: $0 [-w workspace_directory] [-h] [-l] - -optional arguments: - -h show this help - -w WORKSPACE_PATH specify target workspace - -l do not send a mail -" -} - -function get_full_path() -{ - echo "$(cd $(dirname $1) && pwd)/$(basename $1)" -} - -SEND_MAIL=true -WORKSPACE=$(get_full_path $HOME/ros/melodic) - -while getopts hlw: OPT -do - case $OPT in - w) - WORKSPACE=$(get_full_path $OPTARG) - ;; - l) - SEND_MAIL=false - ;; - h) - usage - exit 1 - ;; - *) - usage - exit 1 - ;; - esac -done - -if [ ! -e $WORKSPACE ]; then - echo "No workspace $WORKSPACE" - exit 1 -fi - -. $WORKSPACE/devel/setup.bash -# Filename should end with .txt to preview the contents in a web browser -LOGFILE=$WORKSPACE/update_workspace.txt - -{ -set -x -# Update workspace - -wstool foreach -t $WORKSPACE/src --git 'git stash' -wstool foreach -t $WORKSPACE/src --git 'git fetch --all --prune' -wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot -ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall -wstool update -t $WORKSPACE/src --delete-changed-uris -# Forcefully checkout specified branch -wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi' -wstool update -t $WORKSPACE/src -WSTOOL_UPDATE_RESULT=$? -# Rosdep Install -sudo apt-get update -y -rosdep update -# jsk_footstep_planner is not released for melodic -# jsk_footstep_controller is not released for melodic -# librealsense2 should not be installed from ROS repository -# realsense-ros should not be installed from ROS repository -rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys \ -"\ -jsk_footstep_controller \ -jsk_footstep_planner \ -librealsense2 \ -realsense2_camera \ -realsense2_description \ -" -ROSDEP_INSTALL_RESULT=$? -# Build workspace -cd $WORKSPACE -catkin clean aques_talk collada_urdf_jsk_patch libcmt -y -catkin init -catkin config -DCMAKE_BUILD_TYPE=Release -catkin build --continue-on-failure -CATKIN_BUILD_RESULT=$? -# Send mail -MAIL_BODY="" -if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then - MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. " -fi -if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then - MAIL_BODY=$MAIL_BODY"Please install dependencies manually. " -fi -if [ $CATKIN_BUILD_RESULT -ne 0 ]; then - MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually." -fi -set +x -} 2>&1 | tee $LOGFILE -if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then - echo "Sent a mail" - rostopic pub -1 /email jsk_robot_startup/Email "header: - seq: 0 - stamp: {secs: 0, nsecs: 0} - frame_id: '' -subject: 'Daily workspace update fails' -body: '$MAIL_BODY' -sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp' -receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp' -smtp_server: '' -smtp_port: '' -attached_files: ['$LOGFILE']" -fi +cp $(rospack find jsk_fetch_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh +/tmp/update_workspace.sh $@ diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh new file mode 100755 index 0000000000..74eb47693b --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh @@ -0,0 +1,113 @@ +#!/usr/bin/env bash + +function usage() +{ + echo "Usage: $0 [-w workspace_directory] [-h] [-l] + +optional arguments: + -h show this help + -w WORKSPACE_PATH specify target workspace + -l do not send a mail +" +} + +function get_full_path() +{ + echo "$(cd $(dirname $1) && pwd)/$(basename $1)" +} + +SEND_MAIL=true +WORKSPACE=$(get_full_path $HOME/ros/melodic) + +while getopts hlw: OPT +do + case $OPT in + w) + WORKSPACE=$(get_full_path $OPTARG) + ;; + l) + SEND_MAIL=false + ;; + h) + usage + exit 1 + ;; + *) + usage + exit 1 + ;; + esac +done + +if [ ! -e $WORKSPACE ]; then + echo "No workspace $WORKSPACE" + exit 1 +fi + +. $WORKSPACE/devel/setup.bash +# Filename should end with .txt to preview the contents in a web browser +LOGFILE=$WORKSPACE/update_workspace.txt + +{ +set -x +# Update workspace + +wstool foreach -t $WORKSPACE/src --git 'git stash' +wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune' +wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot +ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall +wstool update -t $WORKSPACE/src --delete-changed-uris +# Forcefully checkout specified branch +wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi' +wstool update -t $WORKSPACE/src +WSTOOL_UPDATE_RESULT=$? +# Rosdep Install +sudo apt-get update -y +rosdep update +# jsk_footstep_planner is not released for melodic +# jsk_footstep_controller is not released for melodic +# librealsense2 should not be installed from ROS repository +# realsense-ros should not be installed from ROS repository +rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys \ +"\ +jsk_footstep_controller \ +jsk_footstep_planner \ +librealsense2 \ +realsense2_camera \ +realsense2_description \ +" +ROSDEP_INSTALL_RESULT=$? +# Build workspace +cd $WORKSPACE +catkin clean aques_talk collada_urdf_jsk_patch libcmt -y +catkin init +catkin config -DCMAKE_BUILD_TYPE=Release +catkin build --continue-on-failure +CATKIN_BUILD_RESULT=$? +# Send mail +MAIL_BODY="" +if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then + MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. " +fi +if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then + MAIL_BODY=$MAIL_BODY"Please install dependencies manually. " +fi +if [ $CATKIN_BUILD_RESULT -ne 0 ]; then + MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually." +fi +set +x +} 2>&1 | tee $LOGFILE +if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then + echo "Sent a mail" + rostopic pub -1 /email jsk_robot_startup/Email "header: + seq: 0 + stamp: {secs: 0, nsecs: 0} + frame_id: '' +subject: 'Daily workspace update fails' +body: '$MAIL_BODY' +sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp' +receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp' +smtp_server: '' +smtp_port: '' +attached_files: ['$LOGFILE']" +fi From 3ddd449eeb69c8c0da293ee277814dbb22bc951f Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 28 Apr 2022 15:25:14 +0900 Subject: [PATCH 146/430] [jsk_fetch_startup] fix bugs --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch index 5157fc18a8..3d8fa4f0c2 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch @@ -7,8 +7,8 @@ - - + + From b728bc525d2eeba1d5303dcdd68d08d438374f84 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 12 May 2022 22:20:29 +0900 Subject: [PATCH 147/430] [jsk_fetch_startup] Remove duplicated diagnostics aggregator --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch index 3d8fa4f0c2..230ed6656c 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch @@ -2,6 +2,7 @@ + From 1d8b3503fb123e648384669c6dadc8fe29939742 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 14 May 2022 00:42:50 +0900 Subject: [PATCH 148/430] set fetch default english speaker --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 5 ++++- .../supervisor_scripts/jsk-fetch-startup.conf | 2 +- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 3a39eafeb0..6b696ff277 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -6,6 +6,7 @@ + @@ -67,7 +68,9 @@ + respawn="true" if="$(arg launch_sound_play)"> + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index 11dedc0a6b..e418fcd627 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=voice_cmu_us_slt_arctic_hts; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true From 7f2b5ec6ae9074fb5860f0baf0f47bc9af871ef1 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 17 May 2022 23:17:48 +0900 Subject: [PATCH 149/430] [jsk_fetch_startup] add --profile and --interface args to network_monitor.py --- .../scripts/network_monitor.py | 40 ++++++++++--------- 1 file changed, 22 insertions(+), 18 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/network_monitor.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/network_monitor.py index 1f67266a30..782f5479a5 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/network_monitor.py +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/network_monitor.py @@ -47,21 +47,21 @@ TOUCH_FILE = "/home/fetch/.Network_Monitor_Restarted_Robot" -def ping(use_arping, hosts): +def ping(use_arping, hosts, network_interface='wlan0'): for host in hosts: for _ in xrange(5): print(datetime.now(),"Sending ping request") if use_arping: - response = os.system("arping -I wlan0 -c 1 " + host) + response = os.system("arping -I {} -c 1 {}".format(network_interface, host)) else: - response = os.system("ping -c 1 -q " + host) + response = os.system("ping -c 1 -q {}".format(host)) if response == 0: return True sleep(5) return False -def get_sanshiro(): - return [['sanshiro', 'sanshiro']] +def get_sanshiro(network_profile_id): + return [[network_profile_id, 'sanshiro']] def get_saved_networks(filepaths=None): # NetworkManager has its own ID for networks, often multiple for the same @@ -90,19 +90,19 @@ def get_saved_networks(filepaths=None): # for reconnecting to 'sanshiro' -def reconnect_to_wlan(): - if call(["nmcli", "d", "disconnect", "iface", "wlan0"]) == 0: +def reconnect_to_wlan(network_interface='wlan0', network_profile_id='sanshiro'): + if call(["nmcli", "d", "disconnect", "iface", network_interface]) == 0: sleep(0.3) - print("disconnect from wlan0") + print("Network disconnected with interface \"{}\"".format(network_interface)) else: - print("'nmcli d disconnect iface wlan0' do not work correctly!") + print("'nmcli d disconnect iface {}' do not work correctly!".format(network_interface)) - if call(["nmcli", "c", "up", "id", "sanshiro"]) == 0: + if call(["nmcli", "c", "up", "id", network_profile_id]) == 0: sleep(0.3) - print("connect to sanshiro") + print("Network connected with profile \"{}\"".format(network_profile_id)) return True else: - print("'nmcli c up id sanshiro' do not work correctly!") + print("'nmcli c up id {}' do not work correctly!".format(network_profile_id)) return False @@ -150,13 +150,13 @@ def connect_by_nmcli_id(nid, ssid="SSID not given"): return False -def attempt_reconnect_to_network(): +def attempt_reconnect_to_network(network_interface, network_profile_id): # First, try to connect to sanshiro - if connect_by_nmcli_id('sanshiro', 'sanshiro'): + if connect_by_nmcli_id(network_profile_id, 'sanshiro'): return True # Get list of stored 'wireless' connections; [id, ssid] - known = get_saved_networks() # alternative : known = get_sanshiro() + known = get_saved_networks() # alternative : known = get_sanshiro(network_profile_id) # Get list of unique available wifi network ssids and their strongest signal avail = get_avail_networks_by_strength() @@ -170,7 +170,7 @@ def attempt_reconnect_to_network(): for ntwk in to_try: if connect_by_nmcli_id(*ntwk): return True - if reconnect_to_wlan(): + if reconnect_to_wlan(network_interface, network_profile_id): return True return False @@ -249,12 +249,12 @@ def main(args): while True: try: # Check if we can ping the access point - if not ping(args.arping, hostnames): + if not ping(args.arping, hostnames, args.interface): print(datetime.now(), "Cannot connect to", ', '.join(hostnames)) sound_goal.goal.sound_request.arg = "ピングが通りません" pub.publish(sound_goal) # Try to connect to any known network - if not attempt_reconnect_to_network(): + if not attempt_reconnect_to_network(args.interface, args.profile): # TODO use check_output instead of Popen and handle truly # bad issues with computer restarts or notification. print(datetime.now(), "Restarting network-manager") @@ -302,6 +302,10 @@ def main(args): help="One or more comma delimited hostname(s) to ping. Hostnames will " "be tried in order supplied until one is successfully contacted. Default: " "Looks for NETWORK_MONITOR_HOSTNAMES in environment.") + parser.add_argument('-I', '--interface', default='wlan0', + help='Network interface to be used.') + parser.add_argument('--profile', default='sanshiro', + help='Network profile to be used.') parser.add_argument("-a", "--arping", action='store_true', help="Use arping instead of ping.") parser.add_argument("--enable-reboot-option", action='store_true', From bf3d48e5642d4e7eb6544abb6d78c01f4819c6e6 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 17 May 2022 23:18:07 +0900 Subject: [PATCH 150/430] [jsk_fetch_startup] add interface arg to log-wifi-link.sh --- .../scripts/log-wifi-link.sh | 20 ++++++++++++++++--- 1 file changed, 17 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh index 9de64ee353..c888d2a903 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh @@ -7,9 +7,9 @@ INTERVAL=10 wifi_status(){ local ssid=$(iw $IFACE link | grep SSID | cut -d: -f2) local freq=$(iw $IFACE link | grep freq | cut -d':' -f2) - local signal=$(cat /proc/net/wireless | grep wlan0 | awk '{print $3}') - local level=$(cat /proc/net/wireless | grep wlan0 | awk '{print $4}') - local noise=$(cat /proc/net/wireless | grep wlan0 | awk '{print $5}') + local signal=$(cat /proc/net/wireless | grep $IFACE | awk '{print $3}') + local level=$(cat /proc/net/wireless | grep $IFACE | awk '{print $4}') + local noise=$(cat /proc/net/wireless | grep $IFACE | awk '{print $5}') local bitrate=$(iw $IFACE link | grep bitrate | cut -d':' -f2) echo "$(date -Iseconds),$ssid,$freq,$signal,$level,$noise,$bitrate" } @@ -19,6 +19,20 @@ if [ ! -d $OUTDIR ]; then mkdir -p $OUTDIR fi +print_help(){ + echo "Usage: $0 [-i INTERVAL (default: 10)] [-I IFACE (default: wlan0)]" + exit 1 +} + +while getopts hi:I: o +do + case "$o" in + i) INTERVAL=$OPTARG;; + I) IFACE="$OPTARG";; + h) print_help;; + esac +done + while true; do wifi_status >> $OUTPATH sleep $INTERVAL From 9741577c44b1ac50a551ac070469ae73f67e0396 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 18 May 2022 00:02:48 +0900 Subject: [PATCH 151/430] [jsk_fetch_startup] support network profile and interface configuration in supervisor jobs --- jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 3 +++ .../jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf | 2 +- .../supervisor_scripts/jsk-network-monitor.conf | 2 +- 3 files changed, 5 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index ea2ca482dd..9ab4ab44f1 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -10,3 +10,6 @@ export RS_SERIAL_NO_T265="" export RS_SERIAL_NO_D435_FRONTRIGHT="" export RS_SERIAL_NO_D435_FRONTLEFT="" export RS_SERIAL_NO_L515_HEAD="" + +export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0" +export NETWORK_DEFAULT_PROFILE_ID="sanshiro" diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf index cdb54b8638..a9723545b8 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf @@ -1,5 +1,5 @@ [program:jsk-log-wifi] -command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup log-wifi-link.sh" +command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rosrun jsk_fetch_startup log-wifi-link.sh -I $NETWORK_DEFAULT_WIFI_INTERFACE" stopsignal=TERM autostart=true autorestart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf index bf05c87a6b..843e376569 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf @@ -1,5 +1,5 @@ [program:jsk-network-monitor] -command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup network_monitor.py" +command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" stopsignal=TERM autostart=true autorestart=false From 40cbc1090c62ea4404bc41fbf14a9a81a86d6a25 Mon Sep 17 00:00:00 2001 From: Guilherme Affonso Date: Thu, 19 May 2022 20:54:46 +0900 Subject: [PATCH 152/430] Set unregister_timeout in rosbridge_websocket for rosbridge_suite/#138 --- jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch b/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch index f1f90dc1e3..ad67c18d90 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch @@ -44,6 +44,7 @@ delay_between_messages: 0 max_message_size: None fragment_timeout: 600 + unregister_timeout: 100000000 Date: Wed, 18 May 2022 02:25:39 +0900 Subject: [PATCH 153/430] [jsk_fetch_startup] add rossetip with --- .../supervisor_scripts/jsk-app-scheduler.conf | 7 ++++++- .../jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf | 7 ++++++- .../jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf | 6 +++++- .../supervisor_scripts/jsk-fetch-startup.conf | 8 +++++++- .../jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf | 6 +++++- .../supervisor_scripts/jsk-human-pose-estimator.conf | 6 +++++- .../supervisor_scripts/jsk-log-wifi.conf | 5 ++++- .../supervisor_scripts/jsk-network-monitor.conf | 5 ++++- .../supervisor_scripts/jsk-object-detector.conf | 6 +++++- .../jsk-panorama-human-pose-estimator.conf | 6 +++++- .../supervisor_scripts/jsk-panorama-object-detector.conf | 6 +++++- .../supervisor_scripts/jsk-rfcomm-bind.conf | 6 +++++- .../supervisor_scripts/jsk-shutdown.conf | 6 +++++- .../jsk_fetch_startup/supervisor_scripts/robot.conf | 7 ++++++- .../jsk_fetch_startup/supervisor_scripts/roscore.conf | 4 +++- 15 files changed, 76 insertions(+), 15 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf index 57944374f6..adeb6148d6 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf @@ -1,5 +1,10 @@ [program:jsk-app-scheduler] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ +. /home/fetch/ros/melodic/devel/setup.bash && \ +if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ +rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ +rosrun jsk_fetch_startup wait_app_manager.bash && \ +roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf index f4b9db6078..92975a9248 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf @@ -1,5 +1,10 @@ [program:jsk-dialog] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen " +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ +. /home/fetch/ros/melodic/devel/setup.bash && \ +if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ +rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ +rosrun jsk_fetch_startup wait_app_manager.bash && \ +roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen " stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf index 4fcf56a3e3..90530aec0a 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf @@ -1,7 +1,11 @@ ; Install dstat ; sudo apt install dstat [program:jsk-dstat] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup dstat.bash" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ +. /home/fetch/ros/melodic/devel/setup.bash && \ +if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ +rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ +rosrun jsk_fetch_startup dstat.bash" stopsignal=TERM autostart=true autorestart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index e418fcd627..a080e1502b 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -1,5 +1,11 @@ [program:jsk-fetch-startup] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=voice_cmu_us_slt_arctic_hts; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ +. /home/fetch/ros/melodic/devel/setup.bash && \ +if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ +rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ +rosrun jsk_fetch_startup setup_audio.bash && \ +if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=voice_cmu_us_slt_arctic_hts; fi && \ +roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf index dc30c03ea9..12d9a271b1 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf @@ -1,5 +1,9 @@ [program:jsk-gdrive] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ +. /home/fetch/ros/melodic/devel/setup.bash && \ +if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ +rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ +roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf index dfcb5d522b..be215f27d7 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf @@ -1,6 +1,10 @@ [program:jsk-human-pose-estimator] ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ +. /home/fetch/ros/melodic/devel/setup.bash && \ +if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ +rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ +roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait" stopsignal=TERM ; directory=/home/fetch/ros/coral_ws diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf index a9723545b8..b094e4b0f4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf @@ -1,5 +1,8 @@ [program:jsk-log-wifi] -command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rosrun jsk_fetch_startup log-wifi-link.sh -I $NETWORK_DEFAULT_WIFI_INTERFACE" +command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && \ +if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ +rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ +rosrun jsk_fetch_startup log-wifi-link.sh -I $NETWORK_DEFAULT_WIFI_INTERFACE" stopsignal=TERM autostart=true autorestart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf index 843e376569..9d3c638715 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf @@ -1,5 +1,8 @@ [program:jsk-network-monitor] -command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" +command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && \ +if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ +rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ +rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" stopsignal=TERM autostart=true autorestart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf index d543cf6ea5..ae6910f422 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf @@ -1,6 +1,10 @@ [program:jsk-object-detector] ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ +. /home/fetch/ros/melodic/devel/setup.bash && \ +if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ +rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ +roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" stopsignal=TERM ; directory=/home/fetch/ros/coral_ws diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf index 46f6e6516e..84de837d4c 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf @@ -1,6 +1,10 @@ [program:jsk-panorama-human-pose-estimator] ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ +. /home/fetch/ros/melodic/devel/setup.bash && \ +if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ +rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ +roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" stopsignal=TERM ; directory=/home/fetch/ros/coral_ws diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf index fb849e0a5e..7c55eb7e24 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf @@ -1,6 +1,10 @@ [program:jsk-panorama-object-detector] ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ +. /home/fetch/ros/melodic/devel/setup.bash && \ +if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ +rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ +roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" stopsignal=TERM ; directory=/home/fetch/ros/coral_ws diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf index 16f10c4710..d090411fdb 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf @@ -1,5 +1,9 @@ [program:jsk-rfcomm-bind] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch jsk_robot_startup rfcomm_bind.launch --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ +. /home/fetch/ros/melodic/devel/setup.bash && \ +if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ +rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ +roslaunch jsk_robot_startup rfcomm_bind.launch --wait" stopsignal=TERM directory=/home/fetch/ros/melodic diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf index bdc0bd78eb..ee776ce4d4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf @@ -1,5 +1,9 @@ [program:jsk-shutdown] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_robot_startup shutdown.py --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ +. /home/fetch/ros/melodic/devel/setup.bash && \ +if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ +rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ +rosrun jsk_robot_startup shutdown.py --wait" stopsignal=TERM directory=/home/fetch/ros/melodic diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf index 0862a3af71..9c27f452e7 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf @@ -1,5 +1,10 @@ [program:robot] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ +. /home/fetch/ros/melodic/devel/setup.bash && \ +if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ +rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ +rosrun jsk_fetch_startup link_calibration_files.bash && \ +roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf index 7d8b14bbc7..f2dfdb5474 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf @@ -1,5 +1,7 @@ [program:roscore] -command=/bin/bash -c ". /opt/ros/roscore_prestart.bash && . /opt/ros/melodic/setup.bash && roscore" +command=/bin/bash -c ". /opt/ros/roscore_prestart.bash && \ +. /opt/ros/melodic/setup.bash && \ +roscore" stopsignal=TERM autostart=true autorestart=unexpected From 813e159b94d1943147c7625d0dd7560f75005a95 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 18 May 2022 22:03:06 +0900 Subject: [PATCH 154/430] [jsk_fetch_startup] fix --- jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 3 ++- .../supervisor_scripts/jsk-app-scheduler.conf | 7 +------ .../jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf | 7 +------ .../jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf | 6 +----- .../supervisor_scripts/jsk-fetch-startup.conf | 8 +------- .../jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf | 6 +----- .../supervisor_scripts/jsk-human-pose-estimator.conf | 6 +----- .../supervisor_scripts/jsk-log-wifi.conf | 5 +---- .../supervisor_scripts/jsk-network-monitor.conf | 5 +---- .../supervisor_scripts/jsk-object-detector.conf | 6 +----- .../jsk-panorama-human-pose-estimator.conf | 6 +----- .../supervisor_scripts/jsk-panorama-object-detector.conf | 6 +----- .../supervisor_scripts/jsk-rfcomm-bind.conf | 6 +----- .../supervisor_scripts/jsk-shutdown.conf | 6 +----- .../jsk_fetch_startup/supervisor_scripts/robot.conf | 7 +------ .../jsk_fetch_startup/supervisor_scripts/roscore.conf | 4 +--- 16 files changed, 17 insertions(+), 77 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index 9ab4ab44f1..54f6ee0893 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -11,5 +11,6 @@ export RS_SERIAL_NO_D435_FRONTRIGHT="" export RS_SERIAL_NO_D435_FRONTLEFT="" export RS_SERIAL_NO_L515_HEAD="" -export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0" +export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1" export NETWORK_DEFAULT_PROFILE_ID="sanshiro" +export NETWORK_DEFAULT_ROS_INTERFACE="wlan0" diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf index adeb6148d6..73b49933f8 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf @@ -1,10 +1,5 @@ [program:jsk-app-scheduler] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ -. /home/fetch/ros/melodic/devel/setup.bash && \ -if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ -rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ -rosrun jsk_fetch_startup wait_app_manager.bash && \ -roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf index 92975a9248..b33947240b 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf @@ -1,10 +1,5 @@ [program:jsk-dialog] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ -. /home/fetch/ros/melodic/devel/setup.bash && \ -if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ -rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ -rosrun jsk_fetch_startup wait_app_manager.bash && \ -roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen " +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen " stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf index 90530aec0a..da03912699 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf @@ -1,11 +1,7 @@ ; Install dstat ; sudo apt install dstat [program:jsk-dstat] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ -. /home/fetch/ros/melodic/devel/setup.bash && \ -if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ -rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ -rosrun jsk_fetch_startup dstat.bash" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup dstat.bash" stopsignal=TERM autostart=true autorestart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index a080e1502b..92ca6033dc 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -1,11 +1,5 @@ [program:jsk-fetch-startup] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ -. /home/fetch/ros/melodic/devel/setup.bash && \ -if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ -rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ -rosrun jsk_fetch_startup setup_audio.bash && \ -if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=voice_cmu_us_slt_arctic_hts; fi && \ -roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=voice_cmu_us_slt_arctic_hts; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf index 12d9a271b1..2a3e6bbc22 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf @@ -1,9 +1,5 @@ [program:jsk-gdrive] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ -. /home/fetch/ros/melodic/devel/setup.bash && \ -if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ -rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ -roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf index be215f27d7..d9a69b7774 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf @@ -1,10 +1,6 @@ [program:jsk-human-pose-estimator] ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ -. /home/fetch/ros/melodic/devel/setup.bash && \ -if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ -rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ -roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait" stopsignal=TERM ; directory=/home/fetch/ros/coral_ws diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf index b094e4b0f4..fdf3741b6a 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf @@ -1,8 +1,5 @@ [program:jsk-log-wifi] -command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && \ -if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ -rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ -rosrun jsk_fetch_startup log-wifi-link.sh -I $NETWORK_DEFAULT_WIFI_INTERFACE" +command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup log-wifi-link.sh -I $NETWORK_DEFAULT_WIFI_INTERFACE" stopsignal=TERM autostart=true autorestart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf index 9d3c638715..f9949696b0 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf @@ -1,8 +1,5 @@ [program:jsk-network-monitor] -command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && \ -if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ -rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ -rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" +command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" stopsignal=TERM autostart=true autorestart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf index ae6910f422..d5a6794621 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf @@ -1,10 +1,6 @@ [program:jsk-object-detector] ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ -. /home/fetch/ros/melodic/devel/setup.bash && \ -if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ -rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ -roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" stopsignal=TERM ; directory=/home/fetch/ros/coral_ws diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf index 84de837d4c..f07778b651 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf @@ -1,10 +1,6 @@ [program:jsk-panorama-human-pose-estimator] ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ -. /home/fetch/ros/melodic/devel/setup.bash && \ -if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ -rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ -roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" stopsignal=TERM ; directory=/home/fetch/ros/coral_ws diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf index 7c55eb7e24..dd7111436d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf @@ -1,10 +1,6 @@ [program:jsk-panorama-object-detector] ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ -. /home/fetch/ros/melodic/devel/setup.bash && \ -if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ -rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ -roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" stopsignal=TERM ; directory=/home/fetch/ros/coral_ws diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf index d090411fdb..9bf1a76169 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf @@ -1,9 +1,5 @@ [program:jsk-rfcomm-bind] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ -. /home/fetch/ros/melodic/devel/setup.bash && \ -if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ -rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ -roslaunch jsk_robot_startup rfcomm_bind.launch --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch jsk_robot_startup rfcomm_bind.launch --wait" stopsignal=TERM directory=/home/fetch/ros/melodic diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf index ee776ce4d4..95539f2543 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf @@ -1,9 +1,5 @@ [program:jsk-shutdown] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ -. /home/fetch/ros/melodic/devel/setup.bash && \ -if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ -rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ -rosrun jsk_robot_startup shutdown.py --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_robot_startup shutdown.py --wait" stopsignal=TERM directory=/home/fetch/ros/melodic diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf index 9c27f452e7..b4db414f79 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf @@ -1,10 +1,5 @@ [program:robot] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \ -. /home/fetch/ros/melodic/devel/setup.bash && \ -if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \ -rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \ -rosrun jsk_fetch_startup link_calibration_files.bash && \ -roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf index f2dfdb5474..7d8b14bbc7 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf @@ -1,7 +1,5 @@ [program:roscore] -command=/bin/bash -c ". /opt/ros/roscore_prestart.bash && \ -. /opt/ros/melodic/setup.bash && \ -roscore" +command=/bin/bash -c ". /opt/ros/roscore_prestart.bash && . /opt/ros/melodic/setup.bash && roscore" stopsignal=TERM autostart=true autorestart=unexpected From c3d88fd9cfa467b420aa90d236135f4e259aae58 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 18 May 2022 22:03:28 +0900 Subject: [PATCH 155/430] [jsk_fetch_startup] add fetchctl script --- .../jsk_fetch_startup/scripts/fetchctl.sh | 63 +++++++++++++++++++ 1 file changed, 63 insertions(+) create mode 100755 jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh new file mode 100755 index 0000000000..87fb0d3133 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh @@ -0,0 +1,63 @@ +#!/bin/bash + +function usage() { + echo "Usage: $0 " + exit 1 +} + +function start_jobs() { + sudo supervisorctl start roscore + sudo supervisorctl start robot + sudo supervisorctl start jsk-shutdown + sudo supervisorctl start jsk-rfcomm-bind + sudo supervisorctl start jsk-object-detector + sudo supervisorctl start jsk-network-monitor + sudo supervisorctl start jsk-log-wifi + sudo supervisorctl start jsk-human-pose-estimator + sudo supervisorctl start jsk-gdrive + sudo supervisorctl start jsk-fetch-startup + sudo supervisorctl start jsk-dstat + sudo supervisorctl start jsk-dialog + sudo supervisorctl start jsk-app-scheduler +} + +function restart_jobs() { + sudo supervisorctl restart roscore + sudo supervisorctl restart robot + sudo supervisorctl restart jsk-shutdown + sudo supervisorctl restart jsk-rfcomm-bind + sudo supervisorctl restart jsk-object-detector + sudo supervisorctl restart jsk-network-monitor + sudo supervisorctl restart jsk-log-wifi + sudo supervisorctl restart jsk-human-pose-estimator + sudo supervisorctl restart jsk-gdrive + sudo supervisorctl restart jsk-fetch-restartup + sudo supervisorctl restart jsk-dstat + sudo supervisorctl restart jsk-dialog + sudo supervisorctl restart jsk-app-scheduler +} + +function stop_jobs() { + sudo supervisorctl stop roscore + sudo supervisorctl stop robot + sudo supervisorctl stop jsk-shutdown + sudo supervisorctl stop jsk-rfcomm-bind + sudo supervisorctl stop jsk-object-detector + sudo supervisorctl stop jsk-network-monitor + sudo supervisorctl stop jsk-log-wifi + sudo supervisorctl stop jsk-human-pose-estimator + sudo supervisorctl stop jsk-gdrive + sudo supervisorctl stop jsk-fetch-stopup + sudo supervisorctl stop jsk-dstat + sudo supervisorctl stop jsk-dialog + sudo supervisorctl stop jsk-app-scheduler +} + +command=$1 + +case "$command" in + start) start_jobs;; + restart) restart_jobs;; + stop) stop_jobs;; + *) usage;; +esac From 8a371fdbab3ecc19459892ccefacb0ad9f82af4d Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 18 May 2022 23:54:14 +0900 Subject: [PATCH 156/430] [jsk_fetch_startup] fix fetchctl.sh --- jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh index 87fb0d3133..ec5d8f0b84 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh @@ -31,7 +31,7 @@ function restart_jobs() { sudo supervisorctl restart jsk-log-wifi sudo supervisorctl restart jsk-human-pose-estimator sudo supervisorctl restart jsk-gdrive - sudo supervisorctl restart jsk-fetch-restartup + sudo supervisorctl restart jsk-fetch-startup sudo supervisorctl restart jsk-dstat sudo supervisorctl restart jsk-dialog sudo supervisorctl restart jsk-app-scheduler @@ -47,7 +47,7 @@ function stop_jobs() { sudo supervisorctl stop jsk-log-wifi sudo supervisorctl stop jsk-human-pose-estimator sudo supervisorctl stop jsk-gdrive - sudo supervisorctl stop jsk-fetch-stopup + sudo supervisorctl stop jsk-fetch-startup sudo supervisorctl stop jsk-dstat sudo supervisorctl stop jsk-dialog sudo supervisorctl stop jsk-app-scheduler From 8031c0fa7284591a658387ff12a7c6450c58e1ff Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Fri, 20 May 2022 11:01:21 +0900 Subject: [PATCH 157/430] [jsk_fetch_startup] add README.md --- jsk_fetch_robot/jsk_fetch_startup/README.md | 47 +++++++++++++++++++++ 1 file changed, 47 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md index 0c65fb347d..1406e4f6ef 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/README.md +++ b/jsk_fetch_robot/jsk_fetch_startup/README.md @@ -49,6 +49,53 @@ sudo apt install librealsense2-dev=2.45.0-0~realsense0.4551 sudo apt-mark hold librealsense2 librealsense2-dev ``` +### Install config.bash + +JSK fetch system uses some enviroment variables. To set them, copy `config.bash` to `/var/lib/robot/config.bash` and modify it. + +```bash +roscd jsk_fetch_startup +sudo cp config/config.bash /var/lib/robot/config.bash +``` + +descriptions of each variable are below. + +- `USE_BASE_CAMERA_MOUNT` + + Flag for robot model +- `USE_HEAD_BOX` + + Flag for robot model +- `USE_HEAD_L515` + + Flag for robot model +- `USE_INSTA360_STAND` + + Flag for robot model +- `RS_SERIAL_NO_T265` + + Serial number of Realsense T265 for visual odometry. + + realsense will not be launched when this is blank. +- `RS_SERIAL_NO_D435_FRONTRIGHT` + + Serial number of Realsense D435 on the base + + realsense will not be launched when this is blank. +- `RS_SERIAL_NO_D435_FRONTLEFT` + + Serial number of Realsense D435 on the base + + realsense will not be launched when this is blank. +- `RS_SERIAL_NO_L515_HEAD` + + Serial number of Realsense L515 on the head + + realsense will not be launched when this is blank. +- `NETWORK_DEFAULT_WIFI_INTERFACE` + + Wi-Fi network interface for network management scripts (e.g. `network_monitor.py` and `network-log-wifi.sh`) +- `NETWORK_DEFAULT_PROFILE_ID` + + Network manager profile ID for network management scripts (`network_monitor.py`) ++ `NETWORK_DEFAULT_ROS_INTERFACE` + + Network interface which is used for ROS connection. + + `ROS_IP` is set to the IP address of this interface in supervisor jobs. + +It is also recommended to add lines below to each users's bashrc in the robot PC. + +```bash +source /var/lib/robot/config.bash +rossetmaster localhost +rossetip $NETWORK_DEFAULT_ROS_INTERFACE +``` + ### supervisor Important jobs for fetch operation are managed by supervisor. From a82c608ff9c3dee6c2231ecd646b0bdbf7d298e9 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Fri, 20 May 2022 11:14:03 +0900 Subject: [PATCH 158/430] [jsk_fetch_startup] add network connection descriptions --- jsk_fetch_robot/jsk_fetch_startup/README.md | 46 ++++++++++++++++++++- 1 file changed, 44 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md index 1406e4f6ef..fe6aac39b8 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/README.md +++ b/jsk_fetch_robot/jsk_fetch_startup/README.md @@ -262,14 +262,56 @@ Address: 133.11.216.145 If two or more IP addresses apper, something is wrong. Please connect display, open a window of network manager. -### Access point +### Network configuration -Define access point setting, such as ssid: +Ubuntu 18.04 uses [NetworkManager](https://wiki.archlinux.jp/index.php/NetworkManager) for network configuration. +Network manager's profiles are in `/etc/NetworkManager/system-connections`. ```bash cd /etc/NetworkManager/system-connections ``` +You can also see profiles with `nmcli`, `nmtui` or `nm-connection-editor` (GUI) command. + +To see available connection profiles. + +```bash +fetch@fetch1075:~$ nmcli connection +NAME UUID TYPE DEVICE +netplan-eth1 433e484b-3493-3640-9368-395c0c752304 ethernet eth1 +sanshiro-73B2 1f0f9db6-e448-41ef-9d27-e1ed4e48a4f5 wifi wlan1 +Wired connection 1 eb557bda-e1bf-3ab7-89e9-1f839cd6b88a ethernet -- +fetch1075-hotspot b85c6a8f-9d28-4cf3-95a0-6dc37229863d wifi -- +sanshiro-outside d7ee2165-c93a-4050-862d-d0c381a546ab wifi -- +fetch@fetch1075:~$ nmcli c show sanshiro-73B2 +``` + +To activate some connection. + +```bash +fetch@fetch1075:~$ sudo nmcli c up sanshiro-outside +[sudo] password for fetch: +Connection successfully activated (D-Bus active path: /org/freedesktop/NetworkManager/ActiveConnection/5) +fetch@fetch1075:~$ sudo nmcli c up sanshiro-73B2 +Connection successfully activated (D-Bus active path: /org/freedesktop/NetworkManager/ActiveConnection/6) +``` + +To edit connection profiles, use `nmtui` or `nm-connection-editor` + +### Default connection profiles + +fetch15 and fetch1075 has `sanshiro-73B2` and `sanshiro-outside` connections by default. (If not, please make them) + +- `sanshiro-73B2` (Connect `sanshiro` with fixed BSSID) +- `sanshiro-outside` (Connect `sanshiro` without fixed BSSID) + +By default, `sanshiro-73B2` is activated for stable connection in 73B2. +If you want to use fetch outside of 73B2, it is recommended to activate `sanshiro-outside`. + +```bash +sudo nmcli c up sanshiro-outside +``` + ## Log tmuxinator makes it easy to check the important logs of fetch from command line. Currently, it shows the logs of the supervisor jobs. From 5e28ad049535c5852c2cd27733ffd28c6eedf16e Mon Sep 17 00:00:00 2001 From: iory Date: Thu, 19 May 2022 22:48:16 +0900 Subject: [PATCH 159/430] [jsk_fetch_startup] Add audible warning --- .../config/warning_blacklist.yaml | 12 ++++++++++++ .../jsk_fetch_startup/launch/fetch_bringup.launch | 14 ++++++++++++++ 2 files changed, 26 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml new file mode 100644 index 0000000000..ed684b0de8 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml @@ -0,0 +1,12 @@ +blacklist: + - name: "/CPU/CPU Usage/my_machine CPU Usage" + - name: "/Other/amcl: Standard deviation" + - name: "/Other/jsk_joy_node: Joystick Driver Status" + - name: "/Other/l515_head l515_head_realsense2_camera_.*: Frequency Status" + - name: "/Peripherals/PS3 Controller" + - name: "/Sensors/IMU/IMU.*" + - name: "/SoundPlay/sound_play.*" +run_stop_blacklist: + - name: "\\w*_(mcb|breaker)" + - name: "Mainboard" + message: "Runstop pressed" diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 6b696ff277..78b02bf50d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -293,6 +293,20 @@ + + + + + run_stop_topic: robot_state + run_stop_condition: "m.runstopped is True" + seconds_to_start_speaking: 60 + speak_interval: 600 + + + From 571c97eaf13d7ace50beddb764fc27d7854a9485 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Fri, 13 May 2022 03:16:52 +0900 Subject: [PATCH 160/430] [jsk_fetch_startup] Remove diagnostics speak function from warning.py --- .../jsk_fetch_startup/scripts/warning.py | 67 ------------------- 1 file changed, 67 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py index decf7e9d1d..029e8b281c 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py @@ -9,7 +9,6 @@ from sound_play.libsoundplay import SoundClient from actionlib_msgs.msg import GoalStatus, GoalStatusArray -from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus from fetch_driver_msgs.msg import RobotState from geometry_msgs.msg import Twist from power_msgs.msg import BatteryState, BreakerState @@ -36,40 +35,6 @@ def terminate_thread(thread): ctypes.pythonapi.PyThreadState_SetAsyncExc(thread.ident, None) raise SystemError("PyThreadState_SetAsyncExc failed") -class DiagnosticsSpeakThread(threading.Thread): - def __init__(self, error_status): - threading.Thread.__init__(self) - self.volume = rospy.get_param("~volume", 1.0) - self.error_status = error_status - self.start() - - def run(self): - global sound - for status in self.error_status: - # ignore error status if the error already occured in the latest 10 minites - if status.message in error_status_in_10_min: - if rospy.Time.now().secs - error_status_in_10_min[status.message] < 600: - continue - else: - error_status_in_10_min[status.message] = rospy.Time.now().secs - else: - error_status_in_10_min[status.message] = rospy.Time.now().secs - # we can ignore "Joystick not open." - if status.message == "Joystick not open." : - continue - if status.name == "supply_breaker" and status.message == "Disabled." : - continue - # - text = "Error on {}, {}".format(status.name, status.message) - rospy.loginfo(text) - text = text.replace('_', ', ') - sound.say(text, 'voice_kal_diphone', volume=self.volume) - time.sleep(5) - - def stop(self): - terminate_thread(self) - self.join() - class Warning: def __init__(self): time.sleep(1) @@ -77,22 +42,13 @@ def __init__(self): self.battery_state_msgs = BatteryState() self.twist_msgs = Twist() # - self.diagnostics_speak_thread = {} self.auto_undocking = False - self.diagnostics_list = [] - if rospy.get_param("~speak_warn", True): - self.diagnostics_list.append(DiagnosticStatus.WARN) - if rospy.get_param("~speak_error", True): - self.diagnostics_list.append(DiagnosticStatus.ERROR) - if rospy.get_param("~speak_stale", True): - self.diagnostics_list.append(DiagnosticStatus.STALE) # self.base_breaker = rospy.ServiceProxy('base_breaker', BreakerCommand) # self.battery_sub = rospy.Subscriber("battery_state", BatteryState, self.battery_callback, queue_size = 1) self.cmd_vel_sub = rospy.Subscriber("base_controller/command_unchecked", Twist, self.cmd_vel_callback, queue_size = 1) self.robot_state_sub = rospy.Subscriber("robot_state", RobotState, self.robot_state_callback, queue_size = 1) - self.diagnostics_status_sub = rospy.Subscriber("diagnostics", DiagnosticArray, self.diagnostics_status_callback, queue_size = 1) self.undock_sub = rospy.Subscriber("/undock/status", GoalStatusArray, self.undock_status_callback) # self.cmd_vel_pub = rospy.Publisher("base_controller/command", Twist, queue_size=1) @@ -140,29 +96,6 @@ def cmd_vel_callback(self, msg): ## self.twist_msgs = msg - def diagnostics_status_callback(self, msg): - ## - self.diagnostic_status_msgs = msg.status - ## - ## check if this comes from /robot_driver - callerid = msg._connection_header['callerid'] - if callerid not in self.diagnostics_speak_thread: - self.diagnostics_speak_thread[callerid] = None - error_status = filter(lambda n: n.level in self.diagnostics_list, msg.status) - # when RunStopped, ignore message from *_mcb and *_breaker - if self.robot_state_msgs.runstopped: - error_status = filter(lambda n: not (re.match("\w*_(mcb|breaker)",n.name) or (n.name == "Mainboard" and n.message == "Runstop pressed")), error_status) - if not error_status : # error_status is not [] - if self.diagnostics_speak_thread[callerid] and self.diagnostics_speak_thread[callerid].is_alive(): - self.diagnostics_speak_thread[callerid].stop() - return - # make sure that diagnostics_speak_thread is None, when the thread is terminated - if self.diagnostics_speak_thread[callerid] and not self.diagnostics_speak_thread[callerid].is_alive(): - self.diagnostics_speak_thread[callerid] = None - # run new thread - if self.diagnostics_speak_thread[callerid] is None: - self.diagnostics_speak_thread[callerid] = DiagnosticsSpeakThread(error_status) - if __name__ == "__main__": global sound # store error status and time of the error in the latest 10 minites From d428a230ce5af1aded15683c7f6954bc2940c523 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 23 May 2022 13:50:01 +0900 Subject: [PATCH 161/430] [jsk_fetch_startup] update README --- jsk_fetch_robot/jsk_fetch_startup/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md index fe6aac39b8..8978b82201 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/README.md +++ b/jsk_fetch_robot/jsk_fetch_startup/README.md @@ -85,8 +85,8 @@ descriptions of each variable are below. - `NETWORK_DEFAULT_PROFILE_ID` + Network manager profile ID for network management scripts (`network_monitor.py`) + `NETWORK_DEFAULT_ROS_INTERFACE` - + Network interface which is used for ROS connection. - + `ROS_IP` is set to the IP address of this interface in supervisor jobs. + + Network interface or IP address which is used for ROS connection. + + `rossetip $NETWORK_DEFAULT_ROS_INTERFACE` is executed to set `ROS_IP`. It is also recommended to add lines below to each users's bashrc in the robot PC. From 1a0b0adfdb11fe9dca2611a54a15170e56eeeb10 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Mon, 23 May 2022 13:58:32 +0900 Subject: [PATCH 162/430] [jsk_robot_startup] Set mongodb_store logerr period 3600[s] --- jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch index 13c62d42f4..e7b6b684d8 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch @@ -34,6 +34,7 @@ + From 0fcf28b2b0bce75b8f680cedd2d42ca40f82fd5d Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Thu, 26 May 2022 13:59:48 +0900 Subject: [PATCH 163/430] change warning voice from default voice in fetch1075 --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 6 +++++- .../supervisor_scripts/jsk-fetch-startup.conf | 2 +- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 78b02bf50d..4c9b1f7133 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -69,7 +69,10 @@ - + + default_voice: $(arg default_english_speaker) + plugin: sound_play/flite_plugin + @@ -304,6 +307,7 @@ run_stop_condition: "m.runstopped is True" seconds_to_start_speaking: 60 speak_interval: 600 + language: cmu_us_slt.flitevox diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index 92ca6033dc..9feb78d71c 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=voice_cmu_us_slt_arctic_hts; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=cmu_us_ljm.flitevox; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true From b1fadbc243acf9051d9e095a03c957d9024178d0 Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Thu, 26 May 2022 14:35:08 +0900 Subject: [PATCH 164/430] update voice for fetch15 --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 7 ++++--- .../supervisor_scripts/jsk-fetch-startup.conf | 2 +- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 4c9b1f7133..15451f4cc4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -6,7 +6,8 @@ - + + @@ -302,12 +303,12 @@ output="screen" > - + run_stop_topic: robot_state run_stop_condition: "m.runstopped is True" seconds_to_start_speaking: 60 speak_interval: 600 - language: cmu_us_slt.flitevox + language: $(arg default_warning_speaker) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index 9feb78d71c..1f0c842e10 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=cmu_us_ljm.flitevox; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=cmu_us_bdl.flitevox DEFAULT_WARNING_SPEAKER=cmu_us_fem.flitevox; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=cmu_us_slt.flitevox DEFAULT_WARNING_SPEAKER=cmu_us_lnh.flitevox; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true From 63f3aa47e63d5db5e75be81925999c6517bbb38b Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Thu, 26 May 2022 15:47:46 +0900 Subject: [PATCH 165/430] update config/config.bash to support fetch15 and fetch1075 --- .../jsk_fetch_startup/config/config.bash | 46 ++++++++++++++----- .../supervisor_scripts/jsk-fetch-startup.conf | 2 +- 2 files changed, 36 insertions(+), 12 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index 54f6ee0893..55d1fdc33c 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -1,16 +1,40 @@ # This file is bash configuration for robot.conf # This file must be at /var/lib/robot/config.bash -export USE_BASE_CAMERA_MOUNT=true -export USE_HEAD_BOX=true -export USE_HEAD_L515=true -export USE_INSTA360_STAND=true +if [ $(hostname) = 'fetch15' ]; then + export DEFAULT_SPEAKER=13; + export DEFAULT_ENGLISH_SPEAKER=cmu_us_bdl.flitevox; + export DEFAULT_WARNING_SPEAKER=cmu_us_fem.flitevox; -export RS_SERIAL_NO_T265="" -export RS_SERIAL_NO_D435_FRONTRIGHT="" -export RS_SERIAL_NO_D435_FRONTLEFT="" -export RS_SERIAL_NO_L515_HEAD="" + export USE_BASE_CAMERA_MOUNT=true; + export USE_HEAD_BOX=true; + export USE_HEAD_L515=true; + export USE_INSTA360_STAND=true; -export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1" -export NETWORK_DEFAULT_PROFILE_ID="sanshiro" -export NETWORK_DEFAULT_ROS_INTERFACE="wlan0" + export RS_SERIAL_NO_T265="925122110450"; + export RS_SERIAL_NO_D435_FRONTRIGHT=""; + export RS_SERIAL_NO_D435_FRONTLEFT=""; + export RS_SERIAL_NO_L515_HEAD="f0211890"; + + export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0"; + export NETWORK_DEFAULT_ROS_INTERFACE="133.11.216.217"; + export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; +elif [ $(hostname) = 'fetch1075' ]; then + export DEFAULT_SPEAKER=2; + export DEFAULT_ENGLISH_SPEAKER=cmu_us_slt.flitevox; + export DEFAULT_WARNING_SPEAKER=cmu_us_lnh.flitevox; + + export USE_BASE_CAMERA_MOUNT=false; + export USE_HEAD_BOX=false; + export USE_HEAD_L515=true; + export USE_INSTA360_STAND=true; + + export RS_SERIAL_NO_T265=""; + export RS_SERIAL_NO_D435_FRONTRIGHT=""; + export RS_SERIAL_NO_D435_FRONTLEFT=""; + export RS_SERIAL_NO_L515_HEAD="f0232270"; + + export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1"; + export NETWORK_DEFAULT_ROS_INTERFACE="133.11.216.218"; + export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; +fi diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index 1f0c842e10..a16f190835 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=cmu_us_bdl.flitevox DEFAULT_WARNING_SPEAKER=cmu_us_fem.flitevox; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=cmu_us_slt.flitevox DEFAULT_WARNING_SPEAKER=cmu_us_lnh.flitevox; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true From 23c39b25c80e1f4a4bb1618d86a94a004855c8d0 Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Thu, 26 May 2022 16:15:37 +0900 Subject: [PATCH 166/430] add config_outside.bash --- .../jsk_fetch_startup/config/config_outside.bash | 13 +++++++++++++ 1 file changed, 13 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash new file mode 100644 index 0000000000..3302f5c258 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash @@ -0,0 +1,13 @@ +# This file is bash configuration for robot.conf +# This file must be at /var/lib/robot/config.bash + +SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]:-$0}"; )" &> /dev/null && pwd 2> /dev/null; )"; +. $SCRIPT_DIR/config.bash + +if [ $(hostname) = 'fetch15' ]; then + export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside"; +elif [ $(hostname) = 'fetch1075' ]; then + export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1"; + export NETWORK_DEFAULT_ROS_INTERFACE="wlan0"; + export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside"; +fi From d5a05f1f5f25ef67b8e280bf26fc11b235ce12ab Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Thu, 26 May 2022 16:17:48 +0900 Subject: [PATCH 167/430] update install_supervisor.sh to copy config.bash --- .../jsk_fetch_startup/config/install_supervisor.sh | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh index 63f1be57ac..ea7c2fe262 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh @@ -23,9 +23,7 @@ fi # Enable jsk_dstat job to save the csv log under /var/log ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv -# copy config.bash to /var/lib/robo if not exists -if [ ! -e /var/lib/robot/config.bash ]; then - sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash -fi +sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash +sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config_outside.bash set +x From 1655c46a1a62718167afa84a578c3e56f4360f30 Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Thu, 26 May 2022 16:24:43 +0900 Subject: [PATCH 168/430] use symbolic link instead of copying to install supervisor --- .../jsk_fetch_startup/config/install_supervisor.sh | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh index ea7c2fe262..dfab54c6ff 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh @@ -8,11 +8,8 @@ current_prefix_path="${prefix_paths[0]}" set -x cd $jsk_fetch_startup/supervisor_scripts -for file in $(ls ./*.conf); do - sudo cp $file /etc/supervisor/conf.d/ - sudo chown root:root /etc/supervisor/conf.d/$file - sudo chmod 644 /etc/supervisor/conf.d/$file - echo "copied $file to /etc/supervisor/conf.d" +for file in $(ls *.conf); do + sudo ln -s $jsk_fetch_startup/supervisor_scripts/$file /etc/supervisor/conf.d/$file done # copy config.bash to /var/lib/robo if not exists @@ -23,7 +20,7 @@ fi # Enable jsk_dstat job to save the csv log under /var/log ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv -sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash -sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config_outside.bash +sudo ln -s $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash +sudo ln -s $jsk_fetch_startup/config/config.bash /var/lib/robot/config_outside.bash set +x From 3ff85285d2755fb6bc8f531b35cbd6b68b4087dd Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Thu, 26 May 2022 16:35:02 +0900 Subject: [PATCH 169/430] add network_interface arg in fetch_bringup.launch --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 15451f4cc4..b4b5b78457 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -16,6 +16,7 @@ + @@ -52,7 +53,7 @@ - + From 1f86ba0920a8d07e6afb04579b1546b991c58d30 Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Thu, 26 May 2022 16:35:32 +0900 Subject: [PATCH 170/430] add network_interface in jsk-fetch-startup.conf --- .../jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index a16f190835..1cdd2ed50d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true From 4ea3dad5ae1820658f45c48d5995d7e6a9e46bb2 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 26 May 2022 22:33:16 +0900 Subject: [PATCH 171/430] fix config_outside.bash --- jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash | 1 - 1 file changed, 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash index 3302f5c258..011a2f64c1 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash @@ -7,7 +7,6 @@ SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]:-$0}"; )" &> /dev/null && if [ $(hostname) = 'fetch15' ]; then export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside"; elif [ $(hostname) = 'fetch1075' ]; then - export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1"; export NETWORK_DEFAULT_ROS_INTERFACE="wlan0"; export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside"; fi From 1828451e96f4230c16bb4dde03625a70f3798752 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 26 May 2022 22:53:46 +0900 Subject: [PATCH 172/430] remove unnecessary lines --- .../jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf | 2 +- .../jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf index da03912699..4fcf56a3e3 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf @@ -1,7 +1,7 @@ ; Install dstat ; sudo apt install dstat [program:jsk-dstat] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup dstat.bash" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup dstat.bash" stopsignal=TERM autostart=true autorestart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf index fdf3741b6a..a9723545b8 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf @@ -1,5 +1,5 @@ [program:jsk-log-wifi] -command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup log-wifi-link.sh -I $NETWORK_DEFAULT_WIFI_INTERFACE" +command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rosrun jsk_fetch_startup log-wifi-link.sh -I $NETWORK_DEFAULT_WIFI_INTERFACE" stopsignal=TERM autostart=true autorestart=false From ba49494b10e247c526a8413c184163eb58b38954 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 26 May 2022 23:12:38 +0900 Subject: [PATCH 173/430] merge serveral supervisor into one --- .../launch/fetch_bringup.launch | 77 +++++++++++++++++++ .../supervisor_scripts/jsk-app-scheduler.conf | 3 +- .../supervisor_scripts/jsk-dialog.conf | 3 +- .../supervisor_scripts/jsk-fetch-startup.conf | 2 +- .../supervisor_scripts/jsk-gdrive.conf | 3 +- .../jsk-human-pose-estimator.conf | 4 +- .../jsk-network-monitor.conf | 3 +- .../jsk-object-detector.conf | 4 +- .../supervisor_scripts/jsk-rfcomm-bind.conf | 3 +- .../supervisor_scripts/jsk-shutdown.conf | 3 +- 10 files changed, 94 insertions(+), 11 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index b4b5b78457..b9f6126ec7 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -4,6 +4,17 @@ + + + + + + + + + + + @@ -17,6 +28,7 @@ + @@ -129,6 +141,58 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -321,4 +385,17 @@ + + + + + + + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf index 73b49933f8..91d9ceac86 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf @@ -2,7 +2,8 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen" stopsignal=TERM directory=/home/fetch/ros/melodic -autostart=true +; autostart=true +autostart=false autorestart=false stdout_logfile=/var/log/ros/jsk-app-scheduler.log stderr_logfile=/var/log/ros/jsk-app-scheduler.log diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf index b33947240b..16bf25a1b1 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf @@ -2,7 +2,8 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen " stopsignal=TERM directory=/home/fetch/ros/melodic -autostart=true +; autostart=true +autostart=false autorestart=false stdout_logfile=/var/log/ros/jsk-dialog.log stderr_logfile=/var/log/ros/jsk-dialog.log diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index 1cdd2ed50d..abc1b97481 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE network_profile_id:=$NETWORK_DEFAULT_PROFILE_ID --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf index 2a3e6bbc22..0325da1b22 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf @@ -2,7 +2,8 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true" stopsignal=TERM directory=/home/fetch/ros/melodic -autostart=true +; autostart=true +autostart=false autorestart=false stdout_logfile=/var/log/ros/jsk-gdrive.log stderr_logfile=/var/log/ros/jsk-gdrive.log diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf index d9a69b7774..cd794862c7 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf @@ -5,8 +5,8 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/mel stopsignal=TERM ; directory=/home/fetch/ros/coral_ws directory=/home/fetch/ros/melodic -; You can set "autostart=true" if "autostart=false" in jsk-panorama-human-pose-estimator.conf -autostart=true +; autostart=true +autostart=false autorestart=false stdout_logfile=/var/log/ros/jsk-human-pose-estimator.log stderr_logfile=/var/log/ros/jsk-human-pose-estimator.log diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf index f9949696b0..ab050efd86 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf @@ -1,7 +1,8 @@ [program:jsk-network-monitor] command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" stopsignal=TERM -autostart=true +; autostart=true +autostart=false autorestart=false stdout_logfile=/var/log/ros/jsk-network-monitor.log stderr_logfile=/var/log/ros/jsk-network-monitor.log diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf index d5a6794621..5688491b3c 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf @@ -5,8 +5,8 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/mel stopsignal=TERM ; directory=/home/fetch/ros/coral_ws directory=/home/fetch/ros/melodic -; You can set "autostart=true" if "autostart=false" in jsk-panorama-object-detector.conf -autostart=true +; autostart=true +autostart=false autorestart=false stdout_logfile=/var/log/ros/jsk-object-detector.log stderr_logfile=/var/log/ros/jsk-object-detector.log diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf index 9bf1a76169..8cf6f5788a 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf @@ -3,7 +3,8 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/mel stopsignal=TERM directory=/home/fetch/ros/melodic -autostart=true +; autostart=true +autostart=false autorestart=false stdout_logfile=/var/log/ros/jsk-rfcomm-bind.log stderr_logfile=/var/log/ros/jsk-rfcomm-bind.log diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf index 95539f2543..fc31e3ac66 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf @@ -3,7 +3,8 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/mel stopsignal=TERM directory=/home/fetch/ros/melodic -autostart=true +; autostart=true +autostart=false autorestart=false stdout_logfile=/var/log/ros/jsk-shutdown.log stderr_logfile=/var/log/ros/jsk-shutdown.log From f36a0306faaeeb2b3bf5b6d329ca18e7b8a35d0a Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 26 May 2022 23:16:17 +0900 Subject: [PATCH 174/430] add robot and jsk-fetch-startup supervisor for outside --- .../supervisor_scripts/jsk-fetch-startup-outside.conf | 11 +++++++++++ .../supervisor_scripts/robot-outside.conf | 11 +++++++++++ 2 files changed, 22 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf new file mode 100644 index 0000000000..9c30a69ea2 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf @@ -0,0 +1,11 @@ +[program:jsk-fetch-startup-outside] +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE network_profile_id:=$NETWORK_DEFAULT_PROFILE_ID --wait" +stopsignal=TERM +directory=/home/fetch/ros/melodic +autostart=false +autorestart=false +stdout_logfile=/var/log/ros/jsk-fetch-startup.log +stderr_logfile=/var/log/ros/jsk-fetch-startup.log +user=fetch +environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",AUDIO_DEVICE="alsa_output.usb-1130_USB_AUDIO-00.analog-stereo",PYTHONUNBUFFERED=1 +priority=100 diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf new file mode 100644 index 0000000000..bb16165155 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf @@ -0,0 +1,11 @@ +[program:robot] +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen" +stopsignal=TERM +directory=/home/fetch/ros/melodic +autostart=false +autorestart=unexpected +stdout_logfile=/var/log/ros/robot.log +stderr_logfile=/var/log/ros/robot.log +user=ros +environment=ROS_LOG_DIR=/var/log/ros,ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",FETCH_CALIBRATED_URDF=/etc/ros/melodic/calibrated_2020_12_04_02_08_34.urdf,FETCH_CALIBRATED_RGB=/etc/ros/melodic/rgb_2020_12_04_02_08_34.yaml,FETCH_CALIBRATED_DEPTH=/etc/ros/melodic/depth_2020_12_04_02_08_34.yaml,PYTHONUNBUFFERED=1 +priority=10 From 72061aa424e189e777e046ff8ffb0b91eb5c788b Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Thu, 26 May 2022 23:24:53 +0900 Subject: [PATCH 175/430] fix typo --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index b9f6126ec7..566cd2f8c1 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -151,7 +151,7 @@ - + From 954dcd14f9f1d8eb15560d31760ff27cdf7a29ec Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Thu, 26 May 2022 23:25:02 +0900 Subject: [PATCH 176/430] move coral file --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 566cd2f8c1..81c084efc4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -180,8 +180,8 @@ file="$(find coral_usb)/launch/edgetpu_object_detector.launch"> - - + + @@ -189,8 +189,8 @@ file="$(find coral_usb)/launch/edgetpu_panorama_object_detector.launch"> - - + + From 04b14f4491583a0e24b572f821d6710be28b6790 Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Thu, 26 May 2022 23:47:01 +0900 Subject: [PATCH 177/430] add default path for dialogflow json --- .../launch/fetch_dialogflow_task_executive.launch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch index 17f7aa0995..a236629a55 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch @@ -2,8 +2,8 @@ - - + + From 13588d495fc724f3d60f8f0ae146544fd6a53e73 Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Thu, 26 May 2022 23:47:30 +0900 Subject: [PATCH 178/430] update dialogflow credential path --- .../jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf index 16bf25a1b1..cd93a425b1 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf @@ -8,5 +8,5 @@ autorestart=false stdout_logfile=/var/log/ros/jsk-dialog.log stderr_logfile=/var/log/ros/jsk-dialog.log user=fetch -environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",GOOGLE_APPLICATION_CREDENTIALS=/var/lib/robot/dialogflow/JSK-Fetch-a384d3498680.json,DIALOGFLOW_PROJECT_ID=fetch-kiedno,PYTHONUNBUFFERED=1 +environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",GOOGLE_APPLICATION_CREDENTIALS=/var/lib/robot/dialogflow/fetch-credential.json,DIALOGFLOW_PROJECT_ID=fetch-kiedno,PYTHONUNBUFFERED=1 priority=200 From 16ac5bb5344f465fce003d0ecd16451ef73d30c9 Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Thu, 26 May 2022 23:47:43 +0900 Subject: [PATCH 179/430] add gdrive yaml path --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 81c084efc4..ac4f97495b 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -158,6 +158,7 @@ + From 30d3a1892ff1eb9dbaae3239e05bc5bff068849a Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Thu, 26 May 2022 23:56:12 +0900 Subject: [PATCH 180/430] fix typo in robot-outside.conf --- .../jsk_fetch_startup/supervisor_scripts/robot-outside.conf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf index bb16165155..f5a6196858 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf @@ -1,4 +1,4 @@ -[program:robot] +[program:robot-outside] command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen" stopsignal=TERM directory=/home/fetch/ros/melodic From 20e9d5dc55e8144245db3f87826e139a44964093 Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Fri, 27 May 2022 00:13:40 +0900 Subject: [PATCH 181/430] move jsk-network-monitor because it requires root user to run --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 7 ------- .../supervisor_scripts/jsk-fetch-startup-outside.conf | 2 +- .../supervisor_scripts/jsk-fetch-startup.conf | 2 +- .../jsk-network-monitor-outside.conf | 10 ++++++++++ .../supervisor_scripts/jsk-network-monitor.conf | 3 +-- 5 files changed, 13 insertions(+), 11 deletions(-) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index ac4f97495b..a4c6fcfb25 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -7,7 +7,6 @@ - @@ -28,7 +27,6 @@ - @@ -386,11 +384,6 @@ - - - diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf index 9c30a69ea2..616e824d5f 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup-outside] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE network_profile_id:=$NETWORK_DEFAULT_PROFILE_ID --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index abc1b97481..1cdd2ed50d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE network_profile_id:=$NETWORK_DEFAULT_PROFILE_ID --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf new file mode 100644 index 0000000000..e27f9645ed --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf @@ -0,0 +1,10 @@ +[program:jsk-network-monitor-outside] +command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" +stopsignal=TERM +autostart=false +autorestart=false +stdout_logfile=/var/log/ros/jsk-network-monitor.log +stderr_logfile=/var/log/ros/jsk-network-monitor.log +user=root +environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",NETWORK_MONITOR_HOSTNAMES="google.com",PYTHONUNBUFFERED=1 +priority=200 diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf index ab050efd86..f9949696b0 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf @@ -1,8 +1,7 @@ [program:jsk-network-monitor] command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" stopsignal=TERM -; autostart=true -autostart=false +autostart=true autorestart=false stdout_logfile=/var/log/ros/jsk-network-monitor.log stderr_logfile=/var/log/ros/jsk-network-monitor.log From 3929b2ead21b1f1ee9afb0724dfac7b4f01f4aa8 Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Fri, 27 May 2022 00:23:02 +0900 Subject: [PATCH 182/430] update tmuxinator log.yml --- .../jsk_fetch_startup/tmuxinator_yaml/log.yml | 21 +++++++++---------- 1 file changed, 10 insertions(+), 11 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml index 99a36f2a0e..85062f575d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml +++ b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml @@ -36,15 +36,14 @@ windows: - jsk-fetch-startup: tail -f -n 1000 /var/log/ros/jsk-fetch-startup.log - jsk-network-monitor: tail -f -n 1000 /var/log/ros/jsk-network-monitor.log - jsk-log-wifi: tail -f -n 1000 /var/log/ros/jsk-log-wifi.log - - jsk-app-scheduler: tail -f -n 1000 /var/log/ros/jsk-app-scheduler.log - # - jsk-coral: tail -f -n 1000 /var/log/ros/jsk-coral.log - - jsk-object-detector: tail -f -n 1000 /var/log/ros/jsk-object-detector.log - - jsk-panorama-object-detector: tail -f -n 1000 /var/log/ros/jsk-panorama-object-detector.log - - jsk-human-pose-estimator: tail -f -n 1000 /var/log/ros/jsk-human-pose-estimator.log - - jsk-panorama-human-pose-estimator: tail -f -n 1000 /var/log/ros/jsk-panorama-human-pose-estimator.log - - jsk-dialog: tail -f -n 1000 /var/log/ros/jsk-dialog.log - - jsk-gdrive: tail -f -n 1000 /var/log/ros/jsk-gdrive.log - - jsk-shutdown: tail -f -n 1000 /var/log/ros/jsk-shutdown.log - - jsk-rfcomm-bind: tail -f -n 1000 /var/log/ros/jsk-rfcomm-bind.log - jsk-dstat: tail -f -n 1000 /var/log/ros/jsk-dstat.log - - jsk-rfcomm-bind: tail -f -n 1000 /var/log/ros/jsk-rfcomm-bind.log + # - jsk-app-scheduler: tail -f -n 1000 /var/log/ros/jsk-app-scheduler.log + # - jsk-coral: tail -f -n 1000 /var/log/ros/jsk-coral.log + # - jsk-object-detector: tail -f -n 1000 /var/log/ros/jsk-object-detector.log + # - jsk-panorama-object-detector: tail -f -n 1000 /var/log/ros/jsk-panorama-object-detector.log + # - jsk-human-pose-estimator: tail -f -n 1000 /var/log/ros/jsk-human-pose-estimator.log + # - jsk-panorama-human-pose-estimator: tail -f -n 1000 /var/log/ros/jsk-panorama-human-pose-estimator.log + # - jsk-dialog: tail -f -n 1000 /var/log/ros/jsk-dialog.log + # - jsk-gdrive: tail -f -n 1000 /var/log/ros/jsk-gdrive.log + # - jsk-shutdown: tail -f -n 1000 /var/log/ros/jsk-shutdown.log + # - jsk-rfcomm-bind: tail -f -n 1000 /var/log/ros/jsk-rfcomm-bind.log From 89822e5790af55a1bf3f58a227e9e1268693e085 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 27 May 2022 10:07:50 +0900 Subject: [PATCH 183/430] Update jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh Co-authored-by: Koki Shinjo --- .../jsk_fetch_startup/config/install_supervisor.sh | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh index dfab54c6ff..f1229d57a2 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh @@ -11,12 +11,7 @@ cd $jsk_fetch_startup/supervisor_scripts for file in $(ls *.conf); do sudo ln -s $jsk_fetch_startup/supervisor_scripts/$file /etc/supervisor/conf.d/$file done - -# copy config.bash to /var/lib/robo if not exists -if [ ! -e /var/lib/robot/config.bash ]; then - sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash -fi - +sudo supervisorctl reread # Enable jsk_dstat job to save the csv log under /var/log ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv From 83f65f4aa66e3fb013e85c992ab35998562eb664 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 27 May 2022 12:38:10 +0900 Subject: [PATCH 184/430] add fetch_coral.launch --- .../launch/fetch_bringup.launch | 38 ++----------- .../launch/fetch_coral.launch | 56 +++++++++++++++++++ 2 files changed, 62 insertions(+), 32 deletions(-) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index a4c6fcfb25..b5d337f535 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -11,8 +11,6 @@ - - @@ -160,36 +158,12 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch new file mode 100644 index 0000000000..025807d971 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch @@ -0,0 +1,56 @@ + + + + + + + + + + + edgetpu_node_manager: + nodes: + - name: edgetpu_human_pose_estimator + type: human_pose_estimator + - name: edgetpu_panorama_human_pose_estimator + type: panorama_human_pose_estimator + default: edgetpu_human_pose_estimator + edgetpu_human_pose_estimator: + input_image: $(arg input_image) + image_transport: raw + device_id: 0 + edgetpu_panorama_human_pose_estimator: + input_image: $(arg input_panorama_image) + image_transport: raw + device_id: 0 + + + + + + + edgetpu_node_manager: + nodes: + - name: edgetpu_object_detector + type: object_detector + - name: edgetpu_panorama_object_detector + type: panorama_object_detector + default: edgetpu_object_detector + edgetpu_object_detector: + input_image: $(arg input_image) + image_transport: raw + device_id: 0 + model_file: /etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite + label_file: /etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt + edgetpu_panorama_object_detector: + input_image: $(arg input_panorama_image) + image_transport: raw + device_id: 0 + model_file: /etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite + label_file: /etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt + + + + From f643974e28029192d1670eba55ba583a46f2b663 Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Fri, 27 May 2022 14:48:58 +0900 Subject: [PATCH 185/430] fix typo --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch index 025807d971..191fd8d51f 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch @@ -29,7 +29,7 @@ + name="edgetpu_object_node_manager" pkg="coral_usb" type="edgetpu_node_manager.py"> edgetpu_node_manager: nodes: From 78933a8f51c9500e812011d3d8317fe32182f4ac Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Fri, 27 May 2022 15:15:50 +0900 Subject: [PATCH 186/430] fix typo in fetch_coral.launch --- .../launch/fetch_bringup.launch | 2 +- .../launch/fetch_coral.launch | 78 +++++++++---------- 2 files changed, 40 insertions(+), 40 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index b5d337f535..a7b598e41a 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -163,7 +163,7 @@ - + diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch index 191fd8d51f..237ef48534 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch @@ -3,54 +3,54 @@ - + - - edgetpu_node_manager: - nodes: - - name: edgetpu_human_pose_estimator - type: human_pose_estimator - - name: edgetpu_panorama_human_pose_estimator - type: panorama_human_pose_estimator - default: edgetpu_human_pose_estimator - edgetpu_human_pose_estimator: - input_image: $(arg input_image) - image_transport: raw - device_id: 0 - edgetpu_panorama_human_pose_estimator: - input_image: $(arg input_panorama_image) - image_transport: raw - device_id: 0 - + + edgetpu_human_node_manager: + nodes: + - name: edgetpu_human_pose_estimator + type: human_pose_estimator + - name: edgetpu_panorama_human_pose_estimator + type: panorama_human_pose_estimator + default: edgetpu_human_pose_estimator + edgetpu_human_pose_estimator: + input_topic: $(arg input_image) + image_transport: raw + device_id: 0 + edgetpu_panorama_human_pose_estimator: + input_topic: $(arg input_panorama_image) + image_transport: raw + device_id: 0 + - - edgetpu_node_manager: - nodes: - - name: edgetpu_object_detector - type: object_detector - - name: edgetpu_panorama_object_detector - type: panorama_object_detector - default: edgetpu_object_detector - edgetpu_object_detector: - input_image: $(arg input_image) - image_transport: raw - device_id: 0 - model_file: /etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite - label_file: /etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt - edgetpu_panorama_object_detector: - input_image: $(arg input_panorama_image) - image_transport: raw - device_id: 0 - model_file: /etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite - label_file: /etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt - + + edgetpu_object_node_manager: + nodes: + - name: edgetpu_object_detector + type: object_detector + - name: edgetpu_panorama_object_detector + type: panorama_object_detector + default: edgetpu_object_detector + edgetpu_object_detector: + input_topic: $(arg input_image) + image_transport: raw + device_id: 1 + model_file: /etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite + label_file: /etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt + edgetpu_panorama_object_detector: + input_topic: $(arg input_panorama_image) + image_transport: raw + device_id: 1 + model_file: /etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite + label_file: /etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt + From ca583d7da53dfa71cdc4394f53d070c8d45e25fe Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Fri, 27 May 2022 13:03:12 +0900 Subject: [PATCH 187/430] [jsk_fetch_startup] Set vital_rate 0.1 in go-to-kitchen demo --- .../launch/trashbin_occupancy_detector.launch | 3 +++ 1 file changed, 3 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch index cdae23dda3..6926af55a3 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch @@ -44,6 +44,7 @@ + @@ -57,6 +58,7 @@ tolerance: 0.02 min_size: 100 + vital_rate: 0.1 From ac928dbd207da8e83d9311f7b24a9af446ff75d0 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Fri, 27 May 2022 13:08:14 +0900 Subject: [PATCH 188/430] [jsk_fetch_startup] Set small hz vital_rate to suppress audible diagnostics --- .../jsk_fetch_startup/launch/fetch_insta360_indigo.launch | 1 + .../jsk_fetch_startup/launch/fetch_insta360_melodic.launch | 1 + 2 files changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_indigo.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_indigo.launch index 5cd5374aa4..2835f972fd 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_indigo.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_indigo.launch @@ -1,6 +1,7 @@ + diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch index c8af2a9b22..d7b863ae23 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch @@ -2,6 +2,7 @@ + From de36ae9183b1a0e63cde1cd7e21280475075f52e Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Mon, 30 May 2022 18:36:10 +0900 Subject: [PATCH 189/430] [jsk_fetch_startup] Use smaller size images for trashbin occupancy detector --- .../launch/trashbin_occupancy_detector.launch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch index 6926af55a3..97d02e1a22 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch @@ -1,6 +1,6 @@ - - + + From 7e0bd8ade6783e26dafe08212b076bd3c2b91dd5 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 31 May 2022 11:45:27 +0900 Subject: [PATCH 190/430] [jsk_fetch_startup] Launch rfcomm bind job as root --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 5 ----- .../supervisor_scripts/jsk-rfcomm-bind.conf | 3 +-- 2 files changed, 1 insertion(+), 7 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index a7b598e41a..58461df152 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -7,7 +7,6 @@ - @@ -358,10 +357,6 @@ - - - diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf index 8cf6f5788a..9bf1a76169 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf @@ -3,8 +3,7 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/mel stopsignal=TERM directory=/home/fetch/ros/melodic -; autostart=true -autostart=false +autostart=true autorestart=false stdout_logfile=/var/log/ros/jsk-rfcomm-bind.log stderr_logfile=/var/log/ros/jsk-rfcomm-bind.log From 12a8ff32c8c9383b4433fdf6e9e1c58be293283b Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 31 May 2022 11:47:18 +0900 Subject: [PATCH 191/430] [jsk_fetch_startup] Launch shutdown node as root --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 5 ----- .../jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf | 3 +-- 2 files changed, 1 insertion(+), 7 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 58461df152..76ab2aa8b1 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -7,7 +7,6 @@ - @@ -357,8 +356,4 @@ - - - diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf index fc31e3ac66..95539f2543 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf @@ -3,8 +3,7 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/mel stopsignal=TERM directory=/home/fetch/ros/melodic -; autostart=true -autostart=false +autostart=true autorestart=false stdout_logfile=/var/log/ros/jsk-shutdown.log stderr_logfile=/var/log/ros/jsk-shutdown.log From fb3884d453cc4bc9ad3c4267d96b14749ac14423 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Wed, 1 Jun 2022 13:03:22 +0900 Subject: [PATCH 192/430] [jsk_fetch_startup] Disable L515 to reduce CPU usage --- jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index 55d1fdc33c..2fbacb8d1f 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -14,7 +14,10 @@ if [ $(hostname) = 'fetch15' ]; then export RS_SERIAL_NO_T265="925122110450"; export RS_SERIAL_NO_D435_FRONTRIGHT=""; export RS_SERIAL_NO_D435_FRONTLEFT=""; - export RS_SERIAL_NO_L515_HEAD="f0211890"; + # Disable L515 to reduce fetch's CPU usage + # Use L515 after finding a way to reduce L515 CPU usage like ConnectionBasedTransport + # export RS_SERIAL_NO_L515_HEAD="f0211890"; + export RS_SERIAL_NO_L515_HEAD=""; export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0"; export NETWORK_DEFAULT_ROS_INTERFACE="133.11.216.217"; @@ -32,7 +35,10 @@ elif [ $(hostname) = 'fetch1075' ]; then export RS_SERIAL_NO_T265=""; export RS_SERIAL_NO_D435_FRONTRIGHT=""; export RS_SERIAL_NO_D435_FRONTLEFT=""; - export RS_SERIAL_NO_L515_HEAD="f0232270"; + # Disable L515 to reduce fetch's CPU usage + # Use L515 after finding a way to reduce L515 CPU usage like ConnectionBasedTransport + # export RS_SERIAL_NO_L515_HEAD="f0232270"; + export RS_SERIAL_NO_L515_HEAD=""; export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1"; export NETWORK_DEFAULT_ROS_INTERFACE="133.11.216.218"; From c5f0b0d49f3190f3426ea751f3e6aefb525167f9 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 2 Jun 2022 18:10:49 +0900 Subject: [PATCH 193/430] [jsk_robot_startup] Add sigint and sigterm timeout arg for app_manager --- jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch b/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch index ad67c18d90..1e7a5be105 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch @@ -2,6 +2,8 @@ + + @@ -64,6 +66,8 @@ + + From c7cdc02fc81e6e6f68cc50b7cb15f758da109f28 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 2 Jun 2022 18:11:40 +0900 Subject: [PATCH 194/430] [jsk_fetch_startup] Add sigint_timeout for fetch's app_manager --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 76ab2aa8b1..098bc0e8fa 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -133,6 +133,7 @@ + From 3e6bc1cc5e8fcdc76678f5cdf52b624c3ad11de6 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 2 Jun 2022 18:12:51 +0900 Subject: [PATCH 195/430] [jsk_fetch_startup] Replace audio/vidoe recorder with rosbag converter in go-to-kitchen demo --- .../apps/go_to_kitchen/go_to_kitchen.app | 136 +++++++++--------- 1 file changed, 67 insertions(+), 69 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index a924c0648f..3aef562056 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -9,57 +9,6 @@ plugins: type: app_notification_saver/service_notification_saver - name: smach_notification_saver_plugin type: app_notification_saver/smach_notification_saver - - name: head_camera_video_recorder_plugin - type: app_recorder/audio_video_recorder_plugin - launch_args: - video_path: /tmp - video_title: go_to_kitchen_head_camera.avi - audio_topic_name: /audio - audio_channels: 1 - audio_sample_rate: 16000 - audio_format: wave - audio_sample_format: S16LE - video_topic_name: /head_camera/rgb/image_rect_color/hz_converted - video_height: 480 - video_width: 640 - video_framerate: 30 - video_encoding: RGB - - name: object_detection_video_recorder_plugin - type: app_recorder/audio_video_recorder_plugin - launch_args: - video_path: /tmp - video_title: go_to_kitchen_object_detection.avi - audio_topic_name: /audio - audio_channels: 1 - audio_sample_rate: 16000 - audio_format: wave - audio_sample_format: S16LE - video_topic_name: /edgetpu_object_detector/output/image/hz_converted - video_height: 480 - video_width: 640 - video_framerate: 30 - video_encoding: RGB - - name: panorama_video_recorder_plugin - type: app_recorder/video_recorder_plugin - launch_args: - video_path: /tmp - video_title: go_to_kitchen_panorama.avi - video_topic_name: /dual_fisheye_to_panorama/output - video_fps: 1.0 - - name: rviz_video_recorder_plugin - type: app_recorder/video_recorder_plugin - launch_args: - video_path: /tmp - video_title: go_to_kitchen_rviz.avi - video_topic_name: /rviz/image - video_fps: 30.0 - - name: respeaker_audio_recorder_plugin - type: app_recorder/audio_recorder_plugin - launch_args: - audio_path: /tmp - audio_title: go_to_kitchen_audio.wav - audio_topic_name: /audio - audio_format: wave - name: rosbag_recorder_plugin type: app_recorder/rosbag_recorder_plugin launch_args: @@ -86,6 +35,8 @@ plugins: - /move_base/global_costmap/costmap - /particlecloud - /base_scan/throttled + - /dual_fisheye_to_panorama/quater/output/compressed + - /edgetpu_object_detector/output/image/compressed - /head_camera/rgb/throttled/camera_info - /head_camera/depth_registered/throttled/camera_info - /head_camera/rgb/throttled/image_rect_color/compressed @@ -96,6 +47,53 @@ plugins: - /server_name/smach/container_structure - /audio - /rviz/throttled/image/compressed + - name: head_camera_converter_plugin + type: app_recorder/rosbag_video_converter_plugin + plugin_args: + rosbag_path: /tmp + rosbag_title: go_to_kitchen_rosbag.bag + image_topic_name: /head_camera/rgb/throttled/image_rect_color/compressed + image_fps: 5 + audio_topic_name: /audio + audio_sample_rate: 16000 + audio_channels: 1 + video_path: /tmp/go_to_kitchen_head_camera.mp4 + - name: object_detection_converter_plugin + type: app_recorder/rosbag_video_converter_plugin + plugin_args: + rosbag_path: /tmp + rosbag_title: go_to_kitchen_rosbag.bag + image_topic_name: /edgetpu_object_detector/output/image/compressed + image_fps: 30 + audio_topic_name: /audio + audio_sample_rate: 16000 + audio_channels: 1 + video_path: /tmp/go_to_kitchen_object_detection.mp4 + - name: panorama_converter_plugin + type: app_recorder/rosbag_video_converter_plugin + plugin_args: + rosbag_path: /tmp + rosbag_title: go_to_kitchen_rosbag.bag + image_topic_name: /dual_fisheye_to_panorama/quater/output/compressed + image_fps: 1 + video_path: /tmp/go_to_kitchen_panorama.mp4 + - name: rviz_converter_plugin + type: app_recorder/rosbag_video_converter_plugin + plugin_args: + rosbag_path: /tmp + rosbag_title: go_to_kitchen_rosbag.bag + image_topic_name: /rviz/throttled/image/compressed + image_fps: 5 + video_path: /tmp/go_to_kitchen_rviz.mp4 + - name: respeaker_audio_converter_plugin + type: app_recorder/rosbag_audio_converter_plugin + plugin_args: + rosbag_path: /tmp + rosbag_title: go_to_kitchen_rosbag.bag + audio_topic_name: /audio + audio_sample_rate: 16000 + audio_channels: 1 + audio_path: /tmp/go_to_kitchen_audio.wav - name: result_recorder_plugin type: app_recorder/result_recorder_plugin plugin_args: @@ -106,19 +104,19 @@ plugins: plugin_args: upload_file_paths: - /tmp/go_to_kitchen_result.yaml - - /tmp/go_to_kitchen_head_camera.avi - - /tmp/go_to_kitchen_object_detection.avi - - /tmp/go_to_kitchen_panorama.avi - - /tmp/go_to_kitchen_rviz.avi + - /tmp/go_to_kitchen_head_camera.mp4 + - /tmp/go_to_kitchen_object_detection.mp4 + - /tmp/go_to_kitchen_panorama.mp4 + - /tmp/go_to_kitchen_rviz.mp4 - /tmp/go_to_kitchen_audio.wav - /tmp/go_to_kitchen_rosbag.bag - /tmp/trashcan_inside.jpg upload_file_titles: - go_to_kitchen_result.yaml - - go_to_kitchen_head_camera.avi - - go_to_kitchen_object_detection.avi - - go_to_kitchen_panorama.avi - - go_to_kitchen_rviz.avi + - go_to_kitchen_head_camera.mp4 + - go_to_kitchen_object_detection.mp4 + - go_to_kitchen_panorama.mp4 + - go_to_kitchen_rviz.mp4 - go_to_kitchen_audio.wav - go_to_kitchen_rosbag.bag - trashcan_inside.jpg @@ -163,12 +161,12 @@ plugin_order: - move_base_cancel_plugin - service_notification_saver_plugin - smach_notification_saver_plugin - - head_camera_video_recorder_plugin - - object_detection_video_recorder_plugin - - panorama_video_recorder_plugin - - rviz_video_recorder_plugin - - respeaker_audio_recorder_plugin - rosbag_recorder_plugin + - head_camera_converter_plugin + - object_detection_converter_plugin + - panorama_converter_plugin + - rviz_converter_plugin + - respeaker_audio_converter_plugin - result_recorder_plugin - gdrive_uploader_plugin - tweet_notifier_plugin @@ -179,12 +177,12 @@ plugin_order: - move_base_cancel_plugin - service_notification_saver_plugin - smach_notification_saver_plugin - - head_camera_video_recorder_plugin - - object_detection_video_recorder_plugin - - panorama_video_recorder_plugin - - rviz_video_recorder_plugin - - respeaker_audio_recorder_plugin - rosbag_recorder_plugin + - head_camera_converter_plugin + - object_detection_converter_plugin + - panorama_converter_plugin + - rviz_converter_plugin + - respeaker_audio_converter_plugin - result_recorder_plugin - gdrive_uploader_plugin - tweet_notifier_plugin From 29fdca31ba0e75ef58144c8d7ed7b131ff353b12 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 2 Jun 2022 19:20:00 +0900 Subject: [PATCH 196/430] [jsk_fetch_startup] Remove unused topic_hz_converter --- .../apps/go_to_kitchen/go_to_kitchen.xml | 21 ------------------- 1 file changed, 21 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 7b599f21b6..09c9f3cf28 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -19,27 +19,6 @@ - - - - - - desired_topic_hz: 30 - - - - - - - - desired_topic_hz: 30 - - - From 094531bcc493baa44bfe026f4ea84e69d74e7c01 Mon Sep 17 00:00:00 2001 From: iory Date: Fri, 3 Jun 2022 19:21:54 +0900 Subject: [PATCH 197/430] [jsk_fetch_startup] Use ROS_HOSTNAME and ROS_MASTER_URI=http://localhost:11311 --- jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 4 ++-- .../supervisor_scripts/jsk-app-scheduler.conf | 2 +- .../jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf | 2 +- .../supervisor_scripts/jsk-fetch-startup-outside.conf | 2 +- .../supervisor_scripts/jsk-fetch-startup.conf | 2 +- .../jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf | 2 +- .../supervisor_scripts/jsk-human-pose-estimator.conf | 2 +- .../supervisor_scripts/jsk-network-monitor-outside.conf | 2 +- .../supervisor_scripts/jsk-network-monitor.conf | 2 +- .../supervisor_scripts/jsk-object-detector.conf | 2 +- .../supervisor_scripts/jsk-panorama-human-pose-estimator.conf | 2 +- .../supervisor_scripts/jsk-panorama-object-detector.conf | 2 +- .../jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf | 2 +- .../jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf | 2 +- .../jsk_fetch_startup/supervisor_scripts/robot-outside.conf | 2 +- .../jsk_fetch_startup/supervisor_scripts/robot.conf | 2 +- 16 files changed, 17 insertions(+), 17 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index 2fbacb8d1f..43ae1bbf35 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -20,7 +20,7 @@ if [ $(hostname) = 'fetch15' ]; then export RS_SERIAL_NO_L515_HEAD=""; export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0"; - export NETWORK_DEFAULT_ROS_INTERFACE="133.11.216.217"; + export NETWORK_DEFAULT_ROS_INTERFACE="localhost"; export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; elif [ $(hostname) = 'fetch1075' ]; then export DEFAULT_SPEAKER=2; @@ -41,6 +41,6 @@ elif [ $(hostname) = 'fetch1075' ]; then export RS_SERIAL_NO_L515_HEAD=""; export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1"; - export NETWORK_DEFAULT_ROS_INTERFACE="133.11.216.218"; + export NETWORK_DEFAULT_ROS_INTERFACE="localhost"; export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; fi diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf index 91d9ceac86..8de89e02e4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf @@ -1,5 +1,5 @@ [program:jsk-app-scheduler] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen" stopsignal=TERM directory=/home/fetch/ros/melodic ; autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf index cd93a425b1..79cd2be0f0 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf @@ -1,5 +1,5 @@ [program:jsk-dialog] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen " +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen " stopsignal=TERM directory=/home/fetch/ros/melodic ; autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf index 616e824d5f..e9966ce881 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup-outside] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index 1cdd2ed50d..2a43de39d4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf index 0325da1b22..b44ebd55cf 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf @@ -1,5 +1,5 @@ [program:jsk-gdrive] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true" stopsignal=TERM directory=/home/fetch/ros/melodic ; autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf index cd794862c7..25fa60f0a8 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf @@ -1,6 +1,6 @@ [program:jsk-human-pose-estimator] ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait" stopsignal=TERM ; directory=/home/fetch/ros/coral_ws diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf index e27f9645ed..1058ba57af 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf @@ -1,5 +1,5 @@ [program:jsk-network-monitor-outside] -command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" +command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" stopsignal=TERM autostart=false autorestart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf index f9949696b0..7d8a4b6621 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf @@ -1,5 +1,5 @@ [program:jsk-network-monitor] -command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" +command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" stopsignal=TERM autostart=true autorestart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf index 5688491b3c..516e1caa80 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf @@ -1,6 +1,6 @@ [program:jsk-object-detector] ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" stopsignal=TERM ; directory=/home/fetch/ros/coral_ws diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf index f07778b651..139af6c42f 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf @@ -1,6 +1,6 @@ [program:jsk-panorama-human-pose-estimator] ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" stopsignal=TERM ; directory=/home/fetch/ros/coral_ws diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf index dd7111436d..bc320c5486 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf @@ -1,6 +1,6 @@ [program:jsk-panorama-object-detector] ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" stopsignal=TERM ; directory=/home/fetch/ros/coral_ws diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf index 9bf1a76169..05377f460c 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf @@ -1,5 +1,5 @@ [program:jsk-rfcomm-bind] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch jsk_robot_startup rfcomm_bind.launch --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch jsk_robot_startup rfcomm_bind.launch --wait" stopsignal=TERM directory=/home/fetch/ros/melodic diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf index 95539f2543..0cf97a4327 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf @@ -1,5 +1,5 @@ [program:jsk-shutdown] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_robot_startup shutdown.py --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_robot_startup shutdown.py --wait" stopsignal=TERM directory=/home/fetch/ros/melodic diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf index f5a6196858..0ce0afc615 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf @@ -1,5 +1,5 @@ [program:robot-outside] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf index b4db414f79..11ca006f09 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf @@ -1,5 +1,5 @@ [program:robot] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true From e66b9bc9152759218b43864b091a8906e1ba5d7e Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 7 Jun 2022 17:18:38 +0900 Subject: [PATCH 198/430] [jsk_fetch_startup] Use launch instead of single roseus in welcome_to_jsk app --- .../jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app b/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app index 210ba6e4bd..ded1914d18 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app @@ -1,7 +1,6 @@ display: Welcome to jsk platform: fetch -run: welcome_to_jsk_fetch/welcome-to-jsk.l -run_args: '"(progn (init) (give-bag))"' +launch: jsk_fetch_startup/welcome_to_jsk.xml interface: jsk_fetch_startup/welcome_to_jsk.interface icon: jsk_fetch_startup/welcome_to_jsk.png plugins: From 7c2896294f1fb79af470837079585288d3fb3af2 Mon Sep 17 00:00:00 2001 From: Guilherme Affonso Date: Tue, 7 Jun 2022 10:54:06 +0900 Subject: [PATCH 199/430] Add roseus_resume interrupt and resume apps --- .../jsk_robot_startup/apps/robot_apps.installed | 4 ++++ .../roseus_resume_interrupt.app | 6 ++++++ .../roseus_resume_interrupt.interface | 2 ++ .../roseus_resume_interrupt.png | Bin 0 -> 3470 bytes .../roseus_resume_resume.app | 6 ++++++ .../roseus_resume_resume.interface | 2 ++ .../roseus_resume_resume.png | Bin 0 -> 3760 bytes 7 files changed, 20 insertions(+) create mode 100644 jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.app create mode 100644 jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.interface create mode 100644 jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.png create mode 100644 jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.app create mode 100644 jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.interface create mode 100644 jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.png diff --git a/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed b/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed index e142d9282c..378c08693f 100644 --- a/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed +++ b/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed @@ -3,3 +3,7 @@ apps: display: Personal use - app: jsk_robot_startup/check_use_sim_time display: Check /use_sim_time param + - app: jsk_robot_startup/roseus_resume_interrupt + display: Interrupt + - app: jsk_robot_startup/roseus_resume_resume + display: Resume diff --git a/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.app b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.app new file mode 100644 index 0000000000..d6ea2dad0f --- /dev/null +++ b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.app @@ -0,0 +1,6 @@ +display: Interrupt +platform: all +run: rostopic/rostopic +run_args: "pub -1 /roseus_resume/interrupt std_msgs/Empty" +interface: jsk_robot_startup/roseus_resume_interrupt.interface +icon: jsk_robot_startup/roseus_resume_interrupt.png diff --git a/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.interface b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.interface new file mode 100644 index 0000000000..044105d644 --- /dev/null +++ b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.interface @@ -0,0 +1,2 @@ +published_topics: {} +subscribed_topics: {} diff --git a/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.png b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.png new file mode 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zA{cU&->r)pj^BwuA}oqGc5TZZE?ZbJ34gan>{ym^O!5P)Ch)C7Vh9FU;K8??Tmz+X zAWJqUi3(xIrDtTca0Svk&p0G;9ABtEXer)g+3-ahZZ2HdDf80zEmoZPo`usEKLTtA zmLe41u@~);8BR$x0jL;uvLsxoh`C!Z1{;kxF(ucCuEo)nlTO8RYlYMZeiU~=w_jYt zXGNy;>9fwe+>R5)Y2}p73DA#_Skjc&zZPM}zyJ$j6r~Ae=FuB$Ga%p*@k7?n-mmguB&^lFM`nz5FT~Vt+vG%p0D}ooxQ( zHhpg}=)#h*` z?3+AuC>4wL5rq?f0|;0}L4#I~6VBDn-?qgkaV^8ng#ota#Fk!2V}Q~Wo!EGd0VcL# zrO|B+P@19>8?Q0I#5Sxnx{U!!Q*>hEH3pd2hLuLQF+gdGPHeo!02AA=(&#n@C{59c ajrV^DLAIYaTMJVF0000 Date: Tue, 7 Jun 2022 23:07:16 +0900 Subject: [PATCH 200/430] [jsk_fetch_startup] Add hz_measure node to monitor rgb/depth topics --- .../config/fetch_analyzers.yaml | 14 +------------- .../config/sanity_targets.yaml | 2 -- .../jsk_fetch_startup/launch/fetch_sensors.xml | 18 ++++++++++++++++++ 3 files changed, 19 insertions(+), 15 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/fetch_analyzers.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/fetch_analyzers.yaml index f4847a4cba..d6b18c8111 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/fetch_analyzers.yaml +++ b/jsk_fetch_robot/jsk_fetch_startup/config/fetch_analyzers.yaml @@ -102,7 +102,7 @@ analyzers: path: Head Camera timeout: 5.0 startswith: 'head_camera' - num_items: 2 + num_items: 4 imu: type: diagnostic_aggregator/GenericAnalyzer path: IMU @@ -154,18 +154,6 @@ analyzers: contains: '/audio' timeout: 100 discard_stale: true - head_depth_image: - type: diagnostic_aggregator/GenericAnalyzer - path: HeadDepthImage - contains: '/head_camera/depth/image_raw' - timeout: 100 - discard_stale: true - head_rgb_image: - type: diagnostic_aggregator/GenericAnalyzer - path: HeadRGBImage - contains: '/head_camera/rgb/image_raw' - timeout: 100 - discard_stale: true nodes: type: diagnostic_aggregator/AnalyzerGroup path: Nodes diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/sanity_targets.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/sanity_targets.yaml index 6b8ce4ff93..24a3521055 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/sanity_targets.yaml +++ b/jsk_fetch_robot/jsk_fetch_startup/config/sanity_targets.yaml @@ -2,8 +2,6 @@ topics: - /audio - /edgetpu_human_pose_estimator/output/image/compressed - /edgetpu_object_detector/output/image/compressed - - /head_camera/depth/image_raw - - /head_camera/rgb/image_raw nodes: - /head_camera/head_camera_nodelet_manager diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml index 43d79040b6..2649c370e9 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml @@ -16,6 +16,15 @@ + + + + + warning_hz: 5 + + + + + + + warning_hz: 5 + + Date: Tue, 7 Jun 2022 23:29:14 +0900 Subject: [PATCH 201/430] [jsk_fetch_startup/sanity_diagnostics] Make clear_params true --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 098bc0e8fa..241e07c758 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -350,7 +350,8 @@ - + duration: 60 From 8cec5c14545286a694e673e9756fd5f32871d850 Mon Sep 17 00:00:00 2001 From: iory Date: Tue, 7 Jun 2022 23:32:41 +0900 Subject: [PATCH 202/430] [jsk_fetch_startup/diagnostics_aggregator] Make clear_params true --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 241e07c758..9b73014607 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -105,7 +105,8 @@ + name="diag_agg" args="CPP" output="screen" + clear_params="true" > From 10f85ea4382d0d2d042d7d45fadb739e7cf58f5f Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Wed, 8 Jun 2022 18:58:59 +0900 Subject: [PATCH 203/430] [jsk_fetch_startup] enable google chat --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 11 +++++++++++ jsk_fetch_robot/jsk_fetch_startup/package.xml | 4 ++++ 2 files changed, 15 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 9b73014607..555c1f45ba 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -6,6 +6,7 @@ + @@ -151,6 +152,16 @@ + + + + + + + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/package.xml b/jsk_fetch_robot/jsk_fetch_startup/package.xml index 9031016111..5e2944ee70 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/package.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/package.xml @@ -67,6 +67,10 @@ julius_ros respeaker_ros + + dialogflow_task_executive + google_chat_ros + robot_pose_publisher From ec7083a6c83292f80086cc2455d0a31bd133cb24 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Wed, 8 Jun 2022 22:54:34 +0900 Subject: [PATCH 204/430] [jsk_fetch_startup] fix typo in google_chat_ros --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 555c1f45ba..00b5e78d56 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -156,10 +156,10 @@ - + - + From 869272cd162d0f4b6570782fd6622a1c5c9a6820 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 16 Jun 2022 10:05:52 +0900 Subject: [PATCH 205/430] [jsk_fetch_startup] add use_audible_warning arg and make args in supervisor_job to be loaded from roslaunch --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 14 ++++++++------ .../supervisor_scripts/jsk-fetch-startup.conf | 2 +- 2 files changed, 9 insertions(+), 7 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 00b5e78d56..71eb804551 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -12,18 +12,18 @@ - - - + + + - + - + @@ -34,6 +34,7 @@ + @@ -349,7 +350,8 @@ + output="screen" + if="$(arg use_audible_warning)" > diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index 2a43de39d4..4005efea8d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true From 166f306eb6f24ecf39cc20a4028b20187e0c12cd Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 16 Jun 2022 10:08:44 +0900 Subject: [PATCH 206/430] [jsk_fetch_startup] fix --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 71eb804551..91d712f490 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -12,9 +12,9 @@ - - - + + + @@ -23,7 +23,7 @@ - + From 62e347bb79a57b677b9f28b6c436cd5f6d4e13a3 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 15 Jun 2022 11:40:12 +0900 Subject: [PATCH 207/430] [jsk_fetch_startup] Wait for a certain time in get-battery-charge-state --- .../euslisp/navigation-utils.l | 25 ++++++++++++++++--- 1 file changed, 22 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index c672b8254c..20918f735f 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -135,11 +135,30 @@ (send (send *undock-action* :get-result) :undocked)) -(defun get-battery-charging-state (&key (timeout 1500)) +(defun get-battery-charging-state (&key (timeout 1500) (dock nil)) + """ + Get battery charging state + Args: + - key + timeout: Set waiting time for topic. + dock: Set t when docking to get right result. + """ (let* ((msg (one-shot-subscribe "/battery_state" power_msgs::batterystate :timeout timeout)) - (is-charging (if msg (send msg :is_charging)))) + (is-charging (if msg (send msg :is_charging))) + (start-get-state-time (send (ros::time-now) :sec)) + (duration 0)) ;; You may fail to subscribe /battery_state ;; because of message md5 difference between melodic and indigo. + ;; If /battery_state is subscribed before /battery_state becomes true + ;; while dock succeeds, the result will not be correct, + ;; so wait for a certain time when docking. + (when dock + (while (and (< duration (/ timeout 1000)) (not is-charging)) + (setq msg (one-shot-subscribe "/battery_state" + power_msgs::BatteryState + :timeout timeout)) + (if msg (setq is-charging (send msg :is_charging))) + (setq duration (- (send (ros::time-now) :sec) start-get-state-time)))) (if (not msg) (return-from get-battery-charging-state nil)) (if is-charging :charging :discharging))) @@ -652,7 +671,7 @@ Args: ;; change the inflation_radius (restore-params) (send-kitchen-mail) - (setq success-battery-charging (equal (get-battery-charging-state) :charging)) + (setq success-battery-charging (equal (get-battery-charging-state :dock t) :charging)) (and success-go-to-kitchen success-auto-dock success-battery-charging))) From 0c5aec3dbf05fe784b2caebd9f969cd31f6a0692 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 15 Jun 2022 15:25:03 +0900 Subject: [PATCH 208/430] [jsk_fetch_startup] split method into two; add wait-until-is-charging --- .../euslisp/navigation-utils.l | 40 +++++++++++-------- 1 file changed, 23 insertions(+), 17 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 20918f735f..aec6cca5e7 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -134,35 +134,40 @@ (return-from undock nil)) (send (send *undock-action* :get-result) :undocked)) +(defun wait-until-is-charging (&key timeout 10) + """ + Wait for updating battery charging state especially when robots dock. + Args: + - key + timeout [sec]: Set waiting time for updating /battery_state topic -(defun get-battery-charging-state (&key (timeout 1500) (dock nil)) + ;; If /battery_state is subscribed before /battery_state becomes true + ;; while dock succeeds, the result will not be correct, + ;; so wait for a certain time when docking. + """ + (let ((msg nil) + (is-charging nil) + (duration 0) + (start-time (send (ros::time-now) :sec))) + (while (and (< duration timeout) (not is-charging)) + (setq msg (one-shot-subscribe "/battery_state" power_msgs::BatteryState)) + (if msg (setq is-charging (send msg :is_charging))) + (setq duration (- (send (ros::time-now) :sec) start-time))))) + +(defun get-battery-charging-state (&key (timeout 1500)) """ Get battery charging state Args: - key timeout: Set waiting time for topic. - dock: Set t when docking to get right result. """ (let* ((msg (one-shot-subscribe "/battery_state" power_msgs::batterystate :timeout timeout)) - (is-charging (if msg (send msg :is_charging))) - (start-get-state-time (send (ros::time-now) :sec)) - (duration 0)) + (is-charging (if msg (send msg :is_charging)))) ;; You may fail to subscribe /battery_state ;; because of message md5 difference between melodic and indigo. - ;; If /battery_state is subscribed before /battery_state becomes true - ;; while dock succeeds, the result will not be correct, - ;; so wait for a certain time when docking. - (when dock - (while (and (< duration (/ timeout 1000)) (not is-charging)) - (setq msg (one-shot-subscribe "/battery_state" - power_msgs::BatteryState - :timeout timeout)) - (if msg (setq is-charging (send msg :is_charging))) - (setq duration (- (send (ros::time-now) :sec) start-get-state-time)))) (if (not msg) (return-from get-battery-charging-state nil)) (if is-charging :charging :discharging))) - (defun go-to-spot (name &key (relative-pos nil) (relative-rot nil) (undock-rotate nil) (clear-costmap t)) "Move the robot to the spot defined in /spots_marker_array topic. The reason for using relative-pos and relative-rot instead of relative-coords is that it is easier to understand if relative-pos and relative-rot are specified in the different coords (specifically, world (map) and local (spot) coords respectively). For detail, see https://github.com/jsk-ros-pkg/jsk_robot/pull/1458#pullrequestreview-1039654868 Args: @@ -671,7 +676,8 @@ Args: ;; change the inflation_radius (restore-params) (send-kitchen-mail) - (setq success-battery-charging (equal (get-battery-charging-state :dock t) :charging)) + (setq success-battery-charging (progn (wait-until-is-charging) + (equal (get-battery-charging-state) :charging)) (and success-go-to-kitchen success-auto-dock success-battery-charging))) From 724be540bab82654c1996726d0ef76d11d95398b Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 15 Jun 2022 16:15:13 +0900 Subject: [PATCH 209/430] [jsk_fetch_startup] Fix about keyword argument --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index aec6cca5e7..fa37442072 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -134,7 +134,7 @@ (return-from undock nil)) (send (send *undock-action* :get-result) :undocked)) -(defun wait-until-is-charging (&key timeout 10) +(defun wait-until-is-charging (&key (timeout 10)) """ Wait for updating battery charging state especially when robots dock. Args: @@ -677,7 +677,7 @@ Args: (restore-params) (send-kitchen-mail) (setq success-battery-charging (progn (wait-until-is-charging) - (equal (get-battery-charging-state) :charging)) + (equal (get-battery-charging-state) :charging))) (and success-go-to-kitchen success-auto-dock success-battery-charging))) From e10d6ba24331891a541d0f07799095c92f04faad Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 15 Jun 2022 16:16:21 +0900 Subject: [PATCH 210/430] [jsk_fetch_startup] Return charging state in wait-until-is-charging --- .../euslisp/navigation-utils.l | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index fa37442072..5b50f58774 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -145,14 +145,19 @@ ;; while dock succeeds, the result will not be correct, ;; so wait for a certain time when docking. """ - (let ((msg nil) - (is-charging nil) - (duration 0) - (start-time (send (ros::time-now) :sec))) - (while (and (< duration timeout) (not is-charging)) - (setq msg (one-shot-subscribe "/battery_state" power_msgs::BatteryState)) + (let* ((msg nil) + (is-charging nil) + (duration 0) + (start-time (send (ros::time-now) :sec))) + (while (not is-charging) + (when (> duration timeout) + (ros::ros-warn "Skip waiting for charging state because of timeout") + (return-from wait-until-is-charging :timeout)) + (setq msg (one-shot-subscribe "/battery_state" power_msgs::BatteryState + :timeout 1000)) (if msg (setq is-charging (send msg :is_charging))) - (setq duration (- (send (ros::time-now) :sec) start-time))))) + (setq duration (- (send (ros::time-now) :sec) start-time))) + :charging)) (defun get-battery-charging-state (&key (timeout 1500)) """ From eda45ffa5879fb0bb523703d01c2a4af212fbf91 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 16 Jun 2022 17:36:53 +0900 Subject: [PATCH 211/430] [jsk_fetch_startup] enable l515 for fetch1075 --- jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index 43ae1bbf35..db9f9eb944 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -37,8 +37,8 @@ elif [ $(hostname) = 'fetch1075' ]; then export RS_SERIAL_NO_D435_FRONTLEFT=""; # Disable L515 to reduce fetch's CPU usage # Use L515 after finding a way to reduce L515 CPU usage like ConnectionBasedTransport - # export RS_SERIAL_NO_L515_HEAD="f0232270"; - export RS_SERIAL_NO_L515_HEAD=""; + export RS_SERIAL_NO_L515_HEAD="f0232270"; + #export RS_SERIAL_NO_L515_HEAD=""; export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1"; export NETWORK_DEFAULT_ROS_INTERFACE="localhost"; From 97b9dbaf87c50bfab51466c5c9c31deab2facc46 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Fri, 17 Jun 2022 17:08:07 +0900 Subject: [PATCH 212/430] [jsk_fetch_startup] Use jsk_pcl_ros/container_occupancy_detector in kithchen demo --- .../jsk_fetch_startup/euslisp/navigation-utils.l | 2 +- .../launch/trashbin_occupancy_detector.launch | 16 +++++++--------- 2 files changed, 8 insertions(+), 10 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 5b50f58774..0112a5fc24 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -432,7 +432,7 @@ Args: (format nil "CO2 concentration is ~A ppm" (send msg :data)))))) (defun notify-trashcan-occupancy (&key (location "kitchen")) - (let* ((msg (one-shot-subscribe "/trashbin_occupancy_detector/trashbin/occupancy" + (let* ((msg (one-shot-subscribe "/trashbin_occupancy_detector/container/occupancies" jsk_recognition_msgs::BoundingBoxArray :timeout 3000)) (occupancy (if msg (send (elt (send msg :boxes) 0) :value))) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch index 97d02e1a22..d889ecc2f2 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch @@ -3,7 +3,7 @@ - + @@ -142,14 +142,12 @@ - - - - - - + + + + + + Date: Fri, 17 Jun 2022 17:29:33 +0900 Subject: [PATCH 213/430] [jsk_fetch_startup] Update minimum euclidean cluster to support quater pointcloud --- .../jsk_fetch_startup/launch/trashbin_occupancy_detector.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch index d889ecc2f2..76030da7cd 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch @@ -57,7 +57,7 @@ tolerance: 0.02 - min_size: 100 + min_size: 20 vital_rate: 0.1 From 880e779a60f726d09aff66bad23e7f044a3e7013 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Sat, 25 Jun 2022 15:12:31 +0900 Subject: [PATCH 214/430] [jsk_fetch_startup] move container occupancy detector to jsk_pcl_ros --- .../jsk_fetch_startup/CMakeLists.txt | 11 -- jsk_fetch_robot/jsk_fetch_startup/package.xml | 3 + .../src/container_occupancy_detector.cpp | 126 ------------------ 3 files changed, 3 insertions(+), 137 deletions(-) delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp diff --git a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt index 29683126ba..20cade468e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt +++ b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt @@ -21,11 +21,8 @@ find_package(catkin REQUIRED COMPONENTS tf2_ros tf2_eigen tf2_msgs - pcl_ros - pcl_conversions ) find_package(Boost REQUIRED COMPONENTS) -find_package(PCL 1.8 REQUIRED) ################################### ## catkin specific configuration ## @@ -41,18 +38,10 @@ catkin_add_env_hooks(99.jsk_fetch_startup SHELLS bash zsh sh include_directories( ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} - ${PCL_INCLUDE_DIRS} ) add_executable(trashbins_pose_estimator src/trashbins_pose_estimator.cpp) target_link_libraries(trashbins_pose_estimator ${catkin_LIBRARIES} - ${PCL_LIBRARIES} -) -add_executable(container_occupancy_detector src/container_occupancy_detector.cpp) -target_link_libraries(container_occupancy_detector - ${catkin_LIBRARIES} - ${PCL_LIBRARIES} - ${Boost_LIBRARIES} ) ############# diff --git a/jsk_fetch_robot/jsk_fetch_startup/package.xml b/jsk_fetch_robot/jsk_fetch_startup/package.xml index 5e2944ee70..0a031ea04e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/package.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/package.xml @@ -74,6 +74,9 @@ robot_pose_publisher + + jsk_pcl_ros + rostest diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp deleted file mode 100644 index 9203bfe01a..0000000000 --- a/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp +++ /dev/null @@ -1,126 +0,0 @@ -#include - -#include - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -const float FLOAT_MIN = std::numeric_limits::min(); -const float FLOAT_MAX = std::numeric_limits::max(); - -class ContainerOccupancyDetector{ -private: - std::string _inputBoxes, _inputCloud, _debugCloud, _outputBoxes; - ros::Subscriber _containerBoxesSub, _pointCloudSub; - ros::Publisher _debugPointPub, _occupancyPub; - geometry_msgs::Quaternion defaultOrientation; - jsk_recognition_msgs::BoundingBoxArray _containerBoxes; - sensor_msgs::PointCloud2 _transformedCloudMsg; - tf2_ros::Buffer _tfBuffer; - tf2_ros::TransformListener* _tfListener; - -public: - // constructor - ContainerOccupancyDetector(ros::NodeHandle &_nh, ros::NodeHandle &_pnh){ - this->_tfListener = new tf2_ros::TransformListener(_tfBuffer); - this->_containerBoxesSub = _nh.subscribe("input_boxes", 10, &ContainerOccupancyDetector::CalculateOccupancyCB, this); - this->_pointCloudSub = _nh.subscribe("input_cloud", 10, &ContainerOccupancyDetector::PointCloudTransformCB, this); - this->_debugPointPub = _nh.advertise("debug_cloud", 10); - this->_occupancyPub = _nh.advertise("output_boxes", 10); - // init default orientation const - this->defaultOrientation.w = 1.0; - this->defaultOrientation.x = 0.0; - this->defaultOrientation.y = 0.0; - this->defaultOrientation.z = 0.0; - }; - // destructor - ~ContainerOccupancyDetector(){ - delete this->_tfListener; - ROS_INFO("Killing node..."); - }; - - void PointCloudTransformCB(const sensor_msgs::PointCloud2::ConstPtr& msg){ - geometry_msgs::TransformStamped transformStamped; - try { - transformStamped = _tfBuffer.lookupTransform("base_link", msg->header.frame_id, msg->header.stamp, ros::Duration(10.0)); - tf2::doTransform(*msg, this->_transformedCloudMsg, transformStamped); - this->_debugPointPub.publish(this->_transformedCloudMsg); - } catch(tf2::TransformException &ex) { - ROS_WARN("Failed to transform tf"); - ROS_WARN("%s", ex.what()); - } - }; - - void CalculateOccupancyCB(const jsk_recognition_msgs::BoundingBoxArray& msg){ - const sensor_msgs::PointCloud2 inputCloud = _transformedCloudMsg; - pcl::PCLPointCloud2 pclPC2; - pcl::PointCloud::Ptr pclCloud(new pcl::PointCloud); - jsk_recognition_msgs::BoundingBoxArray boxOccupancy = msg; - if (!inputCloud.data.empty()){ - // convert to PCL cloud - pcl_conversions::toPCL(inputCloud, pclPC2); - pcl::fromPCLPointCloud2(pclPC2, *pclCloud); - for (int i = 0; i < msg.boxes.size(); i++) { - // calculate each bounding boxes - // pcl::PassThrough filter; - pcl::CropBox boxFilter; - pcl::PointCloud::Ptr boxFilteredCloud( - new pcl::PointCloud); - pcl::PointXYZ minPt, maxPt; - float occupancy; - boxFilter.setMin(Eigen::Vector4f((msg.boxes.at(i).pose.position.x - - msg.boxes.at(i).dimensions.x / 2.0), - (msg.boxes.at(i).pose.position.y - - msg.boxes.at(i).dimensions.y / 2.0), - FLOAT_MIN, 1.0f)); - boxFilter.setMax(Eigen::Vector4f((msg.boxes.at(i).pose.position.x + - msg.boxes.at(i).dimensions.x / 2.0), - (msg.boxes.at(i).pose.position.y + - msg.boxes.at(i).dimensions.y / 2.0), - FLOAT_MAX, 1.0f)); - boxFilter.setInputCloud(pclCloud); - boxFilter.filter(*boxFilteredCloud); - pcl::getMinMax3D(*boxFilteredCloud, minPt, maxPt); - ROS_DEBUG_STREAM( - "box_id: " << i << " box_pos: " << msg.boxes.at(i).pose.position - << " box_height: " - << msg.boxes.at(i).pose.position.z + - msg.boxes.at(i).dimensions.z / 2.0 - << " maxPt.z: " << maxPt.z); - occupancy = maxPt.z / (msg.boxes.at(i).pose.position.z + - msg.boxes.at(i).dimensions.z / 2.0); - // if some point clouds in boundingbox over bounding height - // TODO publish occupancy instead - boxOccupancy.boxes.at(i).value = occupancy; - } - this->_occupancyPub.publish(boxOccupancy); - } else { - ROS_WARN("No input point clouds."); - } - - }; -}; - -int main(int argc, char **argv){ - ros::init(argc, argv, "container_occupancy_detector"); - ros::NodeHandle nh; - ros::NodeHandle pnh("~"); - ContainerOccupancyDetector node(nh, pnh); - ros::spin(); -} From 4b6be555397bd6ea35b619cbfc3cff711df3d82d Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 27 Jun 2022 14:17:20 +0900 Subject: [PATCH 215/430] [jsk_fetch_startup] add -f to ln in install_supervisor.sh --- .../jsk_fetch_startup/config/install_supervisor.sh | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh index f1229d57a2..d97642994f 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh @@ -9,13 +9,13 @@ set -x cd $jsk_fetch_startup/supervisor_scripts for file in $(ls *.conf); do - sudo ln -s $jsk_fetch_startup/supervisor_scripts/$file /etc/supervisor/conf.d/$file + sudo ln -sf $jsk_fetch_startup/supervisor_scripts/$file /etc/supervisor/conf.d/$file done sudo supervisorctl reread # Enable jsk_dstat job to save the csv log under /var/log -ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv +ln -sf /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv -sudo ln -s $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash -sudo ln -s $jsk_fetch_startup/config/config.bash /var/lib/robot/config_outside.bash +sudo ln -sf $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash +sudo ln -sf $jsk_fetch_startup/config/config.bash /var/lib/robot/config_outside.bash set +x From f47e018c256566b05dc89a02b3de92e361701bec Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 28 Jun 2022 19:40:50 +0900 Subject: [PATCH 216/430] [jsk_fetch_startup] remove unused supervisor conf --- .../jsk-human-pose-estimator.conf | 15 --------------- .../supervisor_scripts/jsk-object-detector.conf | 15 --------------- .../jsk-panorama-human-pose-estimator.conf | 15 --------------- .../jsk-panorama-object-detector.conf | 15 --------------- 4 files changed, 60 deletions(-) delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf deleted file mode 100644 index 25fa60f0a8..0000000000 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf +++ /dev/null @@ -1,15 +0,0 @@ -[program:jsk-human-pose-estimator] -; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait" - -stopsignal=TERM -; directory=/home/fetch/ros/coral_ws -directory=/home/fetch/ros/melodic -; autostart=true -autostart=false -autorestart=false -stdout_logfile=/var/log/ros/jsk-human-pose-estimator.log -stderr_logfile=/var/log/ros/jsk-human-pose-estimator.log -user=fetch -environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1 -priority=200 diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf deleted file mode 100644 index 516e1caa80..0000000000 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf +++ /dev/null @@ -1,15 +0,0 @@ -[program:jsk-object-detector] -; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" - -stopsignal=TERM -; directory=/home/fetch/ros/coral_ws -directory=/home/fetch/ros/melodic -; autostart=true -autostart=false -autorestart=false -stdout_logfile=/var/log/ros/jsk-object-detector.log -stderr_logfile=/var/log/ros/jsk-object-detector.log -user=fetch -environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1 -priority=200 diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf deleted file mode 100644 index 139af6c42f..0000000000 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf +++ /dev/null @@ -1,15 +0,0 @@ -[program:jsk-panorama-human-pose-estimator] -; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait" - -stopsignal=TERM -; directory=/home/fetch/ros/coral_ws -directory=/home/fetch/ros/melodic -; You can set "autostart=true" if "autostart=false" in jsk-human-pose-estimator.conf -autostart=false -autorestart=false -stdout_logfile=/var/log/ros/jsk-panorama-human-pose-estimator.log -stderr_logfile=/var/log/ros/jsk-panorama-human-pose-estimator.log -user=fetch -environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1 -priority=200 diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf deleted file mode 100644 index bc320c5486..0000000000 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf +++ /dev/null @@ -1,15 +0,0 @@ -[program:jsk-panorama-object-detector] -; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait" - -stopsignal=TERM -; directory=/home/fetch/ros/coral_ws -directory=/home/fetch/ros/melodic -; You can set "autostart=true" if "autostart=false" in jsk-object-detector.conf -autostart=false -autorestart=false -stdout_logfile=/var/log/ros/jsk-panorama-object-detector.log -stderr_logfile=/var/log/ros/jsk-panorama-object-detector.log -user=fetch -environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1 -priority=200 From 2aeaedd6d129cc56e8f2eea9458316263419122c Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 28 Jun 2022 23:11:35 +0900 Subject: [PATCH 217/430] [jsk_fetch_startup] update supervisor conf to use rossetclient instead of setting ROS_HOSTNAME directory --- .../jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf | 2 +- .../jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf | 2 +- .../supervisor_scripts/jsk-fetch-startup-outside.conf | 2 +- .../jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf | 2 +- .../jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf | 2 +- .../supervisor_scripts/jsk-network-monitor-outside.conf | 2 +- .../supervisor_scripts/jsk-network-monitor.conf | 2 +- .../jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf | 2 +- .../jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf | 2 +- .../jsk_fetch_startup/supervisor_scripts/robot-outside.conf | 2 +- jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf | 2 +- 11 files changed, 11 insertions(+), 11 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf index 8de89e02e4..23dcfcb3be 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf @@ -1,5 +1,5 @@ [program:jsk-app-scheduler] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen" stopsignal=TERM directory=/home/fetch/ros/melodic ; autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf index 79cd2be0f0..50db8b9ed5 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf @@ -1,5 +1,5 @@ [program:jsk-dialog] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen " +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen " stopsignal=TERM directory=/home/fetch/ros/melodic ; autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf index e9966ce881..463ddf138e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup-outside] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index 4005efea8d..69eb29af34 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -1,5 +1,5 @@ [program:jsk-fetch-startup] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) --wait" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf index b44ebd55cf..dd8e281cda 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf @@ -1,5 +1,5 @@ [program:jsk-gdrive] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true" stopsignal=TERM directory=/home/fetch/ros/melodic ; autostart=true diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf index 1058ba57af..2dbd597ae2 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf @@ -1,5 +1,5 @@ [program:jsk-network-monitor-outside] -command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" +command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" stopsignal=TERM autostart=false autorestart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf index 7d8a4b6621..30e1578f91 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf @@ -1,5 +1,5 @@ [program:jsk-network-monitor] -command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" +command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID" stopsignal=TERM autostart=true autorestart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf index 05377f460c..b80954f2ab 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf @@ -1,5 +1,5 @@ [program:jsk-rfcomm-bind] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch jsk_robot_startup rfcomm_bind.launch --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch jsk_robot_startup rfcomm_bind.launch --wait" stopsignal=TERM directory=/home/fetch/ros/melodic diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf index 0cf97a4327..7eceb2ba5b 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf @@ -1,5 +1,5 @@ [program:jsk-shutdown] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_robot_startup shutdown.py --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_robot_startup shutdown.py --wait" stopsignal=TERM directory=/home/fetch/ros/melodic diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf index 0ce0afc615..90f32f5811 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf @@ -1,5 +1,5 @@ [program:robot-outside] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=false diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf index 11ca006f09..0b33af1409 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf @@ -1,5 +1,5 @@ [program:robot] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen" stopsignal=TERM directory=/home/fetch/ros/melodic autostart=true From 5ebe13035dfe774c743e3c6da3f9a960460a513c Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 28 Jun 2022 23:11:53 +0900 Subject: [PATCH 218/430] [jsk_fetch_startup] update NETWORK_DEFAULT_ROS_INTERFACE --- jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 4 ++-- jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index db9f9eb944..7795bd4834 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -20,7 +20,7 @@ if [ $(hostname) = 'fetch15' ]; then export RS_SERIAL_NO_L515_HEAD=""; export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0"; - export NETWORK_DEFAULT_ROS_INTERFACE="localhost"; + export NETWORK_DEFAULT_ROS_INTERFACE="fetch15"; export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; elif [ $(hostname) = 'fetch1075' ]; then export DEFAULT_SPEAKER=2; @@ -41,6 +41,6 @@ elif [ $(hostname) = 'fetch1075' ]; then #export RS_SERIAL_NO_L515_HEAD=""; export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1"; - export NETWORK_DEFAULT_ROS_INTERFACE="localhost"; + export NETWORK_DEFAULT_ROS_INTERFACE="fetch1075"; export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; fi diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash index 011a2f64c1..007560b460 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash @@ -7,6 +7,6 @@ SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]:-$0}"; )" &> /dev/null && if [ $(hostname) = 'fetch15' ]; then export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside"; elif [ $(hostname) = 'fetch1075' ]; then - export NETWORK_DEFAULT_ROS_INTERFACE="wlan0"; + export NETWORK_DEFAULT_ROS_INTERFACE="fetch1075.local"; export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside"; fi From 35a036dc4e7cc1478cf728c2e989367310d1dc2b Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 28 Jun 2022 23:47:16 +0900 Subject: [PATCH 219/430] [jsk_fetch_startup] update description of NETWORK_DEFAULT_ROS_INTERFACE --- jsk_fetch_robot/jsk_fetch_startup/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md index 8978b82201..d7dcfcd4a4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/README.md +++ b/jsk_fetch_robot/jsk_fetch_startup/README.md @@ -85,8 +85,8 @@ descriptions of each variable are below. - `NETWORK_DEFAULT_PROFILE_ID` + Network manager profile ID for network management scripts (`network_monitor.py`) + `NETWORK_DEFAULT_ROS_INTERFACE` - + Network interface or IP address which is used for ROS connection. - + `rossetip $NETWORK_DEFAULT_ROS_INTERFACE` is executed to set `ROS_IP`. + + Network interface or IP address or hostname which is used for ROS connection. + + `rossetclient $NETWORK_DEFAULT_ROS_INTERFACE` is executed to set `ROS_IP`. It is also recommended to add lines below to each users's bashrc in the robot PC. From 787e42dae3620673a137cbaa3ba42df1c93f3168 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 28 Jun 2022 23:47:26 +0900 Subject: [PATCH 220/430] [jsk_fetch_startup] update description of NETWORK_DEFAULT_ROS_INTERFACE --- jsk_fetch_robot/jsk_fetch_startup/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md index d7dcfcd4a4..d23cac2634 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/README.md +++ b/jsk_fetch_robot/jsk_fetch_startup/README.md @@ -86,7 +86,7 @@ descriptions of each variable are below. + Network manager profile ID for network management scripts (`network_monitor.py`) + `NETWORK_DEFAULT_ROS_INTERFACE` + Network interface or IP address or hostname which is used for ROS connection. - + `rossetclient $NETWORK_DEFAULT_ROS_INTERFACE` is executed to set `ROS_IP`. + + `rossetclient $NETWORK_DEFAULT_ROS_INTERFACE` is executed to set `ROS_IP` or `ROS_HOSTNAME`. It is also recommended to add lines below to each users's bashrc in the robot PC. From 47b9b95080906e0c52262ef3cbbc0c07fad8ea2b Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 28 Jun 2022 23:57:26 +0900 Subject: [PATCH 221/430] [jsk_fetch_startup] add sudo to install_supervisor.sh --- jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh index d97642994f..b4a73ddaf9 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh @@ -13,7 +13,7 @@ for file in $(ls *.conf); do done sudo supervisorctl reread # Enable jsk_dstat job to save the csv log under /var/log -ln -sf /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv +sudo ln -sf /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv sudo ln -sf $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash sudo ln -sf $jsk_fetch_startup/config/config.bash /var/lib/robot/config_outside.bash From 09b3a9ba0cde638530d46770b1f5b5f70a3c3118 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 29 Jun 2022 00:19:18 +0900 Subject: [PATCH 222/430] [jsk_fetch_startup] fix symlink --- jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh index b4a73ddaf9..6a35d559c0 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh @@ -16,6 +16,6 @@ sudo supervisorctl reread sudo ln -sf /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv sudo ln -sf $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash -sudo ln -sf $jsk_fetch_startup/config/config.bash /var/lib/robot/config_outside.bash +sudo ln -sf $jsk_fetch_startup/config/config_outside.bash /var/lib/robot/config_outside.bash set +x From cc565427b3126ff34d6fd05bd604c8b910ff491a Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 29 Jun 2022 00:29:55 +0900 Subject: [PATCH 223/430] [fetcheus] remove headbox collision objects methods --- jsk_fetch_robot/fetcheus/fetch-interface.l | 14 -------------- 1 file changed, 14 deletions(-) diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l index 78f80f62fa..fe47bc9b49 100644 --- a/jsk_fetch_robot/fetcheus/fetch-interface.l +++ b/jsk_fetch_robot/fetcheus/fetch-interface.l @@ -43,10 +43,8 @@ (setq moveit-robot (instance fetch-robot :init)) (send self :set-moveit-environment (instance fetch-moveit-environment :init :robot moveit-robot)) (when (and (boundp '*co*) default-collision-object) - (send self :delete-headbox-collision-object) (send self :delete-keepout-collision-object) (send self :delete-ground-collision-object) - (send self :add-headbox-collision-object) (send self :add-keepout-collision-object) (send self :add-ground-collision-object)) (setq fetch-controller-action @@ -257,18 +255,6 @@ Example: (send self :gripper :position) => 0.00" (:delete-workspace () (send *co* :delete-attached-object-by-id "workspace") (send *co* :delete-object-by-id "workspace")) - (:add-headbox-collision-object () - (let () - ;; fetch must be :reset-pose when we run this method - (setq *fetch-headbox* (make-cube 100 201 120)) - (send *fetch-headbox* :move-coords (send robot :head_pan_link_lk :worldcoords) - (send robot :base_link_lk :worldcoords)) - (send *fetch-headbox* :translate #f(33.75 0 150) (send robot :head_pan_link_lk :worldcoords)) - (send *co* :add-attached-object *fetch-headbox* "head_pan_link" - :frame_id "head_pan_link" - :object_id "fetchheadbox"))) - (:delete-headbox-collision-object () - (send *co* :delete-attached-object-by-id "fetchheadbox")) (:add-keepout-collision-object () (let ((cube (make-cube 200 350 10)) (keepout (make-cylinder 300 10))) From 7c832ef856e4efe56a3e8e706aeb0b27d39ef707 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 29 Jun 2022 00:32:44 +0900 Subject: [PATCH 224/430] [jsk_fetch_startup] disable head box of fetch15 --- jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index 7795bd4834..4463923467 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -7,7 +7,7 @@ if [ $(hostname) = 'fetch15' ]; then export DEFAULT_WARNING_SPEAKER=cmu_us_fem.flitevox; export USE_BASE_CAMERA_MOUNT=true; - export USE_HEAD_BOX=true; + export USE_HEAD_BOX=false; export USE_HEAD_L515=true; export USE_INSTA360_STAND=true; From 23aba355bbf58e8b2acc8c793fde00ed7dfdfa99 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Fri, 1 Jul 2022 04:16:39 +0900 Subject: [PATCH 225/430] [jsk_fetch_startup] Remove rosserial in go_to_kitchen demo --- .../apps/go_to_kitchen/go_to_kitchen.xml | 9 --------- 1 file changed, 9 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 09c9f3cf28..e8eec07635 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -19,15 +19,6 @@ - - - - - port: /dev/rfcomm0 - baud: 115200 - - - From 8487b315ebd526f15a5980b1d3b9d64e33b9694a Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 4 Jul 2022 11:36:53 +0900 Subject: [PATCH 226/430] [jsk_fetch_startup] update default network config temporaliry --- jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index 4463923467..5f0013d276 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -21,7 +21,9 @@ if [ $(hostname) = 'fetch15' ]; then export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0"; export NETWORK_DEFAULT_ROS_INTERFACE="fetch15"; - export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; + # Comment out until Access point is back + #export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; + export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside"; elif [ $(hostname) = 'fetch1075' ]; then export DEFAULT_SPEAKER=2; export DEFAULT_ENGLISH_SPEAKER=cmu_us_slt.flitevox; @@ -42,5 +44,7 @@ elif [ $(hostname) = 'fetch1075' ]; then export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1"; export NETWORK_DEFAULT_ROS_INTERFACE="fetch1075"; - export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; + # Comment out until Access point is back + #export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; + export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside"; fi From 7167e061e4fdd8a4f4d0f9612158d4c5c975df9f Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 4 Jul 2022 13:13:56 +0900 Subject: [PATCH 227/430] [jsk_fetch_startup] enable low resolution mode of insta360 air --- .../launch/fetch_insta360_melodic.launch | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch index d7b863ae23..16968689af 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch @@ -7,11 +7,13 @@ - - + + + + @@ -23,8 +25,8 @@ - scale_width: 0.25 - scale_height: 0.25 + scale_width: 0.5 + scale_height: 0.5 From 411dd6a23fff878b376d9d5661e6724a79a8da14 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 4 Jul 2022 14:26:54 +0900 Subject: [PATCH 228/430] [jsk_fetch_startup] increase insta360 rate --- .../jsk_fetch_startup/launch/fetch_insta360_melodic.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch index 16968689af..9958ed71f2 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch @@ -10,7 +10,7 @@ - + From 5f1f0102f36a2d17038134d7b6a1e3bcb7317fee Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 4 Jul 2022 19:05:33 +0900 Subject: [PATCH 229/430] [jsk_fetch_startup] remove /tmp/update_workspace.sh after updating --- jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index 868f0cd1b2..5646eb2875 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -2,3 +2,4 @@ cp $(rospack find jsk_fetch_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh /tmp/update_workspace.sh $@ +rm /tmp/update_workspace.sh From 015652624e6f3b86d226f79a8174da1955580a52 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 5 Jul 2022 05:21:18 +0900 Subject: [PATCH 230/430] [jsk_fetch_startup] Ignore rosserial audible warning because it automatically reconnects --- jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml index ed684b0de8..d095743c69 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml +++ b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml @@ -3,6 +3,7 @@ blacklist: - name: "/Other/amcl: Standard deviation" - name: "/Other/jsk_joy_node: Joystick Driver Status" - name: "/Other/l515_head l515_head_realsense2_camera_.*: Frequency Status" + - name: "/Other/rosserial_python" - name: "/Peripherals/PS3 Controller" - name: "/Sensors/IMU/IMU.*" - name: "/SoundPlay/sound_play.*" From 74d781ad4d2d594427c622747ce268c359946420 Mon Sep 17 00:00:00 2001 From: iory Date: Wed, 6 Jul 2022 18:28:56 +0900 Subject: [PATCH 231/430] [jsk_fetch_startup/go_to_kitchen.app] Increase the speed of bag_to_video.py by setting compress to false. --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index 3aef562056..df73e9a083 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -14,7 +14,7 @@ plugins: launch_args: rosbag_path: /tmp rosbag_title: go_to_kitchen_rosbag.bag - compress: true + compress: false rosbag_topic_names: - /rosout - /tf From 202569a1d9ae99e6dcd17e70133d2ea93dbb655b Mon Sep 17 00:00:00 2001 From: iory Date: Wed, 6 Jul 2022 18:30:38 +0900 Subject: [PATCH 232/430] [jsk_fetch_startup/go_to_kitchen.app] Speed up bag_to_video.py by setting fps to 5. --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index df73e9a083..48e797cb66 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -64,7 +64,7 @@ plugins: rosbag_path: /tmp rosbag_title: go_to_kitchen_rosbag.bag image_topic_name: /edgetpu_object_detector/output/image/compressed - image_fps: 30 + image_fps: 5 audio_topic_name: /audio audio_sample_rate: 16000 audio_channels: 1 From c0c514cceb60b471b366692376aa5808f324697d Mon Sep 17 00:00:00 2001 From: iory Date: Fri, 8 Jul 2022 03:49:54 +0900 Subject: [PATCH 233/430] [jsk_fetch_startup/audible_warning] Tweet audible warning with image --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 91d712f490..37432460a0 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -363,6 +363,19 @@ + + + + + + From 06a07380a4cfcf9de5ba20497c8a21683900f974 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Mon, 18 Jul 2022 17:14:03 +0900 Subject: [PATCH 234/430] [jsk_fetch_startup] Add option to change L515 resolution --- .../launch/fetch_realsense_bringup.launch | 21 +++++++++++++++---- 1 file changed, 17 insertions(+), 4 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch index afbedb15e5..f7cc7bf4cf 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch @@ -7,6 +7,19 @@ + + + + + + + + + + + + + @@ -91,10 +104,10 @@ - - - - + + + + From 3493c878c08270fcde089f36528a87dfd81b15a4 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Mon, 18 Jul 2022 17:14:19 +0900 Subject: [PATCH 235/430] [jsk_fetch_startup] Use L515 high resolution by default --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch index 230ed6656c..95b8c91777 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch @@ -17,6 +17,7 @@ + @@ -40,6 +41,7 @@ + From 62609c7b576a2bb6f36f71dd2dee467055a01616 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Mon, 18 Jul 2022 17:14:34 +0900 Subject: [PATCH 236/430] [jsk_fetch_startup] Use L515 low resolution mode for fetch1075 because of USB 2 connection --- jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index 5f0013d276..a2afa74855 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -41,6 +41,8 @@ elif [ $(hostname) = 'fetch1075' ]; then # Use L515 after finding a way to reduce L515 CPU usage like ConnectionBasedTransport export RS_SERIAL_NO_L515_HEAD="f0232270"; #export RS_SERIAL_NO_L515_HEAD=""; + # Currently, fetch1075 uses USB 2 for L515, so high resolution mode is not available. + export L515_HIGH_RESOLUTION=false; export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1"; export NETWORK_DEFAULT_ROS_INTERFACE="fetch1075"; From 8f463df9c8e51e94a43907bdcf5c5f2846d477de Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 20 Jul 2022 16:44:11 +0900 Subject: [PATCH 237/430] [jsk_fetch_robot] add eus10 catkinize script to readme --- jsk_fetch_robot/README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/jsk_fetch_robot/README.md b/jsk_fetch_robot/README.md index 732edbd5a6..71e62c2de0 100644 --- a/jsk_fetch_robot/README.md +++ b/jsk_fetch_robot/README.md @@ -45,6 +45,9 @@ wstool init . wstool set --git jsk-ros-pkg/jsk_robot https://github.com/jsk-ros-pkg/jsk_robot.git -y wstool merge -t . https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_fetch_robot/jsk_fetch_user.rosinstall.$ROS_DISTRO wstool update -t . +# To use eus10, furuschev script is required. +wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_roseus/master/setup_upstream.sh -O /tmp/setup_upstream.sh +bash /tmp/setup_upstream.sh -w . -p jsk-ros-pkg/geneus -p euslisp/jskeus source /opt/ros/$ROS_DISTRO/setup.bash rosdep install -y -r --from-paths . --ignore-src cd ../ From 3bd82c23087d84f45324202ce116ea2c76dfea00 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 21 Jul 2022 09:52:46 +0900 Subject: [PATCH 238/430] [jsk_fetch_robot] update README.md --- jsk_fetch_robot/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/README.md b/jsk_fetch_robot/README.md index 71e62c2de0..9a838c5d6f 100644 --- a/jsk_fetch_robot/README.md +++ b/jsk_fetch_robot/README.md @@ -47,7 +47,7 @@ wstool merge -t . https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master wstool update -t . # To use eus10, furuschev script is required. wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_roseus/master/setup_upstream.sh -O /tmp/setup_upstream.sh -bash /tmp/setup_upstream.sh -w . -p jsk-ros-pkg/geneus -p euslisp/jskeus +bash /tmp/setup_upstream.sh -w ../ -p jsk-ros-pkg/geneus -p euslisp/jskeus source /opt/ros/$ROS_DISTRO/setup.bash rosdep install -y -r --from-paths . --ignore-src cd ../ From 355dce2e79478ac20cc23b3180d078b860d81c75 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Sat, 30 Jul 2022 17:29:01 +0900 Subject: [PATCH 239/430] [jsk_fetch_startup] Use symbolic link for udev rules file, as well as supervisor configs --- .../jsk_fetch_startup/config/install_udev.sh | 12 ++---------- 1 file changed, 2 insertions(+), 10 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh index b079e114a4..f3cec97ba1 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh @@ -4,14 +4,6 @@ jsk_fetch_startup=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`"/.. > /dev/null && cd $jsk_fetch_startup/udev_rules for file in $(ls *.rules); do - if [ -e /etc/udev/rules.d/$file ]; then - file_bk=$file.$(date "+%Y%m%d_%H%M%S") - sudo cp /etc/udev/rules.d/$file /etc/udev/rules.d/$file_bk - echo "backup /etc/udev/rules.d/$file to /etc/udev/rules.d/$file_bk" - fi - - sudo cp $file /etc/udev/rules.d/ - sudo chown root:root /etc/udev/rules.d/$file - sudo chmod 644 /etc/udev/rules.d/$file - echo -e "copied jsk_fetch_startup/udev_rules/$file to /etc/udev/rules.d/$file\n" + sudo ln -sf $jsk_fetch_startup/udev_rules/$file /etc/udev/rules.d/$file + echo -e "Create symbolic link from jsk_fetch_startup/udev_rules/$file to /etc/udev/rules.d/$file\n" done From 53497458877bb2bb64da8f98d046dfeacd4de874 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Sat, 30 Jul 2022 17:52:24 +0900 Subject: [PATCH 240/430] [jsk_fetch_startup] Use L515 high resolution for fetch1075 because USB3 is used now --- jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 2 -- 1 file changed, 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index a2afa74855..5f0013d276 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -41,8 +41,6 @@ elif [ $(hostname) = 'fetch1075' ]; then # Use L515 after finding a way to reduce L515 CPU usage like ConnectionBasedTransport export RS_SERIAL_NO_L515_HEAD="f0232270"; #export RS_SERIAL_NO_L515_HEAD=""; - # Currently, fetch1075 uses USB 2 for L515, so high resolution mode is not available. - export L515_HIGH_RESOLUTION=false; export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1"; export NETWORK_DEFAULT_ROS_INTERFACE="fetch1075"; From 9112946059f62dc5588a8307e84bd787926a5324 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Sat, 30 Jul 2022 18:04:01 +0900 Subject: [PATCH 241/430] [jsk_fetch_startup] Add commit about udev files installed by apt --- jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh | 3 +++ 1 file changed, 3 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh index f3cec97ba1..5e8e1cec43 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh @@ -1,5 +1,8 @@ #!/bin/bash +# 99-edgetpu-accelerator.rules and 99-realsense-libusb.rules are not tracked in jsk_fetch_startup +# because they are installed by apt + jsk_fetch_startup=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`"/.. > /dev/null && pwd) cd $jsk_fetch_startup/udev_rules From d2884fbf47a4c3d6b4d20b7aee158676581a8dc2 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Sat, 30 Jul 2022 23:26:16 +0900 Subject: [PATCH 242/430] [jsk_fetch_startup] Remove pointcloud from filters to disable publishing pointcloud --- .../jsk_fetch_startup/launch/fetch_realsense_bringup.launch | 3 --- 1 file changed, 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch index f7cc7bf4cf..95a60d8a5c 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch @@ -69,7 +69,6 @@ - @@ -86,7 +85,6 @@ - @@ -103,7 +101,6 @@ - From 0af58658157a4c8fbfdc9f8f835d7455773d388b Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 2 Aug 2022 01:03:20 +0900 Subject: [PATCH 243/430] [jsk_fetch_startup] Use nodelet for RealSenseNodeFactory --- .../launch/devices/realsense_nodelet.launch.xml | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/devices/realsense_nodelet.launch.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/devices/realsense_nodelet.launch.xml index a72dd3f2d1..c5993ed682 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/devices/realsense_nodelet.launch.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/devices/realsense_nodelet.launch.xml @@ -3,6 +3,8 @@ This launch file is copied from realsense2_camera in realsense_ros https://github.com/IntelRealSense/realsense-ros and then modified And it is originally distributed under Apache-2.0 License --> + + @@ -10,6 +12,7 @@ + @@ -101,11 +104,12 @@ + From 58e33abad7d39a092e76fd175a65db1804b59fbd Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 2 Aug 2022 02:03:55 +0900 Subject: [PATCH 244/430] [jsk_fetch_startup] Create L515 pointcloud with depth_image_proc --- .../launch/fetch_realsense_bringup.launch | 28 +++++++++++++++++++ 1 file changed, 28 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch index 95a60d8a5c..237629f164 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch @@ -1,6 +1,7 @@ + @@ -20,6 +21,11 @@ + + + + + @@ -94,6 +100,8 @@ + + @@ -115,6 +123,26 @@ /l515_head/l500_depth_sensor/global_time_enabled: true /l515_head/rgb_camera/global_time_enabled: true + + + + + + + + + + + + + + + + From aa4d1afe32bf8887634457e080db7768ed04c056 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 2 Aug 2022 02:38:51 +0900 Subject: [PATCH 245/430] [jsk_fetch_startup] Create L515 points from throttled rgb and depth images --- .../launch/fetch_realsense_bringup.launch | 45 +++++++++++++++++-- 1 file changed, 42 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch index 237629f164..755995ad96 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch @@ -25,6 +25,8 @@ + + @@ -135,12 +137,49 @@ + + + + + + + + + + + + + + + + + + + + + + + + + - - - + + + + + + From 7f02ee2f60beea3ba808d09bc4402e602a030ed4 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 2 Aug 2022 02:40:29 +0900 Subject: [PATCH 246/430] [jsk_fetch_startup] Add option to create L515 points --- .../launch/fetch_realsense_bringup.launch | 107 +++++++++--------- 1 file changed, 55 insertions(+), 52 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch index 755995ad96..eac50fe952 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch @@ -22,6 +22,7 @@ + @@ -82,7 +83,7 @@ - + @@ -98,7 +99,7 @@ - + @@ -130,58 +131,60 @@ This launch file is copied from realsense2_camera in realsense_ros https://github.com/IntelRealSense/realsense-ros and then modified And it is originally distributed under Apache-2.0 License --> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - From 8d6c73da39204c1d58f0555aad26006c7c1a76f7 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 2 Aug 2022 02:41:09 +0900 Subject: [PATCH 247/430] [jsk_fetch_startup] Publish resized L515 pointcloud --- .../launch/fetch_realsense_bringup.launch | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch index eac50fe952..e30aa74dac 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch @@ -184,6 +184,17 @@ + + + + + step_x: 4 + step_y: 4 + + From d31be1807453e02408a4acd23e0ee6e2fc7dc684 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 2 Aug 2022 02:42:13 +0900 Subject: [PATCH 248/430] [jsk_fetch_startup] Fix indent --- .../jsk_fetch_startup/launch/fetch_realsense_bringup.launch | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch index e30aa74dac..1e0ab40556 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch @@ -122,9 +122,9 @@ - /l515_head/motion_module/global_time_enabled: true - /l515_head/l500_depth_sensor/global_time_enabled: true - /l515_head/rgb_camera/global_time_enabled: true + /l515_head/motion_module/global_time_enabled: true + /l515_head/l500_depth_sensor/global_time_enabled: true + /l515_head/rgb_camera/global_time_enabled: true From 561507f03b1bda569e04197fa5a59ef5562fe708 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 4 Aug 2022 22:44:30 +0900 Subject: [PATCH 250/430] [jsk_fetch_startup] Extend audible warning blacklist to nodelet version realsense2_camera --- jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml index d095743c69..d5ff0adfcc 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml +++ b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml @@ -2,7 +2,7 @@ blacklist: - name: "/CPU/CPU Usage/my_machine CPU Usage" - name: "/Other/amcl: Standard deviation" - name: "/Other/jsk_joy_node: Joystick Driver Status" - - name: "/Other/l515_head l515_head_realsense2_camera_.*: Frequency Status" + - name: "/Other/l515_head .*realsense2_camera_.*: Frequency Status" - name: "/Other/rosserial_python" - name: "/Peripherals/PS3 Controller" - name: "/Sensors/IMU/IMU.*" From 5e607f6bc645a75b40eab6c84a5a9cad6920ecaa Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Fri, 5 Aug 2022 21:19:27 +0900 Subject: [PATCH 251/430] [jsk_fetch_startup] Fix L515 head mount link pose --- jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro index dd2f9b7a5e..24885a8324 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro +++ b/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro @@ -37,7 +37,7 @@ - + From 4397ede056c7d811399ca0b893c906d610518da8 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Tue, 16 Aug 2022 22:50:52 +0900 Subject: [PATCH 252/430] [jsk_fetch_startup] add rate arg to rosbag play --- jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch index 1fdab69f5f..725e006ada 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch @@ -12,6 +12,7 @@ + @@ -104,7 +105,7 @@ + args="$(arg rosbag) $(arg loop_flag) --clock --start $(arg start_time) $(arg duration) -r $(arg rate)" output="screen" /> From 8b077485d7515c40d5bc0c5748603064bb95161c Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 15 Aug 2022 14:37:00 +0900 Subject: [PATCH 253/430] [fetcheus] add :point-head method --- jsk_fetch_robot/fetcheus/fetch-interface.l | 17 ++++++++++++++++- 1 file changed, 16 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l index fe47bc9b49..495da3df23 100644 --- a/jsk_fetch_robot/fetcheus/fetch-interface.l +++ b/jsk_fetch_robot/fetcheus/fetch-interface.l @@ -22,7 +22,7 @@ (defclass fetch-interface :super robot-move-base-interface - :slots (gripper-action moveit-robot fetch-controller-action) + :slots (gripper-action moveit-robot fetch-controller-action point-head-action) ) (defmethod fetch-interface @@ -51,6 +51,10 @@ (instance ros::simple-action-client :init "/query_controller_states" robot_controllers_msgs::QueryControllerStatesAction)) + (setq point-head-action + (instance ros::simple-action-client :init + "/head_controller/point_head" + control_msgs::PointHeadAction)) )) (:state (&rest args) "We do not have :wait-until-update option for :state :worldcoords. @@ -203,6 +207,17 @@ Example usage: (:stop-grasp (&rest args &key &allow-other-keys) (send* self :go-grasp :pos 0.1 args)) + (:point-head (pos &key (frame-id "base_link") (wait t)) + (let ((goal (instance control_msgs::PointHeadGoal :init))) + (send goal :target :header :stamp (ros::time-now)) + (send goal :target :header :frame_id frame-id) + (send goal :target :point (ros::pos->tf-point pos)) + (if wait + (send point-head-action :send-goal goal) + (send point-head-action :send-goal-and-wait goal) + ) + ) + ) (:go-grasp (&key (pos 0) (effort 50) (wait t)) (when (send self :simulation-modep) From 515c3becbe2f47b6bc12af543343c8126e293673 Mon Sep 17 00:00:00 2001 From: Aoi Nakane Date: Thu, 18 Aug 2022 03:00:29 +0900 Subject: [PATCH 254/430] [jsk_robot_startup] Speak when shut down or reboot --- .../jsk_robot_startup/scripts/shutdown.py | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py b/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py index ff05431dbc..97bab6c60f 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py +++ b/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py @@ -1,9 +1,11 @@ #!/usr/bin/env python +# -*- coding: utf-8 -*- import os from importlib import import_module import rospy +from sound_play.libsoundplay import SoundClient from std_msgs.msg import Empty @@ -32,7 +34,7 @@ class Shutdown(object): def __init__(self): rospy.loginfo('Start shutdown node.') - + self.client_jp = SoundClient(sound_action='/robotsound_jp', blocking=True) self.condition = rospy.get_param( '~input_condition', None) if self.condition is not None: @@ -51,6 +53,11 @@ def __init__(self): '~shutdown_command', '/sbin/shutdown -h now') self.reboot_command = rospy.get_param( '~reboot_command', '/sbin/shutdown -r now') + self.volume = rospy.get_param('~volume', 1.0) + + def speak(self, client, speech_text, lang='jp'): + client.say(speech_text, voice=lang, volume=self.volume, replace=False) + return client.actionclient.get_result() def callback(self, msg): if isinstance(msg, rospy.msg.AnyMsg): @@ -81,6 +88,7 @@ def shutdown(self, msg): return rospy.loginfo('Shut down robot.') + self.speak(self.client_jp, 'シャットダウンします。') ret = os.system(self.shutdown_command) if ret != 0: rospy.logerr("Failed to call '$ {}'. Check authentication.".format( @@ -88,6 +96,7 @@ def shutdown(self, msg): def reboot(self, msg): rospy.loginfo('Reboot robot.') + self.speak(self.client_jp, '再起動します。') ret = os.system(self.reboot_command) if ret != 0: rospy.logerr("Failed to call '$ {}'. Check authentication.".format( From 59c6af54df946112057f0c86c9535790130b08c4 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Thu, 18 Aug 2022 16:39:07 +0900 Subject: [PATCH 255/430] [jsk_fetch_startup] Supervisor save the log-wifi-link.sh log --- .../jsk_fetch_startup/scripts/log-wifi-link.sh | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh index c888d2a903..2c10f5d0c4 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh @@ -1,7 +1,6 @@ #!/bin/bash IFACE=wlan0 -OUTPATH=/var/log/wifi.log INTERVAL=10 wifi_status(){ @@ -14,11 +13,6 @@ wifi_status(){ echo "$(date -Iseconds),$ssid,$freq,$signal,$level,$noise,$bitrate" } -OUTDIR=$(dirname $OUTPATH) -if [ ! -d $OUTDIR ]; then - mkdir -p $OUTDIR -fi - print_help(){ echo "Usage: $0 [-i INTERVAL (default: 10)] [-I IFACE (default: wlan0)]" exit 1 @@ -34,6 +28,6 @@ do done while true; do - wifi_status >> $OUTPATH + wifi_status sleep $INTERVAL done From 1a49b9778cfef19a36d6dba28d4952dabf0482a3 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Sun, 14 Aug 2022 18:05:35 +0900 Subject: [PATCH 256/430] [fetcheus] update args --- jsk_fetch_robot/fetcheus/fetch-interface.l | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l index 495da3df23..238d964a7f 100644 --- a/jsk_fetch_robot/fetcheus/fetch-interface.l +++ b/jsk_fetch_robot/fetcheus/fetch-interface.l @@ -26,7 +26,7 @@ ) (defmethod fetch-interface - (:init (&key (default-collision-object t) &rest args) + (:init (&rest args &key (default-collision-object t) &allow-other-keys) (prog1 (send-super* :init :robot fetch-robot :base-frame-id "base_link" :odom-topic "/odom_combined" :base-controller-action-name nil args) (send self :add-controller :arm-controller) (send self :add-controller :torso-controller) From b1eae55bdaa86569115d2c56ec8880a5c07648bb Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 18 Aug 2022 10:16:54 +0900 Subject: [PATCH 257/430] [jsk_fetch_startup] make sanshiro-73B2 default --- jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index 5f0013d276..4463923467 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -21,9 +21,7 @@ if [ $(hostname) = 'fetch15' ]; then export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0"; export NETWORK_DEFAULT_ROS_INTERFACE="fetch15"; - # Comment out until Access point is back - #export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; - export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside"; + export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; elif [ $(hostname) = 'fetch1075' ]; then export DEFAULT_SPEAKER=2; export DEFAULT_ENGLISH_SPEAKER=cmu_us_slt.flitevox; @@ -44,7 +42,5 @@ elif [ $(hostname) = 'fetch1075' ]; then export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1"; export NETWORK_DEFAULT_ROS_INTERFACE="fetch1075"; - # Comment out until Access point is back - #export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; - export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside"; + export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; fi From 64dfedf0d602b8f3d381b05883226ab8d0b5fbe9 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 22 Aug 2022 17:57:11 +0900 Subject: [PATCH 258/430] [jsk_fetch_startup] update log-wifi-link.sh --- .../jsk_fetch_startup/scripts/log-wifi-link.sh | 16 ++++++++++++++-- 1 file changed, 14 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh index 2c10f5d0c4..ef42c3e5e0 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh @@ -2,6 +2,9 @@ IFACE=wlan0 INTERVAL=10 +PING_COUNT=3 +PING_TIMEOUT=1 +PING_TARGET="www.google.com" wifi_status(){ local ssid=$(iw $IFACE link | grep SSID | cut -d: -f2) @@ -10,7 +13,13 @@ wifi_status(){ local level=$(cat /proc/net/wireless | grep $IFACE | awk '{print $4}') local noise=$(cat /proc/net/wireless | grep $IFACE | awk '{print $5}') local bitrate=$(iw $IFACE link | grep bitrate | cut -d':' -f2) - echo "$(date -Iseconds),$ssid,$freq,$signal,$level,$noise,$bitrate" + local ping_result_raw=$(ping -I $IFACE $PING_TARGET -c $PING_COUNT -W $PING_TIMEOUT | tail -n 1) + if [ -z "$ping_result_raw" ]; then + local ping_result_duration=999 + else + local ping_result_duration=$(echo $ping_result_raw | cut -d " " -f 4 | cut -d "/" -f 2) + fi + echo "$(date -Iseconds),$ssid,$freq,$signal,$level,$noise,$bitrate,$ping_result_duration" } print_help(){ @@ -18,11 +27,14 @@ print_help(){ exit 1 } -while getopts hi:I: o +while getopts hi:I:c:W:t: o do case "$o" in i) INTERVAL=$OPTARG;; I) IFACE="$OPTARG";; + c) PING_COUNT=$OPTARG;; + W) PING_TIMEOUT=$OPTARG;; + t) PING_TARGET="$OPTARG";; h) print_help;; esac done From c0df7e1cb06dd316ecefabd9533c2048d49a8a7e Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 4 Oct 2022 00:32:54 +0900 Subject: [PATCH 259/430] [jsk_fetch_startup] Fixed warning blacklist when runstop is enabled --- .../jsk_fetch_startup/config/warning_blacklist.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml index d5ff0adfcc..54dc6a28f6 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml +++ b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml @@ -8,6 +8,8 @@ blacklist: - name: "/Sensors/IMU/IMU.*" - name: "/SoundPlay/sound_play.*" run_stop_blacklist: - - name: "\\w*_(mcb|breaker)" - - name: "Mainboard" + - name: "/Motor Control Boards/.*_(mcb|breaker)" + - name: "/System/Mainboard/Mainboard" message: "Runstop pressed" + - name: "/Breakers/.*" + message: "Disabled." From fcf2dae8f75628c42220429a750c4bc45cb3220d Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 4 Oct 2022 00:33:04 +0900 Subject: [PATCH 260/430] [jsk_fetch_startup] Set ignore_time_(before|after)_runstop_is_enabled param to avoid warning when runstop is enabled --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 37432460a0..a587c70d13 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -359,7 +359,9 @@ run_stop_condition: "m.runstopped is True" seconds_to_start_speaking: 60 speak_interval: 600 - language: $(arg default_warning_speaker) + language: $(arg default_warning_speaker) + ignore_time_after_runstop_is_enabled: 5.0 + ignore_time_after_runstop_is_disabled: 5.0 From 233e43debd89dc44738b808051e4ba080994c59a Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Mon, 22 Aug 2022 12:12:51 +0900 Subject: [PATCH 261/430] [jsk_fetch_startup] Add description tag for kitchen-demo userdata --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 0112a5fc24..ebf86afabe 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -770,6 +770,7 @@ Args: (:report-light-on '(lambda (userdata) (report-light-on) + (set-alist 'description "電気がついていたよ" userdata) t)) (:room-light-on '(lambda (userdata) From 5d1fa2c480c3363ffb43a637c40a8c469b68164c Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Mon, 22 Aug 2022 13:13:08 +0900 Subject: [PATCH 262/430] [jsk_fetch_startup/kitchen-demo] Add image tag for kitchen-demo userdata --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index ebf86afabe..389bff2cf4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -771,6 +771,7 @@ Args: '(lambda (userdata) (report-light-on) (set-alist 'description "電気がついていたよ" userdata) + (set-alist 'image "" userdata) t)) (:room-light-on '(lambda (userdata) From ec1adae963fa321ac1f62c5d9fcfa30228154654 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 24 Aug 2022 10:12:51 +0900 Subject: [PATCH 263/430] [jsk_fetch_startup] change NETWORK_DEFAULT_INTERFACE **temporarily** --- jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index 4463923467..4f7057cc68 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -40,7 +40,7 @@ elif [ $(hostname) = 'fetch1075' ]; then export RS_SERIAL_NO_L515_HEAD="f0232270"; #export RS_SERIAL_NO_L515_HEAD=""; - export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1"; + export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0"; export NETWORK_DEFAULT_ROS_INTERFACE="fetch1075"; export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; fi From 9ba65e47b8c75db992299752251b8f60c2df3d7d Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 23 Aug 2022 11:36:25 +0900 Subject: [PATCH 264/430] [jsk_fetch_startup] update help and output format --- .../jsk_fetch_startup/scripts/log-wifi-link.sh | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh index ef42c3e5e0..e8f1eefcc2 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh @@ -19,11 +19,16 @@ wifi_status(){ else local ping_result_duration=$(echo $ping_result_raw | cut -d " " -f 4 | cut -d "/" -f 2) fi - echo "$(date -Iseconds),$ssid,$freq,$signal,$level,$noise,$bitrate,$ping_result_duration" + echo "$(date -Iseconds),$ssid,$freq,$signal,$level,$noise,$bitrate, $ping_result_duration" } print_help(){ - echo "Usage: $0 [-i INTERVAL (default: 10)] [-I IFACE (default: wlan0)]" + echo "Usage: log-wifi-link.sh [-h]" + echo " [-i INTERVAL (default: 10)]" + echo " [-I IFACE (default: wlan0)]" + echo " [-c PING_COUNT (default: 3)]" + echo " [-W PING_TIMEOUT (default: 1)]" + echo " [-t PING_TARGET (default: \"www.google.com\")]" exit 1 } From 36f0619bcf9a9a7d51bcbbf96855f6ae2544adaa Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 24 Aug 2022 11:12:06 +0900 Subject: [PATCH 265/430] [jsk_fetch_startup] redirect error print of ping to /dev/null and change ping result duration when fails --- jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh index e8f1eefcc2..3afeeb5c6d 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh @@ -13,9 +13,10 @@ wifi_status(){ local level=$(cat /proc/net/wireless | grep $IFACE | awk '{print $4}') local noise=$(cat /proc/net/wireless | grep $IFACE | awk '{print $5}') local bitrate=$(iw $IFACE link | grep bitrate | cut -d':' -f2) - local ping_result_raw=$(ping -I $IFACE $PING_TARGET -c $PING_COUNT -W $PING_TIMEOUT | tail -n 1) + local ping_result_raw=$(ping -I $IFACE $PING_TARGET -c $PING_COUNT -W $PING_TIMEOUT 2> /dev/null | tail -n 1) if [ -z "$ping_result_raw" ]; then - local ping_result_duration=999 + # minus ping indicates ping fails + local ping_result_duration=-1000 else local ping_result_duration=$(echo $ping_result_raw | cut -d " " -f 4 | cut -d "/" -f 2) fi From 7c079d88a8c2347363b7fdf30f31182c369c58a8 Mon Sep 17 00:00:00 2001 From: iory Date: Tue, 23 Aug 2022 23:29:15 +0900 Subject: [PATCH 266/430] [jsk_robot_startup] Enable shutdown_unchecked --- .../jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf index 7eceb2ba5b..37feca3d06 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf @@ -1,5 +1,5 @@ [program:jsk-shutdown] -command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_robot_startup shutdown.py --wait" +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_robot_startup shutdown.py ~input:=/battery_state _input_condition:='m.is_charging is False' --wait" stopsignal=TERM directory=/home/fetch/ros/melodic From 9a504ed33c3ffc4b609689c71246b769ce1c701f Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Wed, 31 Aug 2022 14:34:58 +0900 Subject: [PATCH 267/430] [jsk_fetch_startup] add rviz config arg to use original .rviz file --- jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch index 725e006ada..20abc5d53a 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch @@ -13,6 +13,7 @@ + @@ -108,5 +109,5 @@ args="$(arg rosbag) $(arg loop_flag) --clock --start $(arg start_time) $(arg duration) -r $(arg rate)" output="screen" /> + args="-d $(arg rviz_config)" /> From 2747a9097d52bd9eebde8edd31793097ea01bd49 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 24 Aug 2022 16:28:50 +0900 Subject: [PATCH 268/430] [jsk_fetch_startup/kithcen] Change description dependent on success or not --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 2 -- 1 file changed, 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 389bff2cf4..0112a5fc24 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -770,8 +770,6 @@ Args: (:report-light-on '(lambda (userdata) (report-light-on) - (set-alist 'description "電気がついていたよ" userdata) - (set-alist 'image "" userdata) t)) (:room-light-on '(lambda (userdata) From 6ecce035e471ff640129b4ac54a1054ac5e3a635 Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Tue, 13 Sep 2022 20:58:51 +0900 Subject: [PATCH 269/430] add new arduino udev rules --- jsk_fetch_robot/jsk_fetch_startup/udev_rules/80-arduino.rules | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/udev_rules/80-arduino.rules b/jsk_fetch_robot/jsk_fetch_startup/udev_rules/80-arduino.rules index 4606864732..d422d6fd00 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/udev_rules/80-arduino.rules +++ b/jsk_fetch_robot/jsk_fetch_startup/udev_rules/80-arduino.rules @@ -1,3 +1,4 @@ # You can access arduino attached to fetch via /dev/arduino # https://github.com/start-jsk/jsk_apc/blob/16c004c511e864478aa6581a04c5a023e5fde391/jsk_arc2017_baxter/udev/90-rosserial.rules SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", SYMLINK+="arduino", MODE="0666" +SUBSYSTEM=="tty", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0058", SYMLINK+="arduino", MODE="0666" From b5e09835cd263bfe8323ce790df6a13bcdf247df Mon Sep 17 00:00:00 2001 From: Aoi Nakane Date: Wed, 14 Sep 2022 09:20:57 +0900 Subject: [PATCH 270/430] Add description on new arduino udev rules --- .../jsk_fetch_startup/udev_rules/80-arduino.rules | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/udev_rules/80-arduino.rules b/jsk_fetch_robot/jsk_fetch_startup/udev_rules/80-arduino.rules index d422d6fd00..ef16f14591 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/udev_rules/80-arduino.rules +++ b/jsk_fetch_robot/jsk_fetch_startup/udev_rules/80-arduino.rules @@ -1,4 +1,7 @@ # You can access arduino attached to fetch via /dev/arduino # https://github.com/start-jsk/jsk_apc/blob/16c004c511e864478aa6581a04c5a023e5fde391/jsk_arc2017_baxter/udev/90-rosserial.rules SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", SYMLINK+="arduino", MODE="0666" -SUBSYSTEM=="tty", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0058", SYMLINK+="arduino", MODE="0666" + +# The following device is for arduino nano every in nakane hand version 1 +# Please update idVendor and idProduct if you use a different microcontroller +SUBSYSTEM=="tty", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0058", SYMLINK+="nakane_hand", MODE="0666" From a792e6fb90c6437e11de5ee4c8ea28da9471f084 Mon Sep 17 00:00:00 2001 From: iory Date: Thu, 15 Sep 2022 21:29:30 +0900 Subject: [PATCH 271/430] [jsk_fetch_startup] Set AUDIO_DEVICE environment variable to select speaker --- jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 4 ++++ .../supervisor_scripts/jsk-fetch-startup.conf | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index 4f7057cc68..4ce9b16dc8 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -22,6 +22,8 @@ if [ $(hostname) = 'fetch15' ]; then export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0"; export NETWORK_DEFAULT_ROS_INTERFACE="fetch15"; export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; + + export AUDIO_DEVICE="alsa_output.usb-1130_USB_AUDIO-00.analog-stereo" elif [ $(hostname) = 'fetch1075' ]; then export DEFAULT_SPEAKER=2; export DEFAULT_ENGLISH_SPEAKER=cmu_us_slt.flitevox; @@ -43,4 +45,6 @@ elif [ $(hostname) = 'fetch1075' ]; then export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0"; export NETWORK_DEFAULT_ROS_INTERFACE="fetch1075"; export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; + + export AUDIO_DEVICE="alsa_output.usb-SEEED_ReSpeaker_4_Mic_Array__UAC1.0_-00.analog-stereo" fi diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf index 69eb29af34..5efe6fb1be 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -7,5 +7,5 @@ autorestart=false stdout_logfile=/var/log/ros/jsk-fetch-startup.log stderr_logfile=/var/log/ros/jsk-fetch-startup.log user=fetch -environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",AUDIO_DEVICE="alsa_output.usb-1130_USB_AUDIO-00.analog-stereo",PYTHONUNBUFFERED=1 +environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1 priority=100 From d0f04c2137ede256bf710b5366dd272c0a1be734 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 15 Sep 2022 14:07:56 +0900 Subject: [PATCH 272/430] [jsk_fetch_startup] fix mailbody in update_workspace script --- .../jsk_fetch_startup/scripts/update_workspace_main.sh | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh index 74eb47693b..041c18fd5d 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh @@ -48,6 +48,8 @@ fi # Filename should end with .txt to preview the contents in a web browser LOGFILE=$WORKSPACE/update_workspace.txt +MAIL_BODY="" + { set -x # Update workspace @@ -85,7 +87,6 @@ catkin config -DCMAKE_BUILD_TYPE=Release catkin build --continue-on-failure CATKIN_BUILD_RESULT=$? # Send mail -MAIL_BODY="" if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. " fi @@ -97,6 +98,7 @@ if [ $CATKIN_BUILD_RESULT -ne 0 ]; then fi set +x } 2>&1 | tee $LOGFILE + if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then echo "Sent a mail" rostopic pub -1 /email jsk_robot_startup/Email "header: From a12c095748458cf39eadfe13d873ad5554271a23 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 15 Sep 2022 14:17:35 +0900 Subject: [PATCH 273/430] [jsk_fetch_startup] fix mailbody in update_workspace script --- .../scripts/update_workspace_main.sh | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh index 041c18fd5d..abb10dc24e 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh @@ -48,7 +48,7 @@ fi # Filename should end with .txt to preview the contents in a web browser LOGFILE=$WORKSPACE/update_workspace.txt -MAIL_BODY="" +TMP_MAIL_BODY_FILE=/tmp/update_workspace_mailbody.txt { set -x @@ -87,18 +87,22 @@ catkin config -DCMAKE_BUILD_TYPE=Release catkin build --continue-on-failure CATKIN_BUILD_RESULT=$? # Send mail +echo "" > $TMP_MAIL_BODY_FILE if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then - MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. " + echo "Please wstool update workspace manually.\n" >> $TMP_MAIL_BODY_FILE fi if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then - MAIL_BODY=$MAIL_BODY"Please install dependencies manually. " + echo "Please install dependencies manually.\n" >> $TMP_MAIL_BODY_FILE fi if [ $CATKIN_BUILD_RESULT -ne 0 ]; then - MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually." + echo "Please catkin build workspace manually.\n" >> $TMP_MAIL_BODY_FILE fi set +x } 2>&1 | tee $LOGFILE +MAIL_BODY=$(cat $TMP_MAIL_BODY_FILE) +echo "MAIL_BODY: $MAIL_BODY" + if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then echo "Sent a mail" rostopic pub -1 /email jsk_robot_startup/Email "header: From d28edbc3d186f660f105566451f1422aa88cb8f3 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 15 Sep 2022 22:17:02 +0900 Subject: [PATCH 274/430] [jsk_fetch_startup] Fix email body topic by jsk_robot_startup/EmailBody --- .../jsk_fetch_startup/scripts/update_workspace_main.sh | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh index abb10dc24e..ccae05598c 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh @@ -110,7 +110,8 @@ if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then stamp: {secs: 0, nsecs: 0} frame_id: '' subject: 'Daily workspace update fails' -body: '$MAIL_BODY' +body: +- {type: 'text', message: '${MAIL_BODY}', file_path: '', img_data: '', img_size: 0} sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp' receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp' smtp_server: '' From 97b4327cc5d5077835c5508a4b9b2cf36f5541bc Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Sun, 18 Sep 2022 11:23:43 +0900 Subject: [PATCH 275/430] [jsk_fetch_startup] add comment to update_workspace_main.sh --- .../jsk_fetch_startup/scripts/update_workspace_main.sh | 3 +++ 1 file changed, 3 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh index ccae05598c..fd02428eee 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh @@ -100,6 +100,9 @@ fi set +x } 2>&1 | tee $LOGFILE +# MAIL_BODY variable cannot be set directly in a subshell. So it is set from temporary mail body text file. +# The mail body text is put as $TMP_MAIL_BODY_FILE. +# See https://github.com/jsk-ros-pkg/jsk_robot/issues/1569 MAIL_BODY=$(cat $TMP_MAIL_BODY_FILE) echo "MAIL_BODY: $MAIL_BODY" From 8f464b9ec1173e71e560391108a5a23a76c2a82b Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Mon, 19 Sep 2022 23:32:16 +0900 Subject: [PATCH 276/430] [jsk_fetch_robot] update wstool info in readme --- jsk_fetch_robot/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/README.md b/jsk_fetch_robot/README.md index 9a838c5d6f..8a69d14fc1 100644 --- a/jsk_fetch_robot/README.md +++ b/jsk_fetch_robot/README.md @@ -61,7 +61,7 @@ source devel/setup.bash mkdir -p catkin_ws/src cd catkin_ws/src wstool init . -wstool set --git jsk-ros-pkg/jsk_robot https://github.com/knorth55/jsk_robot.git -v fetch15 -y +wstool set --git jsk-ros-pkg/jsk_robot https://github.com/jsk-ros-pkg/jsk_robot.git -v develop/fetch -y wstool update -t . wstool merge -t . jsk-ros-pkg/jsk_robot/jsk_fetch_robot/jsk_fetch.rosinstall.$ROS_DISTRO wstool update -t . From 00fa77253f4e4629338e3e71f20f2442f6c39178 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 13 Sep 2022 16:48:19 +0900 Subject: [PATCH 277/430] add jsk-switch-wifi supervisor conf --- .../supervisor_scripts/jsk-switch-wifi-73b2.conf | 8 ++++++++ .../supervisor_scripts/jsk-switch-wifi-outside.conf | 8 ++++++++ 2 files changed, 16 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-switch-wifi-73b2.conf create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-switch-wifi-outside.conf diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-switch-wifi-73b2.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-switch-wifi-73b2.conf new file mode 100644 index 0000000000..52656f1761 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-switch-wifi-73b2.conf @@ -0,0 +1,8 @@ +[program:jsk-switch-wifi-73b2] +command=nmcli c up sanshiro-73B2 +stopsignal=TERM +autostart=false +autorestart=false +stdout_logfile=/var/log/ros/jsk-switch-wifi.log +stderr_logfile=/var/log/ros/jsk-switch-wifi.log +user=root diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-switch-wifi-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-switch-wifi-outside.conf new file mode 100644 index 0000000000..d892d5be10 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-switch-wifi-outside.conf @@ -0,0 +1,8 @@ +[program:jsk-switch-wifi-outside] +command=nmcli c up sanshiro-outside +stopsignal=TERM +autostart=false +autorestart=false +stdout_logfile=/var/log/ros/jsk-switch-wifi.log +stderr_logfile=/var/log/ros/jsk-switch-wifi.log +user=root From 21c4e57bb2b5fde02f21317ba6e525cd8109b68a Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 30 Sep 2022 17:29:04 +0900 Subject: [PATCH 278/430] [jsk_fetch_startup, jsk_robot_startup] move update_workspace_main.sh to jsk_robot_startup --- .../scripts/update_workspace.sh | 8 +++- .../scripts/update_workspace_main.sh | 48 +++++++++++-------- 2 files changed, 35 insertions(+), 21 deletions(-) rename {jsk_fetch_robot/jsk_fetch_startup => jsk_robot_common/jsk_robot_startup}/scripts/update_workspace_main.sh (76%) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh index 5646eb2875..6fd0ba00d2 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh @@ -1,5 +1,9 @@ #!/usr/bin/env bash -cp $(rospack find jsk_fetch_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh -/tmp/update_workspace.sh $@ +cp $(rospack find jsk_robot_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh +# jsk_footstep_planner is not released for melodic +# jsk_footstep_controller is not released for melodic +# librealsense2 should not be installed from ROS repository +# realsense-ros should not be installed from ROS repository +/tmp/update_workspace.sh -r $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO -t fetch -s "jsk_footstep_controller jsk_footstep_planner librealsense2 realsense2_camera realsense2_description" rm /tmp/update_workspace.sh diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh similarity index 76% rename from jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh rename to jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh index fd02428eee..0dc6176331 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh +++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh @@ -2,11 +2,14 @@ function usage() { - echo "Usage: $0 [-w workspace_directory] [-h] [-l] + echo "Usage: $0 [-w workspace_directory] [-r rosinstall_path] [-t robot_type] [-s skip keys] [-h] [-l] optional arguments: -h show this help -w WORKSPACE_PATH specify target workspace + -r ROSINTALL_PATH rosinstall path + -t ROBOT robot type + -s SKIP_KEYS rosdep install skip keys -l do not send a mail " } @@ -17,14 +20,23 @@ function get_full_path() } SEND_MAIL=true -WORKSPACE=$(get_full_path $HOME/ros/melodic) +WORKSPACE=$(get_full_path $HOME/ros/$ROS_DISTRO) -while getopts hlw: OPT +while getopts w:r:t:s:lh OPT do case $OPT in w) WORKSPACE=$(get_full_path $OPTARG) ;; + r) + ROSINSTALL=$(get_full_path $OPTARG) + ;; + t) + ROBOT_TYPE=$OPTARG + ;; + s) + SKIP_KEYS=$OPTARG + ;; l) SEND_MAIL=false ;; @@ -39,11 +51,20 @@ do esac done -if [ ! -e $WORKSPACE ]; then - echo "No workspace $WORKSPACE" +if [ "$WORKSPACE" = "" ]; then + echo "Please set valid workspace -w $WORKSPACE" + exit 1 +fi +if [ "$ROSINSTALL" = "" ]; then + echo "Please set valid rosinstall -r $ROSINSTALL" + exit 1 +fi +if [ "$ROBOT_TYPE" = "" ]; then + echo "Please set valid robot type -t $ROBOT_TYPE" exit 1 fi + . $WORKSPACE/devel/setup.bash # Filename should end with .txt to preview the contents in a web browser LOGFILE=$WORKSPACE/update_workspace.txt @@ -57,7 +78,7 @@ set -x wstool foreach -t $WORKSPACE/src --git 'git stash' wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune' wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot -ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall +ln -sf $ROSINSTALL $WORKSPACE/src/.rosinstall wstool update -t $WORKSPACE/src --delete-changed-uris # Forcefully checkout specified branch wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi' @@ -66,18 +87,7 @@ WSTOOL_UPDATE_RESULT=$? # Rosdep Install sudo apt-get update -y rosdep update -# jsk_footstep_planner is not released for melodic -# jsk_footstep_controller is not released for melodic -# librealsense2 should not be installed from ROS repository -# realsense-ros should not be installed from ROS repository -rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys \ -"\ -jsk_footstep_controller \ -jsk_footstep_planner \ -librealsense2 \ -realsense2_camera \ -realsense2_description \ -" +rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys $SKIP_KEYS ROSDEP_INSTALL_RESULT=$? # Build workspace cd $WORKSPACE @@ -116,7 +126,7 @@ subject: 'Daily workspace update fails' body: - {type: 'text', message: '${MAIL_BODY}', file_path: '', img_data: '', img_size: 0} sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp' -receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp' +receiver_address: '$ROBOT_TYPE@jsk.imi.i.u-tokyo.ac.jp' smtp_server: '' smtp_port: '' attached_files: ['$LOGFILE']" From 5a141294ff772c7a59fbf4fbc57303f3c827e8e5 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 30 Sep 2022 17:31:16 +0900 Subject: [PATCH 279/430] [jsk_pr2_startup] add update_workspace.sh for pr2 --- jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh | 5 +++++ 1 file changed, 5 insertions(+) create mode 100755 jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh diff --git a/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh b/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh new file mode 100755 index 0000000000..a1ebc5cfc0 --- /dev/null +++ b/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh @@ -0,0 +1,5 @@ +#!/usr/bin/env bash + +cp $(rospack find jsk_robot_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh +/tmp/update_workspace.sh -w $HOME/ros/indigo -r $(rospack find jsk_pr2_startup)/jsk_pr2.rosinstall -t pr2 +rm /tmp/update_workspace.sh From eac6974f95d5609ad6e4fc92b5df64aadd2bf5fb Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 30 Sep 2022 17:55:01 +0900 Subject: [PATCH 280/430] [jsk_robot_startup] add option to disable rosdep install --- .../scripts/update_workspace_main.sh | 21 +++++++++++++------ 1 file changed, 15 insertions(+), 6 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh index 0dc6176331..2443db885a 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh +++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh @@ -2,7 +2,7 @@ function usage() { - echo "Usage: $0 [-w workspace_directory] [-r rosinstall_path] [-t robot_type] [-s skip keys] [-h] [-l] + echo "Usage: $0 [-w workspace_directory] [-r rosinstall_path] [-t robot_type] [-s skip keys] [-h] [-u] [-l] optional arguments: -h show this help @@ -10,6 +10,7 @@ optional arguments: -r ROSINTALL_PATH rosinstall path -t ROBOT robot type -s SKIP_KEYS rosdep install skip keys + -u do not run apt-get upgrade and rosdep install -l do not send a mail " } @@ -19,10 +20,11 @@ function get_full_path() echo "$(cd $(dirname $1) && pwd)/$(basename $1)" } +ROSDEP_INSTALL=true SEND_MAIL=true WORKSPACE=$(get_full_path $HOME/ros/$ROS_DISTRO) -while getopts w:r:t:s:lh OPT +while getopts w:r:t:s:ulh OPT do case $OPT in w) @@ -37,6 +39,9 @@ do s) SKIP_KEYS=$OPTARG ;; + u) + ROSDEP_INSTALL=false + ;; l) SEND_MAIL=false ;; @@ -85,10 +90,14 @@ wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abb wstool update -t $WORKSPACE/src WSTOOL_UPDATE_RESULT=$? # Rosdep Install -sudo apt-get update -y -rosdep update -rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys $SKIP_KEYS -ROSDEP_INSTALL_RESULT=$? +if [ "${ROSDEP_INSTALL}" == "true" ]; then + sudo apt-get update -y; + rosdep update; + rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys $SKIP_KEYS; + ROSDEP_INSTALL_RESULT=$?; +else + ROSDEP_INSTALL_RESULT=0; +fi # Build workspace cd $WORKSPACE catkin clean aques_talk collada_urdf_jsk_patch libcmt -y From 60696ee5042311a87e3ef0ae5d1ca7ade33ab5c7 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 30 Sep 2022 17:56:50 +0900 Subject: [PATCH 281/430] [jsk_pr2_startup] do not run rosdep in pr2 --- jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh b/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh index a1ebc5cfc0..3dbf85dd09 100755 --- a/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh +++ b/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh @@ -1,5 +1,5 @@ #!/usr/bin/env bash cp $(rospack find jsk_robot_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh -/tmp/update_workspace.sh -w $HOME/ros/indigo -r $(rospack find jsk_pr2_startup)/jsk_pr2.rosinstall -t pr2 +/tmp/update_workspace.sh -w $HOME/ros/indigo -r $(rospack find jsk_pr2_startup)/jsk_pr2.rosinstall -t pr2 -u rm /tmp/update_workspace.sh From dc4bd3dbaaede8045787bd0f06cc5b17af2d2e64 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 30 Sep 2022 19:09:36 +0900 Subject: [PATCH 282/430] Apply suggestions from code review Co-authored-by: Koki Shinjo --- .../jsk_robot_startup/scripts/update_workspace_main.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh index 2443db885a..f653cd8934 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh +++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh @@ -82,7 +82,7 @@ set -x wstool foreach -t $WORKSPACE/src --git 'git stash' wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune' -wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot +wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot --delete-changed-uris ln -sf $ROSINSTALL $WORKSPACE/src/.rosinstall wstool update -t $WORKSPACE/src --delete-changed-uris # Forcefully checkout specified branch From 334de58144d3a55727eb39c2b11cc88da62f6501 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 30 Sep 2022 22:29:59 +0900 Subject: [PATCH 283/430] [jsk_robot_startup] fix typo in update_workspace_main.sh --- .../jsk_robot_startup/scripts/update_workspace_main.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh index f653cd8934..053f0fcfd3 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh +++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh @@ -93,7 +93,7 @@ WSTOOL_UPDATE_RESULT=$? if [ "${ROSDEP_INSTALL}" == "true" ]; then sudo apt-get update -y; rosdep update; - rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys $SKIP_KEYS; + rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys "$SKIP_KEYS"; ROSDEP_INSTALL_RESULT=$?; else ROSDEP_INSTALL_RESULT=0; From fd11365f88aba991c52aa2622ad65d9321bf928a Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 30 Sep 2022 20:30:20 +0900 Subject: [PATCH 284/430] add smach_image_publisher in fetch_bringup.launch --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index a587c70d13..5e4f56444a 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -342,6 +342,14 @@ + + + + duration: 0.5 + + + From 63e82aec60d6a5e32540c60d37b8593c9c25fa17 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 30 Sep 2022 20:35:34 +0900 Subject: [PATCH 285/430] add smach video recorder in go_to_kitchen app --- .../apps/go_to_kitchen/go_to_kitchen.app | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index 48e797cb66..a67ee96593 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -47,6 +47,7 @@ plugins: - /server_name/smach/container_structure - /audio - /rviz/throttled/image/compressed + - /smach_image_publisher/image/compressed - name: head_camera_converter_plugin type: app_recorder/rosbag_video_converter_plugin plugin_args: @@ -85,6 +86,14 @@ plugins: image_topic_name: /rviz/throttled/image/compressed image_fps: 5 video_path: /tmp/go_to_kitchen_rviz.mp4 + - name: smach_converter_plugin + type: app_recorder/rosbag_video_converter_plugin + plugin_args: + rosbag_path: /tmp + rosbag_title: go_to_kitchen_rosbag.bag + image_topic_name: /smach_image_publisher/image/compressed + image_fps: 2 + video_path: /tmp/go_to_kitchen_smach.mp4 - name: respeaker_audio_converter_plugin type: app_recorder/rosbag_audio_converter_plugin plugin_args: @@ -108,6 +117,7 @@ plugins: - /tmp/go_to_kitchen_object_detection.mp4 - /tmp/go_to_kitchen_panorama.mp4 - /tmp/go_to_kitchen_rviz.mp4 + - /tmp/go_to_kitchen_smach.mp4 - /tmp/go_to_kitchen_audio.wav - /tmp/go_to_kitchen_rosbag.bag - /tmp/trashcan_inside.jpg @@ -117,6 +127,7 @@ plugins: - go_to_kitchen_object_detection.mp4 - go_to_kitchen_panorama.mp4 - go_to_kitchen_rviz.mp4 + - go_to_kitchen_smach.mp4 - go_to_kitchen_audio.wav - go_to_kitchen_rosbag.bag - trashcan_inside.jpg @@ -166,6 +177,7 @@ plugin_order: - object_detection_converter_plugin - panorama_converter_plugin - rviz_converter_plugin + - smach_converter_plugin - respeaker_audio_converter_plugin - result_recorder_plugin - gdrive_uploader_plugin @@ -182,6 +194,7 @@ plugin_order: - object_detection_converter_plugin - panorama_converter_plugin - rviz_converter_plugin + - smach_converter_plugin - respeaker_audio_converter_plugin - result_recorder_plugin - gdrive_uploader_plugin From 8bb57fcc8a13a7bb365aec3cf3a34a93b30475e4 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Tue, 4 Oct 2022 15:57:38 +0900 Subject: [PATCH 286/430] [jsk_fetch_startup] Generate fetch_email_topic.yaml when building workspace --- jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt | 14 ++++++++++++++ .../jsk_fetch_startup/config/email_topic.yaml.in | 2 ++ 2 files changed, 16 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/email_topic.yaml.in diff --git a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt index 20cade468e..96d03f10ea 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt +++ b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt @@ -90,10 +90,24 @@ macro(configure_dialogflow_hotword_yaml dname) endif() endmacro(configure_dialogflow_hotword_yaml) +macro(configure_email_topic_yaml rname) + cmake_host_system_information(RESULT FETCH_NAME QUERY HOSTNAME) + if (${FETCH_NAME} MATCHES ^${rname}) + set(RECEIVER_MAIL ${rname}) + set(EMAIL_SENDER_ADDRESS ${FETCH_NAME}@jsk.imi.i.u-tokyo.ac.jp) + set(EMAIL_RECEIVER_ADDRESS ${RECEIVER_MAIL}@jsk.imi.i.u-tokyo.ac.jp) + configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config/email_topic.yaml.in + ${CMAKE_CURRENT_SOURCE_DIR}/config/${FETCH_NAME}_email_topic.yaml) + endif() +endmacro(configure_email_topic_yaml) + + configure_icon_files(blue fetch15) configure_icon_files(red fetch1075) configure_dialogflow_hotword_yaml(fetch15) configure_dialogflow_hotword_yaml(fetch1075) +configure_email_topic_yaml(fetch) + ############# ## Testing ## diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/email_topic.yaml.in b/jsk_fetch_robot/jsk_fetch_startup/config/email_topic.yaml.in new file mode 100644 index 0000000000..a087a38abb --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/config/email_topic.yaml.in @@ -0,0 +1,2 @@ +sender_address: @EMAIL_SENDER_ADDRESS@ +receiver_address: @EMAIL_RECEIVER_ADDRESS@ From 6419319cf3a5323587d2f517bb6404dd5598cd26 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Tue, 4 Oct 2022 16:12:12 +0900 Subject: [PATCH 287/430] [jsk_fetch_startup/config] Ignore email config from git tracking --- jsk_fetch_robot/jsk_fetch_startup/config/.gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/.gitignore b/jsk_fetch_robot/jsk_fetch_startup/config/.gitignore index 97ed018fbb..dd8bb6cb6a 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/.gitignore +++ b/jsk_fetch_robot/jsk_fetch_startup/config/.gitignore @@ -1 +1,2 @@ fetch*_dialogflow_hotword.yaml +fetch*_email_topic.yaml From 49fe03e27eaf3155a56e96b781772a4d656275f3 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Sun, 2 Oct 2022 23:01:49 +0900 Subject: [PATCH 288/430] [jsk_fetch_startup] Load rosparam for smach_to_mail as yaml --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 5e4f56444a..05522de9bc 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -337,9 +337,8 @@ - - email_info: /var/lib/robot/email_topic.yaml - + From c66f87120efdb015a9cb9e09825cf302e4457150 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Fri, 7 Oct 2022 12:29:52 +0900 Subject: [PATCH 289/430] [jsk_robot_startup] Use /email_topic/mail_title for email title --- jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py index 2b1578cd67..29ba204fc1 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py +++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py @@ -209,6 +209,8 @@ def _send_mail(self, subject, state_list): if subject: email_msg.subject = subject + elif rospy.has_param("/email_topic/mail_title"): + email_msg.subject = rospy.get_param("/email_topic/mail_title") else: email_msg.subject = 'Message from {}'.format(rospy.get_param('/robot/name', 'robot')) From 4e37234241911a129596aa16641a3114ebff91a4 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Fri, 7 Oct 2022 12:30:53 +0900 Subject: [PATCH 290/430] [jsk_fetch_startup] Use email title set by mail_notifier --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index a67ee96593..2577fa0141 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -149,6 +149,7 @@ plugins: plugin_args: mail_title: Fetch kitchen patrol demo use_timestamp_title: true + use_app_start_time: true plugin_arg_yaml: /var/lib/robot/fetch_mail_notifier_plugin.yaml - name: move_base_cancel_plugin type: app_publisher/rostopic_publisher_plugin From aa967abde4f17f523543f404e2d6ba9f41fe27b4 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 7 Oct 2022 14:20:01 +0900 Subject: [PATCH 291/430] update time_signal schedule --- .../jsk_fetch_startup/scripts/time_signal.py | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py index ca5781dc44..5e555dc93f 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py @@ -56,10 +56,8 @@ def speak_jp(self): speech_text += 'そろそろ輪講です。' if self.day == 'Tue' and self.now_hour == 15: speech_text += '掃除の時間です。' - if self.day == 'Fri' and self.now_hour == 14: + if self.day == 'Fri' and self.now_hour == 15: speech_text += '創造輪講の時間です。' - if self.day == 'Fri' and self.now_hour == 16: - speech_text += '掃除の時間です。' # weather forecast if self.now_hour in [0, 7, 12, 19]: @@ -80,6 +78,14 @@ def speak_en(self): speech_text += " Let's go to lunch." if self.now_hour == 19: speech_text += " Let's go to dinner." + if self.day == 'Mon' and self.now_hour == 12: + speech_text += ' The lab meeting will start soon.' + if self.day == 'Tue' and self.now_hour == 12: + speech_text += ' The lab meeting will start soon.' + if self.day == 'Tue' and self.now_hour == 15: + speech_text += ' It is cleaning time now.' + if self.day == 'Fri' and self.now_hour == 15: + speech_text += ' Rinko will start soon. ' # weather forecast if self.now_hour in [0, 7, 12, 19]: From d7965575473a7817868f862e721befc06c75e1af Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 7 Oct 2022 14:21:16 +0900 Subject: [PATCH 292/430] update time text --- .../jsk_fetch_startup/scripts/time_signal.py | 39 +++++++++++++------ 1 file changed, 27 insertions(+), 12 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py index 5e555dc93f..d7999aef68 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py @@ -20,6 +20,7 @@ def __init__(self): '/robotsound_jp', SoundRequestAction) self.now_time = datetime.now() self.now_hour = self.now_time.hour + self.now_minute = self.now_time.minute self.day = self.now_time.strftime('%a') reload(sys) sys.setdefaultencoding('utf-8') @@ -43,7 +44,8 @@ def speak(self, client, speech_text, lang=None): def speak_jp(self): # time signal - speech_text = str(self.now_hour) + 'じです。' + speech_text = self._get_time_text( + self.now_hour, self.now_minute, lang='ja') if self.now_hour == 0: speech_text += '早く帰りましょう。' if self.now_hour == 12: @@ -70,7 +72,8 @@ def speak_jp(self): self.speak(self.client_jp, speech_text, lang='jp') def speak_en(self): - speech_text = self._get_text(self.now_hour) + speech_text = self._get_time_text( + self.now_hour, self.now_minute, lang='en') # time signal if self.now_hour == 0: speech_text += " Let's go home." @@ -97,18 +100,30 @@ def speak_en(self): rospy.logdebug(speech_text) self.speak(self.client_en, speech_text) - def _get_text(self, hour): - if hour == 0: - text = 'midnight' - elif hour == 12: - text = 'noon' + def _get_time_text(self, hour, minute, lang='en'): + if lang == 'ja': + if hour == 0 and minute == 0: + time_text = '正午' + else: + time_text = '{}時'.format(hour) + if minute != 0: + time_text += '{}分'.format(minute) + time_text += 'です。' else: - if hour > 12: - text = str(hour % 12) + ' P.M.' + if hour == 0 and minute == 0: + time_text = 'midnight' + elif hour == 12 and minute == 0: + time_text = 'noon' else: - text = str(hour % 12) + ' A.M.' - text = "It's " + text + "." - return text + time_text = str(hour % 12) + if minute != 0: + time_text += ' {}'.format(minute) + if hour > 12: + time_text += ' P.M.' + else: + time_text += ' A.M.' + time_text = "It's {}.".format(time_text) + return time_text def _get_weather_forecast(self, lang='en'): url = 'http://api.openweathermap.org/data/2.5/weather?q=tokyo&lang={}&units=metric&appid={}'.format(lang, self.appid) # NOQA From aa1d767442fb02bc9e16dedc01e77aae6e2c6e01 Mon Sep 17 00:00:00 2001 From: MiyabiTane Date: Mon, 10 Oct 2022 15:08:48 +0900 Subject: [PATCH 293/430] update README for develop/fetch branch --- jsk_fetch_robot/README.md | 38 ++++++++++++++++++++++++++++++++++++-- 1 file changed, 36 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/README.md b/jsk_fetch_robot/README.md index 8a69d14fc1..bef719c8c4 100644 --- a/jsk_fetch_robot/README.md +++ b/jsk_fetch_robot/README.md @@ -50,8 +50,42 @@ wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_roseus/master/setup_upstr bash /tmp/setup_upstream.sh -w ../ -p jsk-ros-pkg/geneus -p euslisp/jskeus source /opt/ros/$ROS_DISTRO/setup.bash rosdep install -y -r --from-paths . --ignore-src -cd ../ -catkin build fetcheus jsk_fetch_startup +cd jsk_robot +git fetch origin +git checkout -b develop/fetch origin/develop/fetch +``` + +Next, you need to install `roseus_resume` package. For more information, please check [Affonso-Gui/roseus_resume](https://github.com/Affonso-Gui/roseus_resume). +``` +cd ../../ # catkin_ws/src +# clone euslisp +wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_roseus/master/setup_upstream.sh -O /tmp/setup_upstream.sh +bash /tmp/setup_upstream.sh -w .. + +# clone roseus +wstool set jsk-ros-pkg/jsk_roseus --git https://github.com/jsk-ros-pkg/jsk_roseus.git -v master -u -y +cd euslisp/Euslisp/ + +# checkout euslisp/eus-handler +git remote add Affonso-Gui https://github.com/Affonso-Gui/EusLisp.git +git fetch Affonso-Gui +git checkout eus10 + +# checkout roseus/eus-handler +cd ../../jsk-ros-pkg/jsk_roseus/ +git remote add Affonso-Gui https://github.com/Affonso-Gui/jsk_roseus.git +git fetch Affonso-Gui +git checkout eus10 +cd ../../ # catkin_ws/src + +# clone roseus_resume +git clone https://github.com/Affonso-Gui/roseus_resume.git +``` + +Finally, build the packages +``` +cd ../ # catkin_ws +catkin build euslisp roseus_resume fetcheus jsk_fetch_startup source devel/setup.bash ``` From abb646245a4145ef4c9970d0e2dd3b28b8326c45 Mon Sep 17 00:00:00 2001 From: MiyabiTane Date: Tue, 11 Oct 2022 13:27:14 +0900 Subject: [PATCH 294/430] more simple install --- jsk_fetch_robot/README.md | 44 +++++---------------------------------- 1 file changed, 5 insertions(+), 39 deletions(-) diff --git a/jsk_fetch_robot/README.md b/jsk_fetch_robot/README.md index bef719c8c4..4333451423 100644 --- a/jsk_fetch_robot/README.md +++ b/jsk_fetch_robot/README.md @@ -41,52 +41,18 @@ Please make sure your ROS Distribution is indigo, kinetic or melodic. ```bash mkdir -p catkin_ws/src cd catkin_ws/src -wstool init . -wstool set --git jsk-ros-pkg/jsk_robot https://github.com/jsk-ros-pkg/jsk_robot.git -y +wstool init . +wstool set --git jsk-ros-pkg/jsk_robot https://github.com/jsk-ros-pkg/jsk_robot.git -v develop/fetch -y wstool merge -t . https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_fetch_robot/jsk_fetch_user.rosinstall.$ROS_DISTRO +wstool merge -t . https://gist.githubusercontent.com/Affonso-Gui/25518fef9dc7af0051147bdd2a94b116/raw/e3fcbf4027c876329801a25e32f4a4746200ddae/guiga_system.rosinstall wstool update -t . # To use eus10, furuschev script is required. wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_roseus/master/setup_upstream.sh -O /tmp/setup_upstream.sh bash /tmp/setup_upstream.sh -w ../ -p jsk-ros-pkg/geneus -p euslisp/jskeus source /opt/ros/$ROS_DISTRO/setup.bash rosdep install -y -r --from-paths . --ignore-src -cd jsk_robot -git fetch origin -git checkout -b develop/fetch origin/develop/fetch -``` - -Next, you need to install `roseus_resume` package. For more information, please check [Affonso-Gui/roseus_resume](https://github.com/Affonso-Gui/roseus_resume). -``` -cd ../../ # catkin_ws/src -# clone euslisp -wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_roseus/master/setup_upstream.sh -O /tmp/setup_upstream.sh -bash /tmp/setup_upstream.sh -w .. - -# clone roseus -wstool set jsk-ros-pkg/jsk_roseus --git https://github.com/jsk-ros-pkg/jsk_roseus.git -v master -u -y -cd euslisp/Euslisp/ - -# checkout euslisp/eus-handler -git remote add Affonso-Gui https://github.com/Affonso-Gui/EusLisp.git -git fetch Affonso-Gui -git checkout eus10 - -# checkout roseus/eus-handler -cd ../../jsk-ros-pkg/jsk_roseus/ -git remote add Affonso-Gui https://github.com/Affonso-Gui/jsk_roseus.git -git fetch Affonso-Gui -git checkout eus10 -cd ../../ # catkin_ws/src - -# clone roseus_resume -git clone https://github.com/Affonso-Gui/roseus_resume.git -``` - -Finally, build the packages -``` -cd ../ # catkin_ws -catkin build euslisp roseus_resume fetcheus jsk_fetch_startup -source devel/setup.bash +cd ../ +catkin build fetcheus jsk_fetch_startup roseus_resume ``` #### Setup Environment (For Robot Internal PC, only for advanced developer) From 0619e4a9c4cccda4a5560aee7da0e4bb2c62cb6f Mon Sep 17 00:00:00 2001 From: MiyabiTane Date: Tue, 11 Oct 2022 13:33:32 +0900 Subject: [PATCH 295/430] fix --- jsk_fetch_robot/README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/README.md b/jsk_fetch_robot/README.md index 4333451423..c8daa71043 100644 --- a/jsk_fetch_robot/README.md +++ b/jsk_fetch_robot/README.md @@ -41,7 +41,7 @@ Please make sure your ROS Distribution is indigo, kinetic or melodic. ```bash mkdir -p catkin_ws/src cd catkin_ws/src -wstool init . +wstool init . wstool set --git jsk-ros-pkg/jsk_robot https://github.com/jsk-ros-pkg/jsk_robot.git -v develop/fetch -y wstool merge -t . https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_fetch_robot/jsk_fetch_user.rosinstall.$ROS_DISTRO wstool merge -t . https://gist.githubusercontent.com/Affonso-Gui/25518fef9dc7af0051147bdd2a94b116/raw/e3fcbf4027c876329801a25e32f4a4746200ddae/guiga_system.rosinstall @@ -53,6 +53,7 @@ source /opt/ros/$ROS_DISTRO/setup.bash rosdep install -y -r --from-paths . --ignore-src cd ../ catkin build fetcheus jsk_fetch_startup roseus_resume +source devel/setup.bash ``` #### Setup Environment (For Robot Internal PC, only for advanced developer) From 86eca2d2d22bfd3d255a9deb30ebc623b41ca277 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 12 Oct 2022 15:58:26 +0900 Subject: [PATCH 296/430] add eus10 and roseus_resume as optional --- jsk_fetch_robot/README.md | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/README.md b/jsk_fetch_robot/README.md index c8daa71043..51c6144640 100644 --- a/jsk_fetch_robot/README.md +++ b/jsk_fetch_robot/README.md @@ -44,15 +44,21 @@ cd catkin_ws/src wstool init . wstool set --git jsk-ros-pkg/jsk_robot https://github.com/jsk-ros-pkg/jsk_robot.git -v develop/fetch -y wstool merge -t . https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_fetch_robot/jsk_fetch_user.rosinstall.$ROS_DISTRO + +# (optional): the two lines below are necessary when you want to use roseus_resume wstool merge -t . https://gist.githubusercontent.com/Affonso-Gui/25518fef9dc7af0051147bdd2a94b116/raw/e3fcbf4027c876329801a25e32f4a4746200ddae/guiga_system.rosinstall wstool update -t . -# To use eus10, furuschev script is required. + +# (optional): the two lines below are necessary when you want to use eus10 wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_roseus/master/setup_upstream.sh -O /tmp/setup_upstream.sh bash /tmp/setup_upstream.sh -w ../ -p jsk-ros-pkg/geneus -p euslisp/jskeus + source /opt/ros/$ROS_DISTRO/setup.bash rosdep install -y -r --from-paths . --ignore-src cd ../ -catkin build fetcheus jsk_fetch_startup roseus_resume +# (optional): if you want to use roseus_resume, build roseus_resume, too. +catkin build fetcheus jsk_fetch_startup + source devel/setup.bash ``` From 390d42540a75c0c78615a3e6f9243249e0208607 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 12 Oct 2022 16:46:44 +0900 Subject: [PATCH 297/430] speak date when midnight --- .../jsk_fetch_startup/scripts/time_signal.py | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py index d7999aef68..321714985a 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py @@ -19,6 +19,7 @@ def __init__(self): self.client_jp = actionlib.SimpleActionClient( '/robotsound_jp', SoundRequestAction) self.now_time = datetime.now() + self.now_date = self.now_time.date() self.now_hour = self.now_time.hour self.now_minute = self.now_time.minute self.day = self.now_time.strftime('%a') @@ -45,7 +46,8 @@ def speak(self, client, speech_text, lang=None): def speak_jp(self): # time signal speech_text = self._get_time_text( - self.now_hour, self.now_minute, lang='ja') + self.now_date, self.now_hour, self.now_minute, + lang='ja') if self.now_hour == 0: speech_text += '早く帰りましょう。' if self.now_hour == 12: @@ -73,7 +75,8 @@ def speak_jp(self): def speak_en(self): speech_text = self._get_time_text( - self.now_hour, self.now_minute, lang='en') + self.now_date, self.now_hour, self.now_minute, + lang='en') # time signal if self.now_hour == 0: speech_text += " Let's go home." @@ -100,9 +103,12 @@ def speak_en(self): rospy.logdebug(speech_text) self.speak(self.client_en, speech_text) - def _get_time_text(self, hour, minute, lang='en'): + def _get_time_text(self, date, hour, minute, lang='en'): if lang == 'ja': if hour == 0 and minute == 0: + time_text = '{}年{}月{}日'.format( + date.year, date.month, date.day) + elif hour == 12 and minute == 0: time_text = '正午' else: time_text = '{}時'.format(hour) @@ -111,7 +117,7 @@ def _get_time_text(self, hour, minute, lang='en'): time_text += 'です。' else: if hour == 0 and minute == 0: - time_text = 'midnight' + time_text = date.strftime('%Y %B %d') elif hour == 12 and minute == 0: time_text = 'noon' else: From 506fd8df1a045324316d07a88f0569d11d453480 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Tue, 11 Oct 2022 16:20:22 +0900 Subject: [PATCH 298/430] [jsk_robot_startup] Add timeout for smach notification --- .../scripts/smach_to_mail.py | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py index 29ba204fc1..8be8571a13 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py +++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py @@ -45,9 +45,13 @@ def __init__(self): self.pub_twitter = rospy.Publisher("tweet", String, queue_size=10) rospy.Subscriber( "~smach/container_status", SmachContainerStatus, self._status_cb) + rospy.Timer(rospy.Duration( + rospy.get_param("~stop_duration", 3600)), self._stop_timer_cb) self.bridge = CvBridge() self.smach_state_list = {} # for status list self.smach_state_subject = {} # for status subject + self.smach_start_time = {} + self.timeout = rospy.get_param("~timeout", 1200) if rospy.has_param("~sender_address"): self.sender_address = rospy.get_param("~sender_address") else: @@ -69,6 +73,22 @@ def __init__(self): self.gchat_image_dir = rospy.get_param("~google_chat_tmp_image_dir", "/tmp") self._gchat_thread = None + def _stop_timer_cb(self, event): + now = rospy.Time.now() + rospy.loginfo("stop timer") + if (self.smach_state_list and + self.smach_state_subject and + self.timeout is not None and + self.smach_start_time is not None): + for key in self.smach_state_list.keys(): + if (now - self.smach_start_time[key]).to_sec() > self.timeout: + self._send_mail( + self.smach_state_subject[key], self.smach_state_list[key]) + self._send_twitter( + self.smach_state_subject[key], self.smach_state_list[key]) + rospy.logwarn( + "SmachToMail timer publishes stop signal. Send Notification.") + def _status_cb(self, msg): ''' Recording starts when smach_state becomes start. @@ -109,6 +129,7 @@ def _status_cb(self, msg): # If we received START/INIT status, restart storing smach_state_list if status_str in ["START", "INIT"]: + self.smach_start_time[caller_id] = rospy.Time.now() self.smach_state_list[caller_id] = [] # DESCRIPTION of START is MAIL SUBJECT if 'DESCRIPTION' in local_data_str: From 0b24e261c26922035f9d90291c4190c59a58b862 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Tue, 11 Oct 2022 16:42:59 +0900 Subject: [PATCH 299/430] [jsk_robot_startup] Refactor error handling in getting rosparam --- .../jsk_robot_startup/scripts/smach_to_mail.py | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py index 8be8571a13..712aa666bc 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py +++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py @@ -52,16 +52,14 @@ def __init__(self): self.smach_state_subject = {} # for status subject self.smach_start_time = {} self.timeout = rospy.get_param("~timeout", 1200) - if rospy.has_param("~sender_address"): + try: self.sender_address = rospy.get_param("~sender_address") - else: - rospy.logerr("Please set rosparam {}/sender_address".format( - rospy.get_name())) - if rospy.has_param("~receiver_address"): self.receiver_address = rospy.get_param("~receiver_address") - else: - rospy.logerr("Please set rosparam {}/receiver_address".format( - rospy.get_name())) + except KeyError as e: + rospy.logerr(e) + rospy.logerr( + "Please set rosparam ~sender_address or ~receiver_address") + sys.exit() self.chat_space = rospy.get_param("~google_chat_space", None) if self.use_google_chat and self.chat_space is None: From dab68913178a3881be9c3021ab03e2f28c0b14db Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 13 Oct 2022 22:59:29 +0900 Subject: [PATCH 300/430] [jsk_robot_startup] Fix sending notification every times if demo stuck --- jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py index 712aa666bc..091e71a9fd 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py +++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py @@ -84,8 +84,9 @@ def _stop_timer_cb(self, event): self.smach_state_subject[key], self.smach_state_list[key]) self._send_twitter( self.smach_state_subject[key], self.smach_state_list[key]) - rospy.logwarn( - "SmachToMail timer publishes stop signal. Send Notification.") + self.smach_state_subject[key] = None + rospy.logwarn( + "SmachToMail timer publishes stop signal. Send Notification.") def _status_cb(self, msg): ''' From 95e863f26d3b09d5aae3aafb70fd36ed7a30a748 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 13 Oct 2022 23:00:09 +0900 Subject: [PATCH 301/430] [jsk_robot_startup] Refactor _stop_timer_cb --- .../jsk_robot_startup/scripts/smach_to_mail.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py index 091e71a9fd..f6a99f4327 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py +++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py @@ -73,11 +73,11 @@ def __init__(self): def _stop_timer_cb(self, event): now = rospy.Time.now() - rospy.loginfo("stop timer") + rospy.logdebug("SmachToMail stop timer called") if (self.smach_state_list and - self.smach_state_subject and - self.timeout is not None and - self.smach_start_time is not None): + self.smach_state_subject and + self.timeout is not None and + self.smach_start_time is not None): for key in self.smach_state_list.keys(): if (now - self.smach_start_time[key]).to_sec() > self.timeout: self._send_mail( From 71d5aad85844526cb7d76acec035632680300d6d Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 13 Oct 2022 23:00:38 +0900 Subject: [PATCH 302/430] [jsk_robot_startup] Add docstring to _stop_timer_cb --- jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py index f6a99f4327..58f02c9129 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py +++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py @@ -72,6 +72,10 @@ def __init__(self): self._gchat_thread = None def _stop_timer_cb(self, event): + ''' + If smach does not go to finish/end state, + this is forced to send notification. + ''' now = rospy.Time.now() rospy.logdebug("SmachToMail stop timer called") if (self.smach_state_list and From 79cd094abb7baa54523e476fbce300eca602975e Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Mon, 17 Oct 2022 19:49:06 +0900 Subject: [PATCH 303/430] add smach_image_view in jsk_startup_record.rviz --- .../config/jsk_startup_record.rviz | 57 ++++++++++++------- 1 file changed, 35 insertions(+), 22 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup_record.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup_record.rviz index 8b162425f0..6ab7883d78 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup_record.rviz +++ b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup_record.rviz @@ -3,9 +3,10 @@ Panels: Help Height: 78 Name: Displays Property Tree Widget: - Expanded: ~ + Expanded: + - /OverlayImage1 Splitter Ratio: 0.4187380373477936 - Tree Height: 624 + Tree Height: 618 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -65,11 +66,6 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - base_camera_mount: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true base_link: Alpha: 1 Show Axes: false @@ -85,14 +81,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - d435_front_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - d435_front_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false elbow_flex_link: Alpha: 1 Show Axes: false @@ -113,11 +101,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - head_box_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true head_camera_depth_frame: Alpha: 1 Show Axes: false @@ -138,6 +121,15 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + head_l515_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_l515_virtual_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false head_pan_link: Alpha: 1 Show Axes: false @@ -148,6 +140,14 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + insta360_link: + Alpha: 1 + Show Axes: false + Show Trail: false + l515_head_link: + Alpha: 1 + Show Axes: false + Show Trail: false l_gripper_finger_link: Alpha: 1 Show Axes: false @@ -455,6 +455,19 @@ Visualization Manager: Name: RvizScenePublisher Value: true topic_name: /rviz/image + - Class: jsk_rviz_plugin/OverlayImage + Enabled: true + Name: OverlayImage + Topic: /smach_image_publisher/image + Value: true + alpha: 0.800000011920929 + height: 128 + keep aspect ratio: true + left: 650 + overwrite alpha value: false + top: 10 + transport hint: compressed + width: 300 Enabled: true Global Options: Background Color: 48; 48; 48 @@ -513,7 +526,7 @@ Window Geometry: Height: 1052 Hide Left Dock: true Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001f800000382fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003b000002f9000000c700fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000fb0000001800430061006e00630065006c0041006300740069006f006e000000033a000000830000007900ffffff000000010000010f00000382fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000382000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003f50000003efc0100000002fb0000000800540069006d00650100000000000003f50000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000003f50000038200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000001f80000037efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d000002f5000000c900fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000fb0000001800430061006e00630065006c0041006300740069006f006e0000000338000000830000007f00ffffff000000010000010f00000382fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000382000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003f50000003efc0100000002fb0000000800540069006d00650100000000000003f5000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f50000037e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -524,4 +537,4 @@ Window Geometry: collapsed: true Width: 1013 X: 67 - Y: 180 + Y: 134 From 573e3a813a515f8f1f69ef34b1229375825eefae Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 13 Oct 2022 15:56:39 +0900 Subject: [PATCH 304/430] refactor and add launch_* args in fetch_bringup --- .../launch/fetch_bringup.launch | 253 +++++++++++------- 1 file changed, 153 insertions(+), 100 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 05522de9bc..0235c6627d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -1,40 +1,66 @@ - + - + + + + + + + + - + + + + + + + + + + + - - - + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - @@ -43,7 +69,7 @@ + respawn="true" output="screen" if="$(arg launch_battery_warning)"> duration: 180 charge_level_threshold: 65.0 @@ -53,13 +79,15 @@ - + lang: japanese volume: 0.5 - + @@ -74,25 +102,30 @@ - - - - - - default_voice: $(arg default_english_speaker) - plugin: sound_play/flite_plugin - - + + + + + + + default_voice: $(arg default_english_speaker) + plugin: sound_play/flite_plugin + + + - - - - - - - - + + + + + + + + + + + @@ -100,7 +133,8 @@ - + @@ -123,18 +157,23 @@ - + - + - + + + @@ -179,13 +218,15 @@ - + - + @@ -197,16 +238,18 @@ - + - + interface_name: wlan0 - + @@ -255,14 +298,15 @@ - + vital_rate: 0.1 - + @@ -304,12 +348,13 @@ + output="screen" if="$(arg launch_build_map)" > - + luminance_threshold: 70 @@ -317,7 +362,8 @@ - + map_frame: /map base_frame: /base_link @@ -325,64 +371,71 @@ - + - - - - email_info: /var/lib/robot/email_topic.yaml - - - - - - - + + + + + email_info: /var/lib/robot/email_topic.yaml + + + + + + + + - + duration: 0.5 - - + + + + - - - - - run_stop_topic: robot_state - run_stop_condition: "m.runstopped is True" - seconds_to_start_speaking: 60 - speak_interval: 600 - language: $(arg default_warning_speaker) - ignore_time_after_runstop_is_enabled: 5.0 - ignore_time_after_runstop_is_disabled: 5.0 - - - - - - + + + + + + run_stop_topic: robot_state + run_stop_condition: "m.runstopped is True" + seconds_to_start_speaking: 60 + speak_interval: 600 + language: $(arg default_warning_speaker) + ignore_time_after_runstop_is_enabled: 5.0 + ignore_time_after_runstop_is_disabled: 5.0 + + + + + + + From dee718d5849504bbc350caaa7c9eb4e2e3916a00 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 13 Oct 2022 15:57:06 +0900 Subject: [PATCH 305/430] update fetch_gazebo_bringup.launch --- .../launch/fetch_gazebo_bringup.launch | 49 +++++++++++++++++-- 1 file changed, 45 insertions(+), 4 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_gazebo_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_gazebo_bringup.launch index 62ec7167f5..0d48cab9e7 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_gazebo_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_gazebo_bringup.launch @@ -4,6 +4,9 @@ + + + @@ -31,13 +34,51 @@ + + + + + + + + + + - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 8bee6e5b64bcc7982cd9642f9f7f6eeeb89e4a68 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Sun, 25 Sep 2022 12:15:33 +0900 Subject: [PATCH 306/430] [jsk_fetch_startup] update move_base parameter for recovery behavior --- .../fetch_move_base_common_params.yaml | 37 ++++++++++++++++++- 1 file changed, 35 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml index b7eabb9a39..f521ba7e1e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml @@ -1,9 +1,17 @@ move_base: recovery_behavior_enabled: true recovery_behaviors: + - name: "update_inflation_layer_local0" + type: "update_move_base_parameter_recovery/UpdateInflationLayerParameterRecovery" + - name: "update_costmap_local0" + type: "update_move_base_parameter_recovery/UpdateCostmapParameterRecovery" + - name: "update_inflation_layer_global0" + type: "update_move_base_parameter_recovery/UpdateInflationLayerParameterRecovery" + - name: "update_costmap_global0" + type: "update_move_base_parameter_recovery/UpdateCostmapParameterRecovery" - name: "conservative_reset" type: "clear_costmap_recovery/ClearCostmapRecovery" - - name: "rotate_recovery0" + - name: "rotate_recovery" type: "rotate_recovery/RotateRecovery" - name: "speak_and_wait0" type: "speak_and_wait_recovery/SpeakAndWaitRecovery" @@ -19,16 +27,41 @@ move_base: type: "rotate_recovery/RotateRecovery" - name: "move_slow_and_clear" type: "move_slow_and_clear/MoveSlowAndClear" + update_inflation_layer_local0: + parameter_name: "/move_base/local_costmap/inflater" + inflation_radius: 0.1 + duration_dealline: 15.0 + update_costmap_local0: + parameter_name: "/move_base/local_costmap" + footprint_padding: 0.1 + duration_dealline: 15.0 + update_inflation_layer_global0: + parameter_name: "/move_base/global_costmap/inflater" + inflation_radius: 0.1 + duration_dealline: 15.0 + update_costmap_global0: + parameter_name: "/move_base/global_costmap" + footprint_padding: 0.1 + duration_dealline: 15.0 + conservative_reset: + reset_distance: 3.0 + force_updating: true speak_and_wait0: - speak_text: "とおれません、みちをあけてください" + speak_text: "とおれません、ちょっとみちをあけてください" duration_wait: 5.0 duration_timeout: 1.0 sound_action: /robotsound_jp + aggressive_reset: + reset_distance: 1.0 + force_updating: true speak_and_wait1: speak_text: "とおれません、みちをあけてください" duration_wait: 5.0 duration_timeout: 1.0 sound_action: /robotsound_jp + all_reset: + reset_distance: 0.0 + force_updating: true move_slow_and_clear: planner_namespace: TrajectoryPlannerROS max_trans_param_name: max_vel_x From 845c4311aedb6ba35554c9977936ba28a39fbc26 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Sun, 25 Sep 2022 12:17:10 +0900 Subject: [PATCH 307/430] [jsk_fetch_startup] add update_move_base_parameter_recovery to dependencies --- jsk_fetch_robot/jsk_fetch_startup/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/package.xml b/jsk_fetch_robot/jsk_fetch_startup/package.xml index 0a031ea04e..70d3f9eda9 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/package.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/package.xml @@ -51,6 +51,7 @@ librealsense2 realsense2_camera realsense2_description + update_move_base_parameter_recovery app_manager From 962fa8ca2367cce22d489bc1b8c5413bfe310cd3 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 26 Sep 2022 10:16:15 +0900 Subject: [PATCH 308/430] [jsk_fetch_startup] update timeout duration for update_move_base_parameter_recovery --- .../navigation/fetch1075/fetch_move_base_common_params.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml index f521ba7e1e..b4f55df760 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml @@ -30,15 +30,15 @@ move_base: update_inflation_layer_local0: parameter_name: "/move_base/local_costmap/inflater" inflation_radius: 0.1 - duration_dealline: 15.0 + duration_dealline: 30.0 update_costmap_local0: parameter_name: "/move_base/local_costmap" footprint_padding: 0.1 - duration_dealline: 15.0 + duration_dealline: 25.0 update_inflation_layer_global0: parameter_name: "/move_base/global_costmap/inflater" inflation_radius: 0.1 - duration_dealline: 15.0 + duration_dealline: 20.0 update_costmap_global0: parameter_name: "/move_base/global_costmap" footprint_padding: 0.1 From 9f0e0bf93512b14ee5ee6b86c214d21daca7f75d Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Sat, 24 Sep 2022 09:46:25 +0900 Subject: [PATCH 309/430] [jsk_fetch_startup] update recovery behavior conf for fetch1075 --- .../fetch_move_base_common_params.yaml | 73 +++++++++++-------- 1 file changed, 42 insertions(+), 31 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml index b4f55df760..440655c9e9 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml @@ -1,18 +1,10 @@ move_base: recovery_behavior_enabled: true recovery_behaviors: - - name: "update_inflation_layer_local0" - type: "update_move_base_parameter_recovery/UpdateInflationLayerParameterRecovery" - - name: "update_costmap_local0" - type: "update_move_base_parameter_recovery/UpdateCostmapParameterRecovery" - - name: "update_inflation_layer_global0" - type: "update_move_base_parameter_recovery/UpdateInflationLayerParameterRecovery" - - name: "update_costmap_global0" - type: "update_move_base_parameter_recovery/UpdateCostmapParameterRecovery" - - name: "conservative_reset" - type: "clear_costmap_recovery/ClearCostmapRecovery" - - name: "rotate_recovery" - type: "rotate_recovery/RotateRecovery" + - name: "complex_conservative_recovery" + type: "complex_recovery/SequentialComplexRecovery" + - name: "complex_rotate0" + type: "complex_recovery/SequentialComplexRecovery" - name: "speak_and_wait0" type: "speak_and_wait_recovery/SpeakAndWaitRecovery" - name: "aggressive_reset" @@ -27,25 +19,44 @@ move_base: type: "rotate_recovery/RotateRecovery" - name: "move_slow_and_clear" type: "move_slow_and_clear/MoveSlowAndClear" - update_inflation_layer_local0: - parameter_name: "/move_base/local_costmap/inflater" - inflation_radius: 0.1 - duration_dealline: 30.0 - update_costmap_local0: - parameter_name: "/move_base/local_costmap" - footprint_padding: 0.1 - duration_dealline: 25.0 - update_inflation_layer_global0: - parameter_name: "/move_base/global_costmap/inflater" - inflation_radius: 0.1 - duration_dealline: 20.0 - update_costmap_global0: - parameter_name: "/move_base/global_costmap" - footprint_padding: 0.1 - duration_dealline: 15.0 - conservative_reset: - reset_distance: 3.0 - force_updating: true + complex_conservative_recovery: + recovery_behaviors: + - name: "update_inflation_layer_local0" + type: "update_move_base_parameter_recovery/UpdateInflationLayerParameterRecovery" + - name: "update_costmap_local0" + type: "update_move_base_parameter_recovery/UpdateCostmapParameterRecovery" + - name: "conservative_reset" + type: "clear_costmap_recovery/ClearCostmapRecovery" + update_inflation_layer_local0: + parameter_name: "/move_base/local_costmap/inflater" + inflation_radius: 0.1 + duration_dealline: 15.0 + update_costmap_local0: + parameter_name: "/move_base/local_costmap" + footprint_padding: 0.1 + duration_dealline: 15.0 + update_inflation_layer_global0: + parameter_name: "/move_base/global_costmap/inflater" + inflation_radius: 0.1 + duration_dealline: 15.0 + update_costmap_global0: + parameter_name: "/move_base/global_costmap" + footprint_padding: 0.1 + duration_dealline: 15.0 + conservative_reset: + reset_distance: 3.0 + force_updating: true + complex_rotate0: + recovery_behaviors: + - name: "speak_and_wait" + type: "speak_and_wait_recovery/SpeakAndWaitRecovery" + - name: "rotate_recovery" + type: "rotate_recovery/RotateRecovery" + speak_and_wait: + speak_text: "リカバリのためにまわります。" + duration_wait: 0.0 + duration_timeout: 1.0 + sound_action: /robotsound_jp speak_and_wait0: speak_text: "とおれません、ちょっとみちをあけてください" duration_wait: 5.0 From 0378118e8b35cd2bad04d0d7e49d215a82e005db Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 20 Oct 2022 15:07:48 +0900 Subject: [PATCH 310/430] [jsk_fetch_startup] add global config update recovery to complex recovery --- .../navigation/fetch1075/fetch_move_base_common_params.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml index 440655c9e9..d34d1b345a 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml @@ -25,6 +25,10 @@ move_base: type: "update_move_base_parameter_recovery/UpdateInflationLayerParameterRecovery" - name: "update_costmap_local0" type: "update_move_base_parameter_recovery/UpdateCostmapParameterRecovery" + - name: "update_inflation_layer_global0" + type: "update_move_base_parameter_recovery/UpdateInflationLayerParameterRecovery" + - name: "update_costmap_global0" + type: "update_move_base_parameter_recovery/UpdateCostmapParameterRecovery" - name: "conservative_reset" type: "clear_costmap_recovery/ClearCostmapRecovery" update_inflation_layer_local0: From e59a1efd2dc44ed52661a8cc7f20429033697597 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 21 Oct 2022 14:58:49 +0900 Subject: [PATCH 311/430] change node name to smach_to_mail --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 0235c6627d..1e45e923ad 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -384,7 +384,8 @@ - + + From 67325a8b8f4fac3979a3d842859ae57713c48f43 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 21 Oct 2022 14:59:06 +0900 Subject: [PATCH 312/430] add smach_to_mail param --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 1e45e923ad..2be8f75811 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -388,6 +388,12 @@ + + use_mail: true + use_twitter: $(arg launch_tweet) + use_google_chat: $(arg launch_google_chat) + google_chat_space: spaces/AAAARE9CrfA + From f5179c251da597e0b32aa4fc60428afa226fe93f Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 13 Oct 2022 11:47:52 +0900 Subject: [PATCH 313/430] [jsk_fetch_startup] add side hook to fetch model --- .../robots/jsk_fetch.urdf.xacro | 4 ++ .../robots/side_hook.urdf.xacro | 38 +++++++++++++++++++ 2 files changed, 42 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro index ede62cbb2c..dd4b46c989 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro +++ b/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro @@ -6,6 +6,7 @@ + @@ -25,4 +26,7 @@ + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro new file mode 100644 index 0000000000..0c3c726933 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 2c2227ac97934bcce34da5aa65feef762570c167 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 13 Oct 2022 12:45:37 +0900 Subject: [PATCH 314/430] [jsk_fetch_accessories] add finger_tip_collision --- .../finger_tip_collision/finger_tip_collision.STL | Bin 0 -> 684 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 jsk_fetch_robot/jsk_fetch_accessories/finger_tip_collision/finger_tip_collision.STL diff --git a/jsk_fetch_robot/jsk_fetch_accessories/finger_tip_collision/finger_tip_collision.STL b/jsk_fetch_robot/jsk_fetch_accessories/finger_tip_collision/finger_tip_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..ff1925fd32ac06c72c1795ec3e8fcdcd4df4344f GIT binary patch literal 684 zcmaKp%?-jZ425&z#1Nf?svUs^QVD1k5hYd2jZ4-*48R7xG6ZWd1c{xLmr{{Se(cZB zei^M+$3n|)PR4)%!Yc(osia%>B(sIvus`u?wPUEZccRIfx zo1G91zEdg@ZV~w*n2xpmMigX;`hL4ssIf+{dW>Ymmu3xDMlHx<4W6mNcS+QIN%6tr84~K(I!v1&-$KCTB@2)4&elpV-x?gPri?$+tixcW0kGh3=vY Ri>`vRjzut%6QM(%?*oQ>!Z-i` literal 0 HcmV?d00001 From acb00f6fce711f8ca3b968f59381c3eb6c4cdd90 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 13 Oct 2022 12:51:45 +0900 Subject: [PATCH 315/430] [jsk_fetch_startup] add finger_tip to fetch model --- .../robots/finger_tip.urdf.xacro | 72 +++++++++++++++++++ .../robots/jsk_fetch.urdf.xacro | 4 ++ 2 files changed, 76 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/robots/finger_tip.urdf.xacro diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/finger_tip.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/finger_tip.urdf.xacro new file mode 100644 index 0000000000..03942ed007 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/robots/finger_tip.urdf.xacro @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro index dd4b46c989..6cbb4f2840 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro +++ b/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro @@ -7,6 +7,7 @@ + @@ -29,4 +30,7 @@ + + + From 5c8bc14545cd55d1dc2eccef83e4359b7e9d864e Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 13 Oct 2022 13:37:31 +0900 Subject: [PATCH 316/430] [jsk_fetch_startup] fix parameters of finger_tip.urdf.xacro --- .../jsk_fetch_startup/robots/finger_tip.urdf.xacro | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/finger_tip.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/finger_tip.urdf.xacro index 03942ed007..0e1002ac0e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/robots/finger_tip.urdf.xacro +++ b/jsk_fetch_robot/jsk_fetch_startup/robots/finger_tip.urdf.xacro @@ -29,7 +29,7 @@ - + @@ -64,7 +64,7 @@ - + From 192e3adc4b64fcd3c85f17a21fc2e584ff178ca6 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Thu, 13 Oct 2022 13:57:05 +0900 Subject: [PATCH 317/430] [jsk_fetch_startup] update parameter of side_hook.urdf.xacro --- jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro index 0c3c726933..c8206ecdc5 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro +++ b/jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro @@ -23,7 +23,7 @@ - + From fae307c2a4001156fb9518bc54ec5348c717f449 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 22 Oct 2022 22:01:39 +0900 Subject: [PATCH 318/430] add spin-once before image set-alist --- .../euslisp/navigation-utils.l | 30 +++++++++++++++++++ 1 file changed, 30 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 0112a5fc24..c048537e38 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -762,6 +762,7 @@ Args: '(lambda (userdata) (let ((light-on (get-light-on))) (setf (cdr (assoc 'initial-light-on userdata)) light-on) + (ros::spin-once) (if light-on (set-alist 'description "電気がついていたよ" userdata) (set-alist 'description "電気がついていなかったよ" userdata)) @@ -776,6 +777,7 @@ Args: (let ((control-switchbot (cdr (assoc 'control-switchbot userdata)))) (report-light-off) (room-light-on :control-switchbot control-switchbot) + (ros::spin-once) (set-alist 'description "電気をつけたよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t))) @@ -784,6 +786,7 @@ Args: (let* ((n-trial (cdr (assoc 'n-dock-front-trial userdata))) (success (move-to-dock-front :n-trial n-trial))) (setf (cdr (assoc 'success-go-to-dock-front userdata)) success) + (ros::spin-once) (if success (set-alist 'description "ドックの前に移動したよ" userdata) (set-alist 'description "ドックの前に移動しようとしたけど，迷子になっちゃった" userdata)) @@ -792,12 +795,14 @@ Args: (:inspect-dock-front '(lambda (userdata) (inspect-dock-front :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) (set-alist 'description "ドックの前の様子を見たよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) (:report-move-to-dock-front-failure '(lambda (userdata) (report-move-to-dock-front-failure) + (ros::spin-once) (set-alist 'description "ドックの前に移動できなかったよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) @@ -806,6 +811,7 @@ Args: (let* ((n-trial (cdr (assoc 'n-tv-front-trial userdata))) (success (move-to-tv-front :n-trial n-trial))) (setf (cdr (assoc 'success-go-to-tv-front userdata)) success) + (ros::spin-once) (if success (set-alist 'description "テレビの前に移動したよ" userdata) (set-alist 'description "テレビの前に移動しようとしたけど，迷子になっちゃった" userdata)) @@ -814,12 +820,14 @@ Args: (:inspect-tv-front '(lambda (userdata) (inspect-tv-front :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) (set-alist 'description "テレビの前の様子を見たよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) (:report-move-to-tv-front-failure '(lambda (userdata) (report-move-to-tv-front-failure) + (ros::spin-once) (set-alist 'description "テレビの前に移動できなかったよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) @@ -828,6 +836,7 @@ Args: (let* ((n-trial (cdr (assoc 'n-tv-desk-trial userdata))) (success (move-to-tv-desk :n-trial n-trial))) (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success) + (ros::spin-once) (if success (set-alist 'description "机の前に移動したよ" userdata) (set-alist 'description "机の前に移動しようとしたけど，迷子になっちゃった" userdata)) @@ -836,12 +845,14 @@ Args: (:inspect-tv-desk '(lambda (userdata) (inspect-tv-desk :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) (set-alist 'description "机の様子を確認したよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) (:report-move-to-tv-desk-failure '(lambda (userdata) (report-move-to-tv-desk-failure) + (ros::spin-once) (set-alist 'description "机の前に移動できなかったよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) @@ -850,6 +861,7 @@ Args: (let* ((n-trial (cdr (assoc 'n-desk-back-trial userdata))) (success (move-to-desk-back :n-trial n-trial))) (setf (cdr (assoc 'success-go-to-desk-back userdata)) success) + (ros::spin-once) (if success (set-alist 'description "部屋の後ろに移動したよ" userdata) (set-alist 'description "部屋の後ろに移動しようとしたけど，迷子になっちゃった" userdata)) @@ -858,12 +870,14 @@ Args: (:inspect-desk-back '(lambda (userdata) (inspect-desk-back :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) (set-alist 'description "部屋の後ろを確認したよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) (:report-move-to-desk-back-failure '(lambda (userdata) (report-move-to-desk-back-failure) + (ros::spin-once) (set-alist 'description "部屋の後ろに移動できなかったよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) @@ -872,6 +886,7 @@ Args: (let* ((n-trial (cdr (assoc 'n-desk-front-trial userdata))) (success (move-to-desk-front :n-trial n-trial))) (setf (cdr (assoc 'success-go-to-desk-front userdata)) success) + (ros::spin-once) (if success (set-alist 'description "部屋の前に移動したよ" userdata) (set-alist 'description "部屋の前に移動しようとしたけど，迷子になっちゃった" userdata)) @@ -880,12 +895,14 @@ Args: (:inspect-desk-front '(lambda (userdata) (inspect-desk-front :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) (set-alist 'description "部屋の前を確認したよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) (:report-move-to-desk-front-failure '(lambda (userdata) (report-move-to-desk-front-failure) + (ros::spin-once) (set-alist 'description "部屋の前に移動できなかったよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) @@ -894,6 +911,7 @@ Args: (let* ((n-trial (cdr (assoc 'n-kitchen-door-front-trial userdata))) (success (move-to-kitchen-door-front :n-trial n-trial))) (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success) + (ros::spin-once) (if success (set-alist 'description "ドアの前に移動したよ" userdata) (set-alist 'description "ドアの前に移動しようとしたけど，迷子になっちゃった" userdata)) @@ -902,12 +920,14 @@ Args: (:inspect-kitchen-door-front '(lambda (userdata) (inspect-kitchen-door-front :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) (set-alist 'description "ドアの前からキッチンの様子を見たよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) (:report-move-to-kitchen-door-front-failure '(lambda (userdata) (report-move-to-kitchen-door-front-failure) + (ros::spin-once) (set-alist 'description "ドアの前に移動できなかったよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) @@ -916,6 +936,7 @@ Args: (let* ((n-trial (cdr (assoc 'n-kitchen-trial userdata))) (success (move-to-sink-front :n-trial n-trial))) (setf (cdr (assoc 'success-go-to-kitchen userdata)) success) + (ros::spin-once) (if success (set-alist 'description "キッチンに移動したよ" userdata) (set-alist 'description "キッチンに移動しようとしたけど，迷子になっちゃった" userdata)) @@ -926,12 +947,14 @@ Args: (let* ((label-names (notify-recognition :location "kitchen")) (notify-text (if label-names (format nil "~Aがあったよ" label-names) ""))) (inspect-kitchen :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) (set-alist 'description (format nil "キッチンの様子を見たよ。~A" notify-text) userdata)) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) (:report-move-to-sink-front-failure '(lambda (userdata) (report-move-to-sink-front-failure) + (ros::spin-once) (set-alist 'description "キッチンに行けなかったよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) @@ -940,6 +963,7 @@ Args: (let* ((n-trial (cdr (assoc 'n-trashcan-trial userdata))) (success (move-to-trashcan-front :n-trial n-trial))) (setf (cdr (assoc 'success-go-to-trashcan userdata)) success) + (ros::spin-once) (if success (set-alist 'description "ゴミ箱の前に移動したよ" userdata) (set-alist 'description "ゴミ箱の前に移動しようとしたけど，迷子になっちゃった" userdata)) @@ -948,12 +972,14 @@ Args: (:inspect-trashcan '(lambda (userdata) (inspect-trashcan :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) (set-alist 'description "ゴミ箱の様子を確認したよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) (:report-move-to-trashcan-front-failure '(lambda (userdata) (report-move-to-trashcan-front-failure) + (ros::spin-once) (set-alist 'description "ゴミ箱の前に行けなかったよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) @@ -963,6 +989,7 @@ Args: (let* ((n-trial (cdr (assoc 'n-dock-trial userdata))) (success (auto-dock :n-trial n-trial :clear-costmap nil))) (setf (cdr (assoc 'success-auto-dock userdata)) success) + (ros::spin-once) (if success (set-alist 'description "帰ってきたよ" userdata) (set-alist 'description "帰ってこようとしたけど，迷子になっちゃった" userdata)) @@ -971,6 +998,7 @@ Args: (:auto-dock-failure '(lambda (userdata) (report-auto-dock-failure) + (ros::spin-once) (set-alist 'description "帰ってこられなかったよ" userdata) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) t)) @@ -982,6 +1010,7 @@ Args: (if (and success-auto-dock (not initial-light-on)) (progn (room-light-off :control-switchbot control-switchbot) + (ros::spin-once) (set-alist 'description "電気を消したよ" userdata) (set-alist 'image "" userdata)))) t)) @@ -994,6 +1023,7 @@ Args: (success-go-to-kitchen (cdr (assoc 'success-go-to-kitchen userdata)))) (restore-params) + (ros::spin-once) (set-alist 'description "キッチンデモを終えるよ" userdata) (set-alist 'image "" userdata) (and success-go-to-kitchen success-auto-dock success-battery-charging))))) From a36969c89071b6494650fa55cae9163feb886995 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 25 Oct 2022 00:47:55 +0900 Subject: [PATCH 319/430] use jsk_recognition for vital check --- jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic index 2ecfc0bdfb..cc1f06db8e 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic +++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic @@ -65,11 +65,12 @@ local-name: jsk-ros-pkg/jsk_pr2eus uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git version: master -# we need to use the development branch until the next release. +# we need this PR for fisheye vital check +# https://github.com/jsk-ros-pkg/jsk_recognition/pull/2734 - git: local-name: jsk-ros-pkg/jsk_recognition - uri: https://github.com/jsk-ros-pkg/jsk_recognition.git - version: master + uri: https://github.com/knorth55/jsk_recognition.git + version: fisheye-vital-check # we need to use the development branch (fetch15 branch in knorth55's fork) # until it is merged to master - git: From 7ad72a04f88a7588c04872e83497b9ade38dfa0d Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Mon, 31 Oct 2022 20:45:01 +0900 Subject: [PATCH 320/430] fix udev for playstation --- jsk_fetch_robot/jsk_fetch_startup/udev_rules/99-jsk-ps3joy.rules | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/udev_rules/99-jsk-ps3joy.rules b/jsk_fetch_robot/jsk_fetch_startup/udev_rules/99-jsk-ps3joy.rules index 113b5af453..05f7eb15b3 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/udev_rules/99-jsk-ps3joy.rules +++ b/jsk_fetch_robot/jsk_fetch_startup/udev_rules/99-jsk-ps3joy.rules @@ -3,3 +3,4 @@ # https://github.com/fetchrobotics/fetch_robots/blob/8e144f9a193129a0de5254075bbe5eb8245e1603/fetch_system_config/root/lib/udev/rules.d/99-ps3joy.rules # Current 99-ps3joy.rules in fetchrobotics/fetch_robots is for PS4 controller, but we still use PS3 controller. KERNEL=="js?", SUBSYSTEM=="input", ATTRS{name}=="Sony PLAYSTATION(R)3 Controller", SYMLINK+="ps3joy" +KERNEL=="js?", SUBSYSTEM=="input", ATTRS{name}=="PLAYSTATION(R)3 Controller", SYMLINK+="ps3joy" From 0e6582a1b01f101151cfffc60c4ad68c3d87fdbd Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 10 Nov 2022 14:45:27 +0900 Subject: [PATCH 321/430] [jsk_robot_startup] Support manual setting of the name of database and collection --- .../src/lightweight_logger_nodelet.cpp | 21 ++++++++++++++++--- 1 file changed, 18 insertions(+), 3 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp index c357e44273..cf6929b476 100644 --- a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp +++ b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp @@ -49,8 +49,23 @@ namespace jsk_robot_startup jsk_topic_tools::StealthRelay::onInit(); // settings for database - nh_->param("/robot/database", db_name_, "jsk_robot_lifelog"); - nh_->param("/robot/name", col_name_, std::string()); + if (ros::param::has("~database")) + { + pnh_->param("~database", db_name_, "jsk_robot_lifelog"); + } + else + { + pnh_->param("/robot/database", db_name_, "jsk_robot_lifelog"); + } + if (ros::param::has("~collection")) + { + pnh_->param("~collection", col_name_, std::string()); + } + else + { + pnh_->param("/robot/name", col_name_, std::string()); + } + if (col_name_.empty()) { NODELET_FATAL_STREAM("Please specify param 'robot/name' (e.g. pr1012, olive)"); @@ -123,7 +138,7 @@ namespace jsk_robot_startup // The message store object is initialized here, since the object waits for connection // until the connection to the server is established. - msg_store_.reset(new mongodb_store::MessageStoreProxy(*nh_, col_name_, db_name_)); + msg_store_.reset(new mongodb_store::MessageStoreProxy(*pnh_, col_name_, db_name_)); initialized_ = true; // After message store object is initialized, this thread is re-used for From d998d3efbd40be9db3839a949d298536125cba7e Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 10 Nov 2022 14:46:11 +0900 Subject: [PATCH 322/430] [jsk_robot_startup] Add database and collection rospram --- .../src/jsk_robot_startup/lifelog/action_logger.py | 5 ++++- .../src/jsk_robot_startup/lifelog/base_trajectory_logger.py | 6 +++++- .../src/jsk_robot_startup/lifelog/mongo_record.py | 6 +++++- .../jsk_robot_startup/lifelog/object_detection_logger.py | 6 +++++- .../src/jsk_robot_startup/lifelog/tf_logger.py | 5 ++++- 5 files changed, 23 insertions(+), 5 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/action_logger.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/action_logger.py index d42e5d89f4..8fe84131a3 100644 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/action_logger.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/action_logger.py @@ -22,7 +22,10 @@ class ActionLogger(LoggerBase): subscribers = {} # topicname:subscriber def __init__(self): - LoggerBase.__init__(self) + db_name = rospy.get_param('~database', 'jsk_robot_lifelog') + col_name = rospy.get_param('~collection', None) + + super(ActionLogger, self).__init__(db_name=db_name, col_name=col_name) self.queue_size = rospy.get_param("~queue_size", 30) self.action_regex = re.compile(".*Action(Result|Goal|Feedback)$") diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/base_trajectory_logger.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/base_trajectory_logger.py index 664f8fac94..c870cab227 100644 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/base_trajectory_logger.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/base_trajectory_logger.py @@ -31,7 +31,11 @@ def diff_pose(p1, p2): class BaseTrajectoryLogger(LoggerBase): def __init__(self): - LoggerBase.__init__(self) + db_name = rospy.get_param('~database', 'jsk_robot_lifelog') + col_name = rospy.get_param('~collection', None) + + super(BaseTrajectoryLogger, self).__init__(db_name=db_name, col_name=col_name) + self.update_rate = rospy.get_param("~update_rate", 1.0) self.use_amcl = rospy.get_param("~use_amcl", True) self.persistent = rospy.get_param("~persistent", True) diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/mongo_record.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/mongo_record.py index 71803288c1..eed8897950 100644 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/mongo_record.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/mongo_record.py @@ -20,6 +20,7 @@ def __init__(self, argv=None): self.queue_size = rospy.get_param("~queue_size", 1) self.update_rate = rospy.get_param("~update_rate", 1.0) subst_param = rospy.get_param("~subst_param", False) + database = rospy.get_param("~database", 'jsk_robot_lifelog') collection = rospy.get_param("~collection", None) else: args = self.parse_args(argv) @@ -28,6 +29,7 @@ def __init__(self, argv=None): self.queue_size = args.queue_size self.update_rate = args.update_rate subst_param = args.subst_param + database = args.database collection = args.collection self.subscribers = {} @@ -42,7 +44,7 @@ def __init__(self, argv=None): topics.append(str().join(splitted)) self.topics = topics - LoggerBase.__init__(self, col_name=collection) + LoggerBase.__init__(self, db_name=database, col_name=collection) def parse_args(self, argv): p = argparse.ArgumentParser() @@ -57,6 +59,8 @@ def parse_args(self, argv): help="Enable substring param (e,g, '$(param robot/name)/list')") p.add_argument("-r", "--update-rate", type=float, default=1.0, help="Update rate for checking topics") + p.add_argument("-d", "--database", type=str, default=None, + help="Database name to record data") p.add_argument("-c", "--collection", type=str, default=None, help="Collection name to record data") return p.parse_args(argv) diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/object_detection_logger.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/object_detection_logger.py index 4b607dade1..f8623ba2cd 100644 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/object_detection_logger.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/object_detection_logger.py @@ -16,7 +16,11 @@ class ObjectDetectionLogger(LoggerBase): def __init__(self): - LoggerBase.__init__(self) + db_name = rospy.get_param('~database', 'jsk_robot_lifelog') + col_name = rospy.get_param('~collection', None) + + super(ObjectDetectionLogger, self).__init__(db_name=db_name, col_name=col_name) + self.update_rate = rospy.get_param("~update_rate", 1.0) self.map_frame = rospy.get_param('~map_frame', 'map') self.robot_frame = rospy.get_param('~robot_frame', 'base_footprint') diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/tf_logger.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/tf_logger.py index 38192b7737..42f0fdbe5e 100644 --- a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/tf_logger.py +++ b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/tf_logger.py @@ -13,7 +13,10 @@ class TFLogger(LoggerBase): def __init__(self): - LoggerBase.__init__(self) + db_name = rospy.get_param('~database', 'jsk_robot_lifelog') + col_name = rospy.get_param('~collection', None) + + super(TFLogger, self).__init__(db_name=db_name, col_name=col_name) self.tf_buffer = tf2_ros.Buffer() self.tf_listener = tf2_ros.TransformListener(self.tf_buffer) From 553132027162d73466ba815b1803c9b622654068 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 10 Nov 2022 14:47:01 +0900 Subject: [PATCH 323/430] [jsk_robot_startup] Support multi-client of mongo_record --- .../lifelog/common_logger.launch | 34 +++++++++++++++++-- 1 file changed, 31 insertions(+), 3 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch index b99511f06d..3b1ff3785e 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch @@ -1,4 +1,8 @@ + + + + @@ -36,8 +40,9 @@ + - + @@ -56,7 +61,7 @@ pkg="nodelet" type="nodelet" args="manager" machine="$(arg machine)" output="screen" respawn="$(arg respawn)" launch-prefix="$(arg launch-prefix)"/> - + @@ -135,6 +140,8 @@ respawn="$(arg respawn)"> + database: $(arg database) + collection: $(arg collection) enable_monitor: $(arg enable_monitor) monitor_topic: /$(arg camera_ns)/$(arg rgb_ns)/$(arg rgb_topic) vital_check: $(arg vital_check) @@ -147,6 +154,8 @@ respawn="$(arg respawn)"> + database: $(arg database) + collection: $(arg collection) enable_monitor: $(arg enable_monitor) monitor_topic: /$(arg camera_ns)/$(arg rgb_ns)/$(arg rgb_topic) vital_check: $(arg vital_check) @@ -161,6 +170,8 @@ respawn="$(arg respawn)"> + database: $(arg database) + collection: $(arg collection) enable_monitor: $(arg enable_monitor) monitor_topic: /$(arg camera_ns)/$(arg depth_ns)/$(arg depth_topic) vital_check: $(arg vital_check) @@ -173,6 +184,8 @@ respawn="$(arg respawn)"> + database: $(arg database) + collection: $(arg collection) enable_monitor: $(arg enable_monitor) monitor_topic: /$(arg camera_ns)/$(arg depth_ns)/$(arg depth_topic) vital_check: $(arg vital_check) @@ -187,6 +200,8 @@ respawn="$(arg respawn)" if="$(arg save_tf)"> + database: $(arg database) + collection: $(arg collection) update_rate: $(arg log_rate) @@ -208,6 +223,8 @@ respawn="$(arg respawn)"> + database: $(arg database) + collection: $(arg collection) enable_monitor: $(arg enable_monitor) monitor_topic: /$(arg joint_states_topic) vital_check: $(arg vital_check) @@ -288,6 +305,8 @@ machine="$(arg machine)" respawn="$(arg respawn)"> + database: $(arg database) + collection: $(arg collection) update_rate: $(arg log_rate) map_frame: $(arg map_frame_id) robot_frame: $(arg base_frame_id) @@ -301,6 +320,8 @@ machine="$(arg machine)" respawn="$(arg respawn)"> + database: $(arg database) + collection: $(arg collection) map_frame: $(arg map_frame_id) robot_frame: $(arg base_frame_id) @@ -311,7 +332,12 @@ name="action_logger" pkg="jsk_robot_startup" type="action_logger.py" machine="$(arg machine)" - respawn="$(arg respawn)" /> + respawn="$(arg respawn)"> + + database: $(arg database) + collection: $(arg collection) + + + database: $(arg database) + collection: $(arg collection) subst_param: true topics: - /${param /robot/name}/app_list From fcdca2c613d4d9e2803f4445be2342f311b97b15 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 10 Nov 2022 15:02:23 +0900 Subject: [PATCH 324/430] [jsk_robot_startup] Fix private namespae in lightweight_logger --- .../jsk_robot_startup/src/lightweight_logger_nodelet.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp index cf6929b476..7ee9ab569d 100644 --- a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp +++ b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp @@ -51,7 +51,7 @@ namespace jsk_robot_startup // settings for database if (ros::param::has("~database")) { - pnh_->param("~database", db_name_, "jsk_robot_lifelog"); + pnh_->param("database", db_name_, "jsk_robot_lifelog"); } else { @@ -59,7 +59,7 @@ namespace jsk_robot_startup } if (ros::param::has("~collection")) { - pnh_->param("~collection", col_name_, std::string()); + pnh_->param("collection", col_name_, std::string()); } else { From eff00f2c0d380f60e6abc45833c15f3922c61db9 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Fri, 11 Nov 2022 13:38:13 +0900 Subject: [PATCH 325/430] [jsk_robot_startup] Add database and collection param to missing node --- .../jsk_robot_startup/lifelog/common_logger.launch | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch index 3b1ff3785e..8dcdebda15 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch @@ -214,6 +214,8 @@ respawn="$(arg respawn)"> + database: $(arg database) + collection: $(arg collection) periodic_rate: $(arg log_rate) @@ -238,6 +240,8 @@ machine="$(arg machine)" respawn="$(arg respawn)"> + database: $(arg database) + collection: $(arg collection) topics: - /server_name/smach/container_init - /server_name/smach/container_status @@ -251,6 +255,8 @@ machine="$(arg machine)" respawn="$(arg respawn)"> + database: $(arg database) + collection: $(arg collection) topics: - /Tablet/voice From 10f4b019b45be3348b2b6f4acf8e73e4fd50cdad Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Fri, 11 Nov 2022 14:40:34 +0900 Subject: [PATCH 326/430] [jsk_robot_startup] Fix to support null collection argument --- .../lifelog/common_logger.launch | 52 ++++++++++++++----- 1 file changed, 39 insertions(+), 13 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch index 8dcdebda15..7d15c029a4 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch @@ -1,7 +1,7 @@ - + @@ -141,11 +141,13 @@ database: $(arg database) - collection: $(arg collection) enable_monitor: $(arg enable_monitor) monitor_topic: /$(arg camera_ns)/$(arg rgb_ns)/$(arg rgb_topic) vital_check: $(arg vital_check) + + collection: $(arg collection) + database: $(arg database) - collection: $(arg collection) enable_monitor: $(arg enable_monitor) monitor_topic: /$(arg camera_ns)/$(arg rgb_ns)/$(arg rgb_topic) vital_check: $(arg vital_check) + + collection: $(arg collection) + @@ -171,11 +175,13 @@ database: $(arg database) - collection: $(arg collection) enable_monitor: $(arg enable_monitor) monitor_topic: /$(arg camera_ns)/$(arg depth_ns)/$(arg depth_topic) vital_check: $(arg vital_check) + + collection: $(arg collection) + database: $(arg database) - collection: $(arg collection) enable_monitor: $(arg enable_monitor) monitor_topic: /$(arg camera_ns)/$(arg depth_ns)/$(arg depth_topic) vital_check: $(arg vital_check) + + collection: $(arg collection) + @@ -201,9 +209,11 @@ if="$(arg save_tf)"> database: $(arg database) - collection: $(arg collection) update_rate: $(arg log_rate) + + collection: $(arg collection) + @@ -215,9 +225,11 @@ database: $(arg database) - collection: $(arg collection) periodic_rate: $(arg log_rate) + + collection: $(arg collection) + database: $(arg database) - collection: $(arg collection) enable_monitor: $(arg enable_monitor) monitor_topic: /$(arg joint_states_topic) vital_check: $(arg vital_check) + + collection: $(arg collection) + @@ -241,12 +255,14 @@ respawn="$(arg respawn)"> database: $(arg database) - collection: $(arg collection) topics: - /server_name/smach/container_init - /server_name/smach/container_status - /server_name/smach/container_structure + + collection: $(arg collection) + database: $(arg database) - collection: $(arg collection) topics: - /Tablet/voice + + collection: $(arg collection) + @@ -312,11 +330,13 @@ respawn="$(arg respawn)"> database: $(arg database) - collection: $(arg collection) update_rate: $(arg log_rate) map_frame: $(arg map_frame_id) robot_frame: $(arg base_frame_id) + + collection: $(arg collection) + @@ -327,10 +347,12 @@ respawn="$(arg respawn)"> database: $(arg database) - collection: $(arg collection) map_frame: $(arg map_frame_id) robot_frame: $(arg base_frame_id) + + collection: $(arg collection) + @@ -341,6 +363,8 @@ respawn="$(arg respawn)"> database: $(arg database) + + collection: $(arg collection) @@ -353,11 +377,13 @@ respawn="$(arg respawn)"> database: $(arg database) - collection: $(arg collection) subst_param: true topics: - /${param /robot/name}/app_list + + collection: $(arg collection) + From 2d4ab06f60dd7e3dbe12c6a548fa544f44f38e50 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 19 Oct 2022 15:01:16 +0900 Subject: [PATCH 327/430] [jsk_fetch_startup] Fix description report-light-on --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index c048537e38..c6155c7acf 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -771,6 +771,8 @@ Args: (:report-light-on '(lambda (userdata) (report-light-on) + (set-alist 'description "" userdata) + (set-alist 'image "" userdata) t)) (:room-light-on '(lambda (userdata) From bbfec79c2af2d92109f271bd384b1dde726014d9 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 19 Oct 2022 15:02:11 +0900 Subject: [PATCH 328/430] [jsk_fetch_startup] Fix indent --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index c6155c7acf..a0c3547e63 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -744,7 +744,7 @@ Args: '((:init '(lambda (userdata) (fetch-init) - (undock) + (undock) (send *ri* :clear-costmap) (store-params) (inflation-loose) @@ -770,7 +770,7 @@ Args: light-on))) (:report-light-on '(lambda (userdata) - (report-light-on) + (report-light-on) (set-alist 'description "" userdata) (set-alist 'image "" userdata) t)) From f80b653bd2fc32a37e4ca2eef87f847ad19e6930 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 19 Oct 2022 15:20:55 +0900 Subject: [PATCH 329/430] [jsk_fetch_startup] remove dependency on switchbot in navigation-utils --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index a0c3547e63..41917c30c0 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -1,10 +1,11 @@ (load "package://jsk_robot_startup/lifelog/tweet_client.l") (load "package://jsk_fetch_startup/euslisp/notify-app.l") -(load "package://switchbot_ros/scripts/switchbot.l") (require :state-machine "package://roseus_smach/src/state-machine.l") (require :state-machine-ros "package://roseus_smach/src/state-machine-ros.l") (require :state-machine-utils "package://roseus_smach/src/state-machine-utils.l") (require :base64 "lib/llib/base64.l") +(if (ros::rospack-find "switchbot_ros") + (load "package://switchbot_ros/scripts/switchbot.l")) (ros::load-ros-manifest "fetch_auto_dock_msgs") (ros::load-ros-manifest "jsk_robot_startup") From 43db471b1a371fa3f2a5daabbab2621d188a9cc2 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 19 Oct 2022 15:21:50 +0900 Subject: [PATCH 330/430] [jsk_fetch_startup] Move function specific to kitchen-demo from navigation-utils to go-to-kitchen.l --- .../jsk_fetch_startup/euslisp/go-to-kitchen.l | 402 ++++++++++++++++++ .../euslisp/navigation-utils.l | 401 ----------------- 2 files changed, 402 insertions(+), 401 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l index d610d09c00..e8ad1cb0b9 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -1,8 +1,410 @@ #!/usr/bin/env roseus (require :fetch-interface "package://fetcheus/fetch-interface.l") +(require :state-machine "package://roseus_smach/src/state-machine.l") +(require :state-machine-ros "package://roseus_smach/src/state-machine-ros.l") +(require :state-machine-utils "package://roseus_smach/src/state-machine-utils.l") +(require :base64 "lib/llib/base64.l") + (load "package://jsk_fetch_startup/euslisp/navigation-utils.l") +(ros::advertise "/photo_taken" sensor_msgs::Image 1) + +(defun image-cb (msg) + (setq *image* msg)) + +(defun go-to-kitchen (&key (tweet t) (n-dock-trial 1) (n-kitchen-trial 1) + (control-switchbot :api)) + ;; go to kitchen + (unless (boundp '*ri*) + (require :fetch-interface "package://fetcheus/fetch-interface.l") + (fetch-init)) + (report-start-go-to-kitchen) + ;; Check if the lights are on in the room + (let ((initial-light-on (get-light-on)) + (success-go-to-kitchen nil) + (success-go-to-trashcan nil) + (success-auto-dock nil) + (success-battery-charging nil)) + (store-params) + ;; turn on light + (if initial-light-on + (report-light-on) + (progn + (report-light-off) + (room-light-on :control-switchbot control-switchbot))) + ;; change the inflation_radius + (inflation-loose) + ;; go to kitchen sink + (setq success-go-to-kitchen (move-to-sink-front :n-trial n-kitchen-trial)) + ;; report result to go to kitchen + (if success-go-to-kitchen + (inspect-kitchen :tweet tweet) + (report-move-to-sink-front-failure)) + ;; go to kitchen trash can + (setq success-go-to-trashcan (move-to-trashcan-front :n-trial n-trashcan-trial)) + ;; report result to go to trash can + (if success-go-to-trashcan + (inspect-trashcan :tweet tweet) + (report-move-to-trashcan-front-failure)) + ;; go back from dock + (report-auto-dock) + (setq success-auto-dock (auto-dock :n-trial n-dock-trial :clear-costmap nil)) + ;; turn off light + (if (and success-auto-dock (not initial-light-on)) + (room-light-off :control-switchbot control-switchbot)) + ;; change the inflation_radius + (restore-params) + (send-kitchen-mail) + (setq success-battery-charging (progn (wait-until-is-charging) + (equal (get-battery-charging-state) :charging))) + (and success-go-to-kitchen success-auto-dock success-battery-charging))) + +(defun go-to-kitchen-state-machine () + (setq *sm* + (make-state-machine + '((:init -> :report-start-go-to-kitchen) + (:report-start-go-to-kitchen -> :get-light-on) + (:get-light-on -> :report-light-on) + (:get-light-on !-> :room-light-on) + (:report-light-on -> :move-to-dock-front) + (:room-light-on -> :move-to-dock-front) + + (:move-to-dock-front -> :inspect-dock-front) + (:move-to-dock-front !-> :report-move-to-dock-front-failure) + (:inspect-dock-front -> :move-to-tv-front) + (:report-move-to-dock-front-failure -> :move-to-tv-front) + + (:move-to-tv-front -> :inspect-tv-front) + (:move-to-tv-front !-> :report-move-to-tv-front-failure) + (:inspect-tv-front -> :move-to-tv-desk) + (:report-move-to-tv-front-failure -> :move-to-tv-desk) + + (:move-to-tv-desk -> :inspect-tv-desk) + (:move-to-tv-desk !-> :report-move-to-tv-desk-failure) + (:inspect-tv-desk -> :move-to-desk-back) + (:report-move-to-tv-desk-failure -> :move-to-desk-back) + + (:move-to-desk-back -> :inspect-desk-back) + (:move-to-desk-back !-> :report-move-to-desk-back-failure) + (:inspect-desk-back -> :move-to-desk-front) + (:report-move-to-desk-back-failure -> :move-to-desk-front) + + (:move-to-desk-front -> :inspect-desk-front) + (:move-to-desk-front !-> :report-move-to-desk-front-failure) + (:inspect-desk-front -> :move-to-kitchen-door-front) + (:report-move-to-desk-front-failure -> :move-to-kitchen-door-front) + + (:move-to-kitchen-door-front -> :inspect-kitchen-door-front) + (:move-to-kitchen-door-front !-> :report-move-to-kitchen-door-front-failure) + (:inspect-kitchen-door-front -> :move-to-sink-front) + (:report-move-to-kitchen-door-front-failure -> :move-to-sink-front) + + (:move-to-sink-front -> :inspect-kitchen) + (:move-to-sink-front !-> :report-move-to-sink-front-failure) + ;;(:inspect-kitchen -> :auto-dock) + (:report-move-to-sink-front-failure -> :auto-dock) + (:inspect-kitchen -> :move-to-trashcan-front) + (:move-to-trashcan-front -> :inspect-trashcan) + (:move-to-trashcan-front !-> :report-move-to-trashcan-front-failure) + (:inspect-trashcan -> :auto-dock) + (:report-move-to-trashcan-front-failure -> :auto-dock) + (:auto-dock -> :room-light-off) + (:auto-dock !-> :auto-dock-failure) + (:auto-dock-failure -> :room-light-off) + (:room-light-off -> :finish) + (:finish -> t) + (:finish !-> nil)) + '((:init + '(lambda (userdata) + (fetch-init) + (undock) + (send *ri* :clear-costmap) + (store-params) + (inflation-loose) + (clear-app-notification) + (ros::subscribe "/edgetpu_object_detector/output/image/compressed" + sensor_msgs::CompressedImage #'image-cb) + t)) + (:report-start-go-to-kitchen + '(lambda (userdata) + (report-start-go-to-kitchen) + (set-alist 'description "キッチンを見に行くよ" userdata) + (set-alist 'image "" userdata) + t)) + (:get-light-on + '(lambda (userdata) + (let ((light-on (get-light-on))) + (setf (cdr (assoc 'initial-light-on userdata)) light-on) + (ros::spin-once) + (if light-on + (set-alist 'description "電気がついていたよ" userdata) + (set-alist 'description "電気がついていなかったよ" userdata)) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + light-on))) + (:report-light-on + '(lambda (userdata) + (report-light-on) + (set-alist 'description "" userdata) + (set-alist 'image "" userdata) + t)) + (:room-light-on + '(lambda (userdata) + (let ((control-switchbot (cdr (assoc 'control-switchbot userdata)))) + (report-light-off) + (room-light-on :control-switchbot control-switchbot) + (ros::spin-once) + (set-alist 'description "電気をつけたよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t))) + (:move-to-dock-front + '(lambda (userdata) + (let* ((n-trial (cdr (assoc 'n-dock-front-trial userdata))) + (success (move-to-dock-front :n-trial n-trial))) + (setf (cdr (assoc 'success-go-to-dock-front userdata)) success) + (ros::spin-once) + (if success + (set-alist 'description "ドックの前に移動したよ" userdata) + (set-alist 'description "ドックの前に移動しようとしたけど，迷子になっちゃった" userdata)) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + success))) + (:inspect-dock-front + '(lambda (userdata) + (inspect-dock-front :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) + (set-alist 'description "ドックの前の様子を見たよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:report-move-to-dock-front-failure + '(lambda (userdata) + (report-move-to-dock-front-failure) + (ros::spin-once) + (set-alist 'description "ドックの前に移動できなかったよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:move-to-tv-front + '(lambda (userdata) + (let* ((n-trial (cdr (assoc 'n-tv-front-trial userdata))) + (success (move-to-tv-front :n-trial n-trial))) + (setf (cdr (assoc 'success-go-to-tv-front userdata)) success) + (ros::spin-once) + (if success + (set-alist 'description "テレビの前に移動したよ" userdata) + (set-alist 'description "テレビの前に移動しようとしたけど，迷子になっちゃった" userdata)) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + success))) + (:inspect-tv-front + '(lambda (userdata) + (inspect-tv-front :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) + (set-alist 'description "テレビの前の様子を見たよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:report-move-to-tv-front-failure + '(lambda (userdata) + (report-move-to-tv-front-failure) + (ros::spin-once) + (set-alist 'description "テレビの前に移動できなかったよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:move-to-tv-desk + '(lambda (userdata) + (let* ((n-trial (cdr (assoc 'n-tv-desk-trial userdata))) + (success (move-to-tv-desk :n-trial n-trial))) + (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success) + (ros::spin-once) + (if success + (set-alist 'description "机の前に移動したよ" userdata) + (set-alist 'description "机の前に移動しようとしたけど，迷子になっちゃった" userdata)) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + success))) + (:inspect-tv-desk + '(lambda (userdata) + (inspect-tv-desk :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) + (set-alist 'description "机の様子を確認したよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:report-move-to-tv-desk-failure + '(lambda (userdata) + (report-move-to-tv-desk-failure) + (ros::spin-once) + (set-alist 'description "机の前に移動できなかったよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:move-to-desk-back + '(lambda (userdata) + (let* ((n-trial (cdr (assoc 'n-desk-back-trial userdata))) + (success (move-to-desk-back :n-trial n-trial))) + (setf (cdr (assoc 'success-go-to-desk-back userdata)) success) + (ros::spin-once) + (if success + (set-alist 'description "部屋の後ろに移動したよ" userdata) + (set-alist 'description "部屋の後ろに移動しようとしたけど，迷子になっちゃった" userdata)) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + success))) + (:inspect-desk-back + '(lambda (userdata) + (inspect-desk-back :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) + (set-alist 'description "部屋の後ろを確認したよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:report-move-to-desk-back-failure + '(lambda (userdata) + (report-move-to-desk-back-failure) + (ros::spin-once) + (set-alist 'description "部屋の後ろに移動できなかったよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:move-to-desk-front + '(lambda (userdata) + (let* ((n-trial (cdr (assoc 'n-desk-front-trial userdata))) + (success (move-to-desk-front :n-trial n-trial))) + (setf (cdr (assoc 'success-go-to-desk-front userdata)) success) + (ros::spin-once) + (if success + (set-alist 'description "部屋の前に移動したよ" userdata) + (set-alist 'description "部屋の前に移動しようとしたけど，迷子になっちゃった" userdata)) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + success))) + (:inspect-desk-front + '(lambda (userdata) + (inspect-desk-front :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) + (set-alist 'description "部屋の前を確認したよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:report-move-to-desk-front-failure + '(lambda (userdata) + (report-move-to-desk-front-failure) + (ros::spin-once) + (set-alist 'description "部屋の前に移動できなかったよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:move-to-kitchen-door-front + '(lambda (userdata) + (let* ((n-trial (cdr (assoc 'n-kitchen-door-front-trial userdata))) + (success (move-to-kitchen-door-front :n-trial n-trial))) + (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success) + (ros::spin-once) + (if success + (set-alist 'description "ドアの前に移動したよ" userdata) + (set-alist 'description "ドアの前に移動しようとしたけど，迷子になっちゃった" userdata)) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + success))) + (:inspect-kitchen-door-front + '(lambda (userdata) + (inspect-kitchen-door-front :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) + (set-alist 'description "ドアの前からキッチンの様子を見たよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:report-move-to-kitchen-door-front-failure + '(lambda (userdata) + (report-move-to-kitchen-door-front-failure) + (ros::spin-once) + (set-alist 'description "ドアの前に移動できなかったよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:move-to-sink-front + '(lambda (userdata) + (let* ((n-trial (cdr (assoc 'n-kitchen-trial userdata))) + (success (move-to-sink-front :n-trial n-trial))) + (setf (cdr (assoc 'success-go-to-kitchen userdata)) success) + (ros::spin-once) + (if success + (set-alist 'description "キッチンに移動したよ" userdata) + (set-alist 'description "キッチンに移動しようとしたけど，迷子になっちゃった" userdata)) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + success))) + (:inspect-kitchen + '(lambda (userdata) + (let* ((label-names (notify-recognition :location "kitchen")) + (notify-text (if label-names (format nil "~Aがあったよ" label-names) ""))) + (inspect-kitchen :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) + (set-alist 'description (format nil "キッチンの様子を見たよ。~A" notify-text) userdata)) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:report-move-to-sink-front-failure + '(lambda (userdata) + (report-move-to-sink-front-failure) + (ros::spin-once) + (set-alist 'description "キッチンに行けなかったよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:move-to-trashcan-front + '(lambda (userdata) + (let* ((n-trial (cdr (assoc 'n-trashcan-trial userdata))) + (success (move-to-trashcan-front :n-trial n-trial))) + (setf (cdr (assoc 'success-go-to-trashcan userdata)) success) + (ros::spin-once) + (if success + (set-alist 'description "ゴミ箱の前に移動したよ" userdata) + (set-alist 'description "ゴミ箱の前に移動しようとしたけど，迷子になっちゃった" userdata)) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + success))) + (:inspect-trashcan + '(lambda (userdata) + (inspect-trashcan :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) + (set-alist 'description "ゴミ箱の様子を確認したよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:report-move-to-trashcan-front-failure + '(lambda (userdata) + (report-move-to-trashcan-front-failure) + (ros::spin-once) + (set-alist 'description "ゴミ箱の前に行けなかったよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:auto-dock + '(lambda (userdata) + (report-auto-dock) + (let* ((n-trial (cdr (assoc 'n-dock-trial userdata))) + (success (auto-dock :n-trial n-trial :clear-costmap nil))) + (setf (cdr (assoc 'success-auto-dock userdata)) success) + (ros::spin-once) + (if success + (set-alist 'description "帰ってきたよ" userdata) + (set-alist 'description "帰ってこようとしたけど，迷子になっちゃった" userdata)) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + success))) + (:auto-dock-failure + '(lambda (userdata) + (report-auto-dock-failure) + (ros::spin-once) + (set-alist 'description "帰ってこられなかったよ" userdata) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + t)) + (:room-light-off + '(lambda (userdata) + (let ((success-auto-dock (cdr (assoc 'success-auto-dock userdata))) + (initial-light-on (cdr (assoc 'initial-light-on userdata))) + (control-switchbot (cdr (assoc 'control-switchbot userdata)))) + (if (and success-auto-dock (not initial-light-on)) + (progn + (room-light-off :control-switchbot control-switchbot) + (ros::spin-once) + (set-alist 'description "電気を消したよ" userdata) + (set-alist 'image "" userdata)))) + t)) + (:finish + '(lambda (userdata) + (let ((success-battery-charging + (progn (wait-until-is-charging) + (equal (get-battery-charging-state) :charging))) + (success-auto-dock (cdr (assoc 'success-auto-dock userdata))) + (success-go-to-kitchen + (cdr (assoc 'success-go-to-kitchen userdata)))) + (restore-params) + (ros::spin-once) + (set-alist 'description "キッチンデモを終えるよ" userdata) + (set-alist 'image "" userdata) + (and success-go-to-kitchen success-auto-dock success-battery-charging))))) + '(:init) + '(t nil)))) (defun main (&key (tweet t) (n-dock-trial 3) (n-kitchen-trial 3) (n-trashcan-trial 3) (n-dock-front-trial 3) (n-tv-front-trial 3) (n-tv-desk-trial 3) (n-desk-back-trial 3) (n-desk-front-trial 3) (n-kitchen-door-front-trial 3) (control-switchbot :api)) (when (not (boundp '*sm*)) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 41917c30c0..56baff7ec8 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -1,9 +1,5 @@ (load "package://jsk_robot_startup/lifelog/tweet_client.l") (load "package://jsk_fetch_startup/euslisp/notify-app.l") -(require :state-machine "package://roseus_smach/src/state-machine.l") -(require :state-machine-ros "package://roseus_smach/src/state-machine-ros.l") -(require :state-machine-utils "package://roseus_smach/src/state-machine-utils.l") -(require :base64 "lib/llib/base64.l") (if (ros::rospack-find "switchbot_ros") (load "package://switchbot_ros/scripts/switchbot.l")) @@ -18,8 +14,6 @@ (defparameter *spots* nil) (defparameter *tfl* (instance ros::transform-listener :init)) -(ros::advertise "/photo_taken" sensor_msgs::Image 1) - (let ((robot-name (ros::get-param "/robot/name"))) (defparameter *dock-spot* (cond @@ -636,399 +630,4 @@ Args: (send *ri* :go-pos-unsafe 0 0 -80) ;; face the front against the trash can success-move-to-trashcan-front)) -(defun image-cb (msg) - (setq *image* msg)) -(defun go-to-kitchen (&key (tweet t) (n-dock-trial 1) (n-kitchen-trial 1) - (control-switchbot :api)) - ;; go to kitchen - (unless (boundp '*ri*) - (require :fetch-interface "package://fetcheus/fetch-interface.l") - (fetch-init)) - (report-start-go-to-kitchen) - ;; Check if the lights are on in the room - (let ((initial-light-on (get-light-on)) - (success-go-to-kitchen nil) - (success-go-to-trashcan nil) - (success-auto-dock nil) - (success-battery-charging nil)) - (store-params) - ;; turn on light - (if initial-light-on - (report-light-on) - (progn - (report-light-off) - (room-light-on :control-switchbot control-switchbot))) - ;; change the inflation_radius - (inflation-loose) - ;; go to kitchen sink - (setq success-go-to-kitchen (move-to-sink-front :n-trial n-kitchen-trial)) - ;; report result to go to kitchen - (if success-go-to-kitchen - (inspect-kitchen :tweet tweet) - (report-move-to-sink-front-failure)) - ;; go to kitchen trash can - (setq success-go-to-trashcan (move-to-trashcan-front :n-trial n-trashcan-trial)) - ;; report result to go to trash can - (if success-go-to-trashcan - (inspect-trashcan :tweet tweet) - (report-move-to-trashcan-front-failure)) - ;; go back from dock - (report-auto-dock) - (setq success-auto-dock (auto-dock :n-trial n-dock-trial :clear-costmap nil)) - ;; turn off light - (if (and success-auto-dock (not initial-light-on)) - (room-light-off :control-switchbot control-switchbot)) - ;; change the inflation_radius - (restore-params) - (send-kitchen-mail) - (setq success-battery-charging (progn (wait-until-is-charging) - (equal (get-battery-charging-state) :charging))) - (and success-go-to-kitchen success-auto-dock success-battery-charging))) - - -(defun go-to-kitchen-state-machine () - (setq *sm* - (make-state-machine - '((:init -> :report-start-go-to-kitchen) - (:report-start-go-to-kitchen -> :get-light-on) - (:get-light-on -> :report-light-on) - (:get-light-on !-> :room-light-on) - (:report-light-on -> :move-to-dock-front) - (:room-light-on -> :move-to-dock-front) - - (:move-to-dock-front -> :inspect-dock-front) - (:move-to-dock-front !-> :report-move-to-dock-front-failure) - (:inspect-dock-front -> :move-to-tv-front) - (:report-move-to-dock-front-failure -> :move-to-tv-front) - - (:move-to-tv-front -> :inspect-tv-front) - (:move-to-tv-front !-> :report-move-to-tv-front-failure) - (:inspect-tv-front -> :move-to-tv-desk) - (:report-move-to-tv-front-failure -> :move-to-tv-desk) - - (:move-to-tv-desk -> :inspect-tv-desk) - (:move-to-tv-desk !-> :report-move-to-tv-desk-failure) - (:inspect-tv-desk -> :move-to-desk-back) - (:report-move-to-tv-desk-failure -> :move-to-desk-back) - - (:move-to-desk-back -> :inspect-desk-back) - (:move-to-desk-back !-> :report-move-to-desk-back-failure) - (:inspect-desk-back -> :move-to-desk-front) - (:report-move-to-desk-back-failure -> :move-to-desk-front) - - (:move-to-desk-front -> :inspect-desk-front) - (:move-to-desk-front !-> :report-move-to-desk-front-failure) - (:inspect-desk-front -> :move-to-kitchen-door-front) - (:report-move-to-desk-front-failure -> :move-to-kitchen-door-front) - - (:move-to-kitchen-door-front -> :inspect-kitchen-door-front) - (:move-to-kitchen-door-front !-> :report-move-to-kitchen-door-front-failure) - (:inspect-kitchen-door-front -> :move-to-sink-front) - (:report-move-to-kitchen-door-front-failure -> :move-to-sink-front) - - (:move-to-sink-front -> :inspect-kitchen) - (:move-to-sink-front !-> :report-move-to-sink-front-failure) - ;;(:inspect-kitchen -> :auto-dock) - (:report-move-to-sink-front-failure -> :auto-dock) - (:inspect-kitchen -> :move-to-trashcan-front) - (:move-to-trashcan-front -> :inspect-trashcan) - (:move-to-trashcan-front !-> :report-move-to-trashcan-front-failure) - (:inspect-trashcan -> :auto-dock) - (:report-move-to-trashcan-front-failure -> :auto-dock) - (:auto-dock -> :room-light-off) - (:auto-dock !-> :auto-dock-failure) - (:auto-dock-failure -> :room-light-off) - (:room-light-off -> :finish) - (:finish -> t) - (:finish !-> nil)) - '((:init - '(lambda (userdata) - (fetch-init) - (undock) - (send *ri* :clear-costmap) - (store-params) - (inflation-loose) - (clear-app-notification) - (ros::subscribe "/edgetpu_object_detector/output/image/compressed" - sensor_msgs::CompressedImage #'image-cb) - t)) - (:report-start-go-to-kitchen - '(lambda (userdata) - (report-start-go-to-kitchen) - (set-alist 'description "キッチンを見に行くよ" userdata) - (set-alist 'image "" userdata) - t)) - (:get-light-on - '(lambda (userdata) - (let ((light-on (get-light-on))) - (setf (cdr (assoc 'initial-light-on userdata)) light-on) - (ros::spin-once) - (if light-on - (set-alist 'description "電気がついていたよ" userdata) - (set-alist 'description "電気がついていなかったよ" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - light-on))) - (:report-light-on - '(lambda (userdata) - (report-light-on) - (set-alist 'description "" userdata) - (set-alist 'image "" userdata) - t)) - (:room-light-on - '(lambda (userdata) - (let ((control-switchbot (cdr (assoc 'control-switchbot userdata)))) - (report-light-off) - (room-light-on :control-switchbot control-switchbot) - (ros::spin-once) - (set-alist 'description "電気をつけたよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t))) - (:move-to-dock-front - '(lambda (userdata) - (let* ((n-trial (cdr (assoc 'n-dock-front-trial userdata))) - (success (move-to-dock-front :n-trial n-trial))) - (setf (cdr (assoc 'success-go-to-dock-front userdata)) success) - (ros::spin-once) - (if success - (set-alist 'description "ドックの前に移動したよ" userdata) - (set-alist 'description "ドックの前に移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - success))) - (:inspect-dock-front - '(lambda (userdata) - (inspect-dock-front :tweet (cdr (assoc 'tweet userdata))) - (ros::spin-once) - (set-alist 'description "ドックの前の様子を見たよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:report-move-to-dock-front-failure - '(lambda (userdata) - (report-move-to-dock-front-failure) - (ros::spin-once) - (set-alist 'description "ドックの前に移動できなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:move-to-tv-front - '(lambda (userdata) - (let* ((n-trial (cdr (assoc 'n-tv-front-trial userdata))) - (success (move-to-tv-front :n-trial n-trial))) - (setf (cdr (assoc 'success-go-to-tv-front userdata)) success) - (ros::spin-once) - (if success - (set-alist 'description "テレビの前に移動したよ" userdata) - (set-alist 'description "テレビの前に移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - success))) - (:inspect-tv-front - '(lambda (userdata) - (inspect-tv-front :tweet (cdr (assoc 'tweet userdata))) - (ros::spin-once) - (set-alist 'description "テレビの前の様子を見たよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:report-move-to-tv-front-failure - '(lambda (userdata) - (report-move-to-tv-front-failure) - (ros::spin-once) - (set-alist 'description "テレビの前に移動できなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:move-to-tv-desk - '(lambda (userdata) - (let* ((n-trial (cdr (assoc 'n-tv-desk-trial userdata))) - (success (move-to-tv-desk :n-trial n-trial))) - (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success) - (ros::spin-once) - (if success - (set-alist 'description "机の前に移動したよ" userdata) - (set-alist 'description "机の前に移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - success))) - (:inspect-tv-desk - '(lambda (userdata) - (inspect-tv-desk :tweet (cdr (assoc 'tweet userdata))) - (ros::spin-once) - (set-alist 'description "机の様子を確認したよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:report-move-to-tv-desk-failure - '(lambda (userdata) - (report-move-to-tv-desk-failure) - (ros::spin-once) - (set-alist 'description "机の前に移動できなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:move-to-desk-back - '(lambda (userdata) - (let* ((n-trial (cdr (assoc 'n-desk-back-trial userdata))) - (success (move-to-desk-back :n-trial n-trial))) - (setf (cdr (assoc 'success-go-to-desk-back userdata)) success) - (ros::spin-once) - (if success - (set-alist 'description "部屋の後ろに移動したよ" userdata) - (set-alist 'description "部屋の後ろに移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - success))) - (:inspect-desk-back - '(lambda (userdata) - (inspect-desk-back :tweet (cdr (assoc 'tweet userdata))) - (ros::spin-once) - (set-alist 'description "部屋の後ろを確認したよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:report-move-to-desk-back-failure - '(lambda (userdata) - (report-move-to-desk-back-failure) - (ros::spin-once) - (set-alist 'description "部屋の後ろに移動できなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:move-to-desk-front - '(lambda (userdata) - (let* ((n-trial (cdr (assoc 'n-desk-front-trial userdata))) - (success (move-to-desk-front :n-trial n-trial))) - (setf (cdr (assoc 'success-go-to-desk-front userdata)) success) - (ros::spin-once) - (if success - (set-alist 'description "部屋の前に移動したよ" userdata) - (set-alist 'description "部屋の前に移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - success))) - (:inspect-desk-front - '(lambda (userdata) - (inspect-desk-front :tweet (cdr (assoc 'tweet userdata))) - (ros::spin-once) - (set-alist 'description "部屋の前を確認したよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:report-move-to-desk-front-failure - '(lambda (userdata) - (report-move-to-desk-front-failure) - (ros::spin-once) - (set-alist 'description "部屋の前に移動できなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:move-to-kitchen-door-front - '(lambda (userdata) - (let* ((n-trial (cdr (assoc 'n-kitchen-door-front-trial userdata))) - (success (move-to-kitchen-door-front :n-trial n-trial))) - (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success) - (ros::spin-once) - (if success - (set-alist 'description "ドアの前に移動したよ" userdata) - (set-alist 'description "ドアの前に移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - success))) - (:inspect-kitchen-door-front - '(lambda (userdata) - (inspect-kitchen-door-front :tweet (cdr (assoc 'tweet userdata))) - (ros::spin-once) - (set-alist 'description "ドアの前からキッチンの様子を見たよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:report-move-to-kitchen-door-front-failure - '(lambda (userdata) - (report-move-to-kitchen-door-front-failure) - (ros::spin-once) - (set-alist 'description "ドアの前に移動できなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:move-to-sink-front - '(lambda (userdata) - (let* ((n-trial (cdr (assoc 'n-kitchen-trial userdata))) - (success (move-to-sink-front :n-trial n-trial))) - (setf (cdr (assoc 'success-go-to-kitchen userdata)) success) - (ros::spin-once) - (if success - (set-alist 'description "キッチンに移動したよ" userdata) - (set-alist 'description "キッチンに移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - success))) - (:inspect-kitchen - '(lambda (userdata) - (let* ((label-names (notify-recognition :location "kitchen")) - (notify-text (if label-names (format nil "~Aがあったよ" label-names) ""))) - (inspect-kitchen :tweet (cdr (assoc 'tweet userdata))) - (ros::spin-once) - (set-alist 'description (format nil "キッチンの様子を見たよ。~A" notify-text) userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:report-move-to-sink-front-failure - '(lambda (userdata) - (report-move-to-sink-front-failure) - (ros::spin-once) - (set-alist 'description "キッチンに行けなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:move-to-trashcan-front - '(lambda (userdata) - (let* ((n-trial (cdr (assoc 'n-trashcan-trial userdata))) - (success (move-to-trashcan-front :n-trial n-trial))) - (setf (cdr (assoc 'success-go-to-trashcan userdata)) success) - (ros::spin-once) - (if success - (set-alist 'description "ゴミ箱の前に移動したよ" userdata) - (set-alist 'description "ゴミ箱の前に移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - success))) - (:inspect-trashcan - '(lambda (userdata) - (inspect-trashcan :tweet (cdr (assoc 'tweet userdata))) - (ros::spin-once) - (set-alist 'description "ゴミ箱の様子を確認したよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:report-move-to-trashcan-front-failure - '(lambda (userdata) - (report-move-to-trashcan-front-failure) - (ros::spin-once) - (set-alist 'description "ゴミ箱の前に行けなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:auto-dock - '(lambda (userdata) - (report-auto-dock) - (let* ((n-trial (cdr (assoc 'n-dock-trial userdata))) - (success (auto-dock :n-trial n-trial :clear-costmap nil))) - (setf (cdr (assoc 'success-auto-dock userdata)) success) - (ros::spin-once) - (if success - (set-alist 'description "帰ってきたよ" userdata) - (set-alist 'description "帰ってこようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - success))) - (:auto-dock-failure - '(lambda (userdata) - (report-auto-dock-failure) - (ros::spin-once) - (set-alist 'description "帰ってこられなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) - (:room-light-off - '(lambda (userdata) - (let ((success-auto-dock (cdr (assoc 'success-auto-dock userdata))) - (initial-light-on (cdr (assoc 'initial-light-on userdata))) - (control-switchbot (cdr (assoc 'control-switchbot userdata)))) - (if (and success-auto-dock (not initial-light-on)) - (progn - (room-light-off :control-switchbot control-switchbot) - (ros::spin-once) - (set-alist 'description "電気を消したよ" userdata) - (set-alist 'image "" userdata)))) - t)) - (:finish - '(lambda (userdata) - (let ((success-battery-charging - (progn (wait-until-is-charging) - (equal (get-battery-charging-state) :charging))) - (success-auto-dock (cdr (assoc 'success-auto-dock userdata))) - (success-go-to-kitchen - (cdr (assoc 'success-go-to-kitchen userdata)))) - (restore-params) - (ros::spin-once) - (set-alist 'description "キッチンデモを終えるよ" userdata) - (set-alist 'image "" userdata) - (and success-go-to-kitchen success-auto-dock success-battery-charging))))) - '(:init) - '(t nil)))) From 71038a306c5e222bd92470f5861f566c743f2fc8 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Tue, 15 Nov 2022 11:52:23 +0900 Subject: [PATCH 331/430] [jsk_fetch_startup] Send image when objects recognize --- .../jsk_fetch_startup/euslisp/go-to-kitchen.l | 229 +++++++++++------- 1 file changed, 146 insertions(+), 83 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l index e8ad1cb0b9..c662fa065d 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -150,173 +150,232 @@ t)) (:room-light-on '(lambda (userdata) - (let ((control-switchbot (cdr (assoc 'control-switchbot userdata)))) + (let ((control-switchbot (cdr (assoc 'control-switchbot userdata))) + (label-names (notify-recognition :location "on the way to kitchen"))) (report-light-off) (room-light-on :control-switchbot control-switchbot) (ros::spin-once) (set-alist 'description "電気をつけたよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t))) (:move-to-dock-front '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-dock-front-trial userdata))) - (success (move-to-dock-front :n-trial n-trial))) + (success (move-to-dock-front :n-trial n-trial)) + (label-names (notify-recognition :location "on the way to kitchen"))) (setf (cdr (assoc 'success-go-to-dock-front userdata)) success) (ros::spin-once) (if success (set-alist 'description "ドックの前に移動したよ" userdata) (set-alist 'description "ドックの前に移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) success))) (:inspect-dock-front '(lambda (userdata) - (inspect-dock-front :tweet (cdr (assoc 'tweet userdata))) - (ros::spin-once) - (set-alist 'description "ドックの前の様子を見たよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) + (let* ((label-names (notify-recognition :location "on the way to kitchen"))) + (inspect-dock-front :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) + (set-alist 'description "ドックの前の様子を見たよ" userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) + t)) (:report-move-to-dock-front-failure '(lambda (userdata) - (report-move-to-dock-front-failure) - (ros::spin-once) - (set-alist 'description "ドックの前に移動できなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) + (let* ((label-names (notify-recognition :location "on the way to kitchen"))) + (report-move-to-dock-front-failure) + (ros::spin-once) + (set-alist 'description "ドックの前に移動できなかったよ" userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) + t)) (:move-to-tv-front '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-tv-front-trial userdata))) - (success (move-to-tv-front :n-trial n-trial))) + (success (move-to-tv-front :n-trial n-trial)) + (label-names (notify-recognition :location "on the way to kitchen"))) (setf (cdr (assoc 'success-go-to-tv-front userdata)) success) (ros::spin-once) (if success (set-alist 'description "テレビの前に移動したよ" userdata) (set-alist 'description "テレビの前に移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) success))) (:inspect-tv-front '(lambda (userdata) - (inspect-tv-front :tweet (cdr (assoc 'tweet userdata))) - (ros::spin-once) - (set-alist 'description "テレビの前の様子を見たよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) + (let* ((label-names (notify-recognition :location "on the way to kitchen"))) + (inspect-tv-front :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) + (set-alist 'description "テレビの前の様子を見たよ" userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) + t))) (:report-move-to-tv-front-failure '(lambda (userdata) - (report-move-to-tv-front-failure) - (ros::spin-once) - (set-alist 'description "テレビの前に移動できなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) + (let* ((label-names (notify-recognition :location "on the way to kitchen"))) + (report-move-to-tv-front-failure) + (ros::spin-once) + (set-alist 'description "テレビの前に移動できなかったよ" userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) + t))) (:move-to-tv-desk '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-tv-desk-trial userdata))) - (success (move-to-tv-desk :n-trial n-trial))) + (success (move-to-tv-desk :n-trial n-trial)) + (label-names (notify-recognition :location "on the way to kitchen"))) (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success) (ros::spin-once) (if success (set-alist 'description "机の前に移動したよ" userdata) (set-alist 'description "机の前に移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) success))) (:inspect-tv-desk '(lambda (userdata) - (inspect-tv-desk :tweet (cdr (assoc 'tweet userdata))) - (ros::spin-once) - (set-alist 'description "机の様子を確認したよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) + (let* ((label-names (notify-recognition :location "on the way to kitchen"))) + (inspect-tv-desk :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) + (set-alist 'description "机の様子を確認したよ" userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) + t))) (:report-move-to-tv-desk-failure '(lambda (userdata) - (report-move-to-tv-desk-failure) - (ros::spin-once) - (set-alist 'description "机の前に移動できなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) + (let* (label-names (notify-recognition :location "on the way to kitchen")) + (report-move-to-tv-desk-failure) + (ros::spin-once) + (set-alist 'description "机の前に移動できなかったよ" userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) + t)) (:move-to-desk-back '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-desk-back-trial userdata))) - (success (move-to-desk-back :n-trial n-trial))) + (success (move-to-desk-back :n-trial n-trial)) + (label-names (notify-recognition :location "on the way to kitchen"))) (setf (cdr (assoc 'success-go-to-desk-back userdata)) success) (ros::spin-once) (if success (set-alist 'description "部屋の後ろに移動したよ" userdata) (set-alist 'description "部屋の後ろに移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) success))) (:inspect-desk-back '(lambda (userdata) - (inspect-desk-back :tweet (cdr (assoc 'tweet userdata))) - (ros::spin-once) - (set-alist 'description "部屋の後ろを確認したよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) + (let* ((label-names (notify-recognition :location "on the way to kitchen"))) + (inspect-desk-back :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) + (set-alist 'description "部屋の後ろを確認したよ" userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) + t))) (:report-move-to-desk-back-failure '(lambda (userdata) - (report-move-to-desk-back-failure) - (ros::spin-once) - (set-alist 'description "部屋の後ろに移動できなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) + (let* ((label-names (notify-recognition :location "on the way to kitchen"))) + (report-move-to-desk-back-failure) + (ros::spin-once) + (set-alist 'description "部屋の後ろに移動できなかったよ" userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) + t)) (:move-to-desk-front '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-desk-front-trial userdata))) - (success (move-to-desk-front :n-trial n-trial))) + (success (move-to-desk-front :n-trial n-trial)) + (label-names (notify-recognition :location "on the way to desk-front"))) (setf (cdr (assoc 'success-go-to-desk-front userdata)) success) (ros::spin-once) (if success (set-alist 'description "部屋の前に移動したよ" userdata) (set-alist 'description "部屋の前に移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) success))) (:inspect-desk-front '(lambda (userdata) - (inspect-desk-front :tweet (cdr (assoc 'tweet userdata))) - (ros::spin-once) - (set-alist 'description "部屋の前を確認したよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) + (let* ((label-names (notify-recognition :location "on the way to kitchen"))) + (inspect-desk-front :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) + (set-alist 'description "部屋の前を確認したよ" userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) + t))) (:report-move-to-desk-front-failure '(lambda (userdata) - (report-move-to-desk-front-failure) - (ros::spin-once) - (set-alist 'description "部屋の前に移動できなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) + (let* ((label-names (notify-recognition :location "on the way to kitchen"))) + (report-move-to-desk-front-failure) + (ros::spin-once) + (set-alist 'description "部屋の前に移動できなかったよ" userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) + t))) (:move-to-kitchen-door-front '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-kitchen-door-front-trial userdata))) - (success (move-to-kitchen-door-front :n-trial n-trial))) + (success (move-to-kitchen-door-front :n-trial n-trial)) + (label-names (notify-recognition :location "on the way to kitchen"))) (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success) (ros::spin-once) (if success (set-alist 'description "ドアの前に移動したよ" userdata) (set-alist 'description "ドアの前に移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - success))) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) + success))) (:inspect-kitchen-door-front '(lambda (userdata) - (inspect-kitchen-door-front :tweet (cdr (assoc 'tweet userdata))) - (ros::spin-once) - (set-alist 'description "ドアの前からキッチンの様子を見たよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) + (let* ((label-names (notify-recognition :location "kitchen-door-front"))) + (inspect-kitchen-door-front :tweet (cdr (assoc 'tweet userdata))) + (ros::spin-once) + (set-alist 'description "ドアの前からキッチンの様子を見たよ" userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) + t))) (:report-move-to-kitchen-door-front-failure '(lambda (userdata) - (report-move-to-kitchen-door-front-failure) - (ros::spin-once) - (set-alist 'description "ドアの前に移動できなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) + (let* (label-names (notify-recognition :location "on the way to kitchen")) + (report-move-to-kitchen-door-front-failure) + (ros::spin-once) + (set-alist 'description "ドアの前に移動できなかったよ" userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)) + t))) (:move-to-sink-front '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-kitchen-trial userdata))) - (success (move-to-sink-front :n-trial n-trial))) + (success (move-to-sink-front :n-trial n-trial)) + (label-names (notify-recognition :location "on the way to kitchen"))) (setf (cdr (assoc 'success-go-to-kitchen userdata)) success) (ros::spin-once) (if success (set-alist 'description "キッチンに移動したよ" userdata) (set-alist 'description "キッチンに移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) success))) (:inspect-kitchen '(lambda (userdata) @@ -325,15 +384,19 @@ (inspect-kitchen :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description (format nil "キッチンの様子を見たよ。~A" notify-text) userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t)) (:report-move-to-sink-front-failure '(lambda (userdata) - (report-move-to-sink-front-failure) - (ros::spin-once) - (set-alist 'description "キッチンに行けなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - t)) + (let* ((label-names (notify-recognition :location "on the way to sink-front"))) + (report-move-to-sink-front-failure) + (ros::spin-once) + (set-alist 'description "キッチンに行けなかったよ" userdata) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)) + t))) (:move-to-trashcan-front '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-trashcan-trial userdata))) From 196ff1cfbb8020f34a145869dad175f3bc7b9b14 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Tue, 15 Nov 2022 14:04:06 +0900 Subject: [PATCH 332/430] [jsk_fetch_startup] Fix parenthesis correspondence --- .../jsk_fetch_startup/euslisp/go-to-kitchen.l | 21 +++++++++++-------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l index c662fa065d..9b4786b89b 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -183,7 +183,7 @@ (if label-names (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) - t)) + t))) (:report-move-to-dock-front-failure '(lambda (userdata) (let* ((label-names (notify-recognition :location "on the way to kitchen"))) @@ -193,7 +193,7 @@ (if label-names (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) - t)) + t))) (:move-to-tv-front '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-tv-front-trial userdata))) @@ -261,7 +261,7 @@ (if label-names (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) - t)) + t))) (:move-to-desk-back '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-desk-back-trial userdata))) @@ -295,7 +295,7 @@ (if label-names (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) - t)) + t))) (:move-to-desk-front '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-desk-front-trial userdata))) @@ -383,10 +383,10 @@ (notify-text (if label-names (format nil "~Aがあったよ" label-names) ""))) (inspect-kitchen :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) - (set-alist 'description (format nil "キッチンの様子を見たよ。~A" notify-text) userdata)) + (set-alist 'description (format nil "キッチンの様子を見たよ。~A" notify-text) userdata) (if label-names (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (set-alist 'image "" userdata))) t)) (:report-move-to-sink-front-failure '(lambda (userdata) @@ -400,13 +400,16 @@ (:move-to-trashcan-front '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-trashcan-trial userdata))) - (success (move-to-trashcan-front :n-trial n-trial))) + (success (move-to-trashcan-front :n-trial n-trial)) + (label-names (notify-recognition :location "on the way to kitchen"))) (setf (cdr (assoc 'success-go-to-trashcan userdata)) success) (ros::spin-once) (if success (set-alist 'description "ゴミ箱の前に移動したよ" userdata) - (set-alist 'description "ゴミ箱の前に移動しようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'description "ゴミ箱の前に移動しようとしたけど，迷子になっちゃった" userdata)) + (if label-names + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) success))) (:inspect-trashcan '(lambda (userdata) From 367349c7454ad7e7839c2d7ab3de24a8384514dc Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Tue, 15 Nov 2022 14:08:54 +0900 Subject: [PATCH 333/430] [jsk_fetch_startup] Remove image when robot moved --- .../jsk_fetch_startup/euslisp/go-to-kitchen.l | 49 ++++++------------- 1 file changed, 15 insertions(+), 34 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l index 9b4786b89b..9698c2fe59 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -197,16 +197,13 @@ (:move-to-tv-front '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-tv-front-trial userdata))) - (success (move-to-tv-front :n-trial n-trial)) - (label-names (notify-recognition :location "on the way to kitchen"))) + (success (move-to-tv-front :n-trial n-trial))) (setf (cdr (assoc 'success-go-to-tv-front userdata)) success) (ros::spin-once) (if success (set-alist 'description "テレビの前に移動したよ" userdata) (set-alist 'description "テレビの前に移動しようとしたけど，迷子になっちゃった" userdata)) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (set-alist 'image "" userdata) success))) (:inspect-tv-front '(lambda (userdata) @@ -238,9 +235,7 @@ (if success (set-alist 'description "机の前に移動したよ" userdata) (set-alist 'description "机の前に移動しようとしたけど，迷子になっちゃった" userdata)) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (set-alist 'image "" userdata) success))) (:inspect-tv-desk '(lambda (userdata) @@ -272,9 +267,7 @@ (if success (set-alist 'description "部屋の後ろに移動したよ" userdata) (set-alist 'description "部屋の後ろに移動しようとしたけど，迷子になっちゃった" userdata)) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (set-alist 'image "" userdata) success))) (:inspect-desk-back '(lambda (userdata) @@ -299,16 +292,13 @@ (:move-to-desk-front '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-desk-front-trial userdata))) - (success (move-to-desk-front :n-trial n-trial)) - (label-names (notify-recognition :location "on the way to desk-front"))) + (success (move-to-desk-front :n-trial n-trial))) (setf (cdr (assoc 'success-go-to-desk-front userdata)) success) (ros::spin-once) (if success (set-alist 'description "部屋の前に移動したよ" userdata) (set-alist 'description "部屋の前に移動しようとしたけど，迷子になっちゃった" userdata)) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (set-alist 'image "" userdata) success))) (:inspect-desk-front '(lambda (userdata) @@ -333,16 +323,13 @@ (:move-to-kitchen-door-front '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-kitchen-door-front-trial userdata))) - (success (move-to-kitchen-door-front :n-trial n-trial)) - (label-names (notify-recognition :location "on the way to kitchen"))) + (success (move-to-kitchen-door-front :n-trial n-trial))) (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success) (ros::spin-once) (if success (set-alist 'description "ドアの前に移動したよ" userdata) (set-alist 'description "ドアの前に移動しようとしたけど，迷子になっちゃった" userdata)) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (set-alist 'image "" userdata) success))) (:inspect-kitchen-door-front '(lambda (userdata) @@ -356,13 +343,11 @@ t))) (:report-move-to-kitchen-door-front-failure '(lambda (userdata) - (let* (label-names (notify-recognition :location "on the way to kitchen")) - (report-move-to-kitchen-door-front-failure) - (ros::spin-once) - (set-alist 'description "ドアの前に移動できなかったよ" userdata) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)) - t))) + (report-move-to-kitchen-door-front-failure) + (ros::spin-once) + (set-alist 'description "ドアの前に移動できなかったよ" userdata) + (set-alist 'image "" userdata) + t)) (:move-to-sink-front '(lambda (userdata) (let* ((n-trial (cdr (assoc 'n-kitchen-trial userdata))) @@ -373,9 +358,7 @@ (if success (set-alist 'description "キッチンに移動したよ" userdata) (set-alist 'description "キッチンに移動しようとしたけど，迷子になっちゃった" userdata)) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (set-alist 'image "" userdata) success))) (:inspect-kitchen '(lambda (userdata) @@ -407,9 +390,7 @@ (if success (set-alist 'description "ゴミ箱の前に移動したよ" userdata) (set-alist 'description "ゴミ箱の前に移動しようとしたけど，迷子になっちゃった" userdata)) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (set-alist 'image "" userdata) success))) (:inspect-trashcan '(lambda (userdata) From d559081185ff7aaf180fec21b7223e7a4a00ea41 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Fri, 14 Oct 2022 11:12:55 +0900 Subject: [PATCH 334/430] [jsk_fetch_startup] add rightsidehook to side_hook.urdf.xacro --- .../robots/side_hook.urdf.xacro | 48 ++++++++++++++++--- 1 file changed, 42 insertions(+), 6 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro index c8206ecdc5..61696e7f55 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro +++ b/jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro @@ -1,6 +1,6 @@ - + @@ -25,14 +25,50 @@ - + - - + + - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 45dcf572768eae51948c6845cd7e8ca1db0f2a43 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Fri, 14 Oct 2022 13:48:16 +0900 Subject: [PATCH 335/430] [jsk_fetch_startup] fix torso-side_hook joint names --- jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro index 61696e7f55..f373bc6110 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro +++ b/jsk_fetch_robot/jsk_fetch_startup/robots/side_hook.urdf.xacro @@ -22,7 +22,7 @@ - + @@ -58,7 +58,7 @@ - + From e3c8a4ffab4cb288c6cca75ef63defc8ea32edcc Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 16 Nov 2022 23:44:28 +0900 Subject: [PATCH 336/430] [jsk_robot_startup] Fix unintended smach notification when demo fails --- jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py index 58f02c9129..e41f5f8b00 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py +++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py @@ -89,6 +89,7 @@ def _stop_timer_cb(self, event): self._send_twitter( self.smach_state_subject[key], self.smach_state_list[key]) self.smach_state_subject[key] = None + self.smach_state_list[key] = None rospy.logwarn( "SmachToMail timer publishes stop signal. Send Notification.") From e78c14befd126e632cac72810f8d3fbe365fe92a Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 16 Nov 2022 23:46:19 +0900 Subject: [PATCH 337/430] [jsk_robot_startup] Consolidate format about remove smach notification data --- jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py index e41f5f8b00..5e18ebb316 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py +++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py @@ -186,6 +186,7 @@ def _status_cb(self, msg): if self.use_google_chat: self._send_google_chat(self.smach_state_subject[caller_id], self.smach_state_list[caller_id]) self.smach_state_list[caller_id] = None + self.smach_state_subject[caller_id] = None def _send_mail(self, subject, state_list): email_msg = Email() From e2212c8ee395c5684070e3f11cd886360cbc0d7f Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 11 Nov 2022 22:05:17 +0900 Subject: [PATCH 338/430] ad volume key in tweet-string func --- jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l index a4308622ec..b4079f68fa 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l @@ -7,7 +7,7 @@ (load "package://pr2eus/speak.l") (defun tweet-string (twit-str &key (warning-time) (with-image) (image-wait 30) (speak t) - (tweet-topic-name "/tweet")) + (tweet-topic-name "/tweet") (volume 1.0)) (if (null (ros::get-num-subscribers tweet-topic-name)) (ros::advertise tweet-topic-name std_msgs::String 1)) (let (prev-image-topic img) @@ -28,7 +28,8 @@ (8 "はち") (9 "きゅう") (10 "じゅう") - (t "じゅういじょう"))))) + (t "じゅういじょう"))) + :volume volume)) (unix::sleep warning-time)) (cond @@ -64,5 +65,5 @@ (ros::service-call "/tweet_image_mux/select" (instance topic_tools::muxselectrequest :init :topic prev-image-topic))) (t (ros::publish tweet-topic-name (instance std_msgs::String :init :data twit-str)))) - (when speak (speak-jp "ついーとしました" :wait t)))) + (when speak (speak-jp "ついーとしました" :wait t :volume volume)))) From 0ed62e88fc5f1a7dc2aa726b46a3733e1105af92 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 11 Nov 2022 23:04:58 +0900 Subject: [PATCH 339/430] control volume by dynamic reconfigure --- .../lifelog/tweet_client_tablet.l | 15 ++++++++++++++- .../lifelog/tweet_client_uptime.l | 16 +++++++++++++++- .../lifelog/tweet_client_warning.l | 14 +++++++++++++- .../lifelog/tweet_client_worktime.l | 16 +++++++++++++++- 4 files changed, 57 insertions(+), 4 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l index ed1be21a4e..cf1464575f 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l @@ -3,13 +3,26 @@ (ros::roseus "twitter_client_tablet") (ros::roseus-add-msgs "roseus") +(load "package://roseus/euslisp/dynamic-reconfigure-server.l") (load "package://jsk_robot_startup/lifelog/tweet_client.l") +(setq *volume* (ros::get-param "~volume" 1.0)) +(setq *reconfigure-server* + (def-dynamic-reconfigure-server + ;;; ((name type level description (default) (min) (max) (edit_method)) ... ) + (("volume" double_t 0 "tweet speak volume" 1.0 0.0 1.0)) + ;; use lamda-closure to avoid memory error + '(lambda-closure nil 0 0 (cfg level) + (setq *volume* (cdr (assoc "volume" cfg :test #'equal))) + (ros::ros-warn "Volume changed to: ~A" *volume*) + cfg))) + (defun twit-cb (msg) (let ((twit-str (send msg :data))) (tweet-string twit-str :warning-time nil - :with-image "/tablet/marked/image_rect_color"))) + :with-image "/tablet/marked/image_rect_color" + :volume *volume*))) (ros::advertise "/tweet" std_msgs::String 1) (ros::subscribe "/pr2twit_from_tablet" roseus::StringStamped #'twit-cb) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l index d49af0e6e4..3df9d85626 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l @@ -2,6 +2,7 @@ (ros::roseus "twitter_client_uptime") +(load "package://roseus/euslisp/dynamic-reconfigure-server.l") (load "package://jsk_robot_startup/lifelog/tweet_client.l") (setq *src-lines* nil) @@ -37,6 +38,17 @@ (t (setq *waking-target-second* *waking-tweet-second*))) +(setq *volume* (ros::get-param "~volume" 1.0)) +(setq *reconfigure-server* + (def-dynamic-reconfigure-server + ;;; ((name type level description (default) (min) (max) (edit_method)) ... ) + (("volume" double_t 0 "tweet speak volume" 1.0 0.0 1.0)) + ;; use lamda-closure to avoid memory error + '(lambda-closure nil 0 0 (cfg level) + (setq *volume* (cdr (assoc "volume" cfg :test #'equal))) + (ros::ros-warn "Volume changed to: ~A" *volume*) + cfg))) + (ros::advertise "/tweet" std_msgs::String 1) (ros::rate 0.1) (do-until-key @@ -81,8 +93,10 @@ (incf pos (length s)) (if (< pos (- ln 2)) (setf (elt dt pos) 10)) (incf pos)) - (tweet-string dt :warning-time 1 :with-image t) + (tweet-string dt :warning-time 1 :with-image t + :volume *volume*) )) )))) + (ros::spin-once) (ros::sleep) ) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l index 7ec7e3dceb..d40a055d4a 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l @@ -2,9 +2,21 @@ (ros::roseus "twitter_client_warning") +(load "package://roseus/euslisp/dynamic-reconfigure-server.l") (load "package://jsk_robot_startup/lifelog/tweet_client.l") (ros::load-ros-manifest "diagnostic_msgs") +(setq *volume* (ros::get-param "~volume" 1.0)) +(setq *reconfigure-server* + (def-dynamic-reconfigure-server + ;;; ((name type level description (default) (min) (max) (edit_method)) ... ) + (("volume" double_t 0 "tweet speak volume" 1.0 0.0 1.0)) + ;; use lamda-closure to avoid memory error + '(lambda-closure nil 0 0 (cfg level) + (setq *volume* (cdr (assoc "volume" cfg :test #'equal))) + (ros::ros-warn "Volume changed to: ~A" *volume*) + cfg))) + (defun diagnostics-cb (msg) (let ((diagnostics (make-hash-table :test #'equal)) (tm (ros::time-now)) @@ -34,7 +46,7 @@ (setq id (random (length status))) (when (= (mod (round (send tm :sec)) 1000) 0) (tweet-string (format nil "Warning!! ~A is ~A at ~0,3f" (car (elt status id)) (cdr (elt status id)) (send tm :to-sec)) - :warning-time 1 :with-image t) + :warning-time 1 :with-image t :volume *volume*) )) ;; when )) ;; let diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_worktime.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_worktime.l index dac8769842..5b18959e52 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_worktime.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_worktime.l @@ -2,6 +2,7 @@ (ros::roseus "twitter_client_worktime") +(load "package://roseus/euslisp/dynamic-reconfigure-server.l") (load "package://jsk_robot_startup/lifelog/tweet_client.l") (defvar *robot-name* "robot") @@ -34,6 +35,17 @@ (t (setq *waking-target-second* *waking-tweet-second*))) +(setq *volume* (ros::get-param "~volume" 1.0)) +(setq *reconfigure-server* + (def-dynamic-reconfigure-server + ;;; ((name type level description (default) (min) (max) (edit_method)) ... ) + (("volume" double_t 0 "tweet speak volume" 1.0 0.0 1.0)) + ;; use lamda-closure to avoid memory error + '(lambda-closure nil 0 0 (cfg level) + (setq *volume* (cdr (assoc "volume" cfg :test #'equal))) + (ros::ros-warn "Volume changed to: ~A" *volume*) + cfg))) + (ros::advertise "/tweet" std_msgs::String 1) (ros::rate 0.1) (do-until-key @@ -75,8 +87,10 @@ postsubstr ", Got some rest?"))) (tweet-string (format nil "~A~A~A" presubstr mainstr postsubstr) - :warning-time 1 :with-image t) + :warning-time 1 :with-image t + :volume *volume*) )) + (ros::spin-once) (ros::sleep) ) From a6a5e2ba66034f27b3cba08464bfc0d8fc89ac4c Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 18 Nov 2022 16:42:46 +0900 Subject: [PATCH 340/430] add enable and speak-enable dynamic reconfigure --- .../lifelog/tweet_client_tablet.l | 32 +++-- .../lifelog/tweet_client_uptime.l | 110 ++++++++++-------- .../lifelog/tweet_client_warning.l | 82 +++++++------ .../lifelog/tweet_client_worktime.l | 104 ++++++++++------- 4 files changed, 195 insertions(+), 133 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l index cf1464575f..aa168feb11 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l @@ -7,22 +7,38 @@ (load "package://jsk_robot_startup/lifelog/tweet_client.l") (setq *volume* (ros::get-param "~volume" 1.0)) +(setq *speak-enable* (ros::get-param "~speak_enable" t)) +(setq *enable* (ros::get-param "~enable" t)) (setq *reconfigure-server* (def-dynamic-reconfigure-server ;;; ((name type level description (default) (min) (max) (edit_method)) ... ) - (("volume" double_t 0 "tweet speak volume" 1.0 0.0 1.0)) + (("volume" double_t 0 "tweet speak volume" 1.0 0.0 1.0) + ("speak_enable" bool_t 0 "tweet speak enable" t) + ("enable" bool_t 0 "tweet enable" t)) ;; use lamda-closure to avoid memory error '(lambda-closure nil 0 0 (cfg level) - (setq *volume* (cdr (assoc "volume" cfg :test #'equal))) - (ros::ros-warn "Volume changed to: ~A" *volume*) + (let ((prev-volume *volume*) + (prev-speak-enable *speak-enable*) + (prev-enable *enable*)) + (setq *volume* (cdr (assoc "volume" cfg :test #'equal))) + (setq *speak-enable* (cdr (assoc "speak_enable" cfg :test #'equal))) + (setq *enable* (cdr (assoc "enable" cfg :test #'equal))) + (if (null (equal *volume* prev-volume)) + (ros::ros-warn "Volume changed to: ~A" *volume*)) + (if (null (equal *enable* prev-enable)) + (ros::ros-warn "Enable changed to: ~A" *enable*)) + (if (null (equal *speak-enable* prev-speak-enable)) + (ros::ros-warn "Speak enable changed to: ~A" *speak-enable*))) cfg))) (defun twit-cb (msg) - (let ((twit-str (send msg :data))) - (tweet-string twit-str - :warning-time nil - :with-image "/tablet/marked/image_rect_color" - :volume *volume*))) + (if *enable* + (let ((twit-str (send msg :data))) + (tweet-string twit-str + :warning-time nil + :with-image "/tablet/marked/image_rect_color" + :speak *speak-enable* + :volume *volume*)))) (ros::advertise "/tweet" std_msgs::String 1) (ros::subscribe "/pr2twit_from_tablet" roseus::StringStamped #'twit-cb) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l index 3df9d85626..1dc3caed3c 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l @@ -39,64 +39,80 @@ (setq *waking-target-second* *waking-tweet-second*))) (setq *volume* (ros::get-param "~volume" 1.0)) +(setq *speak-enable* (ros::get-param "~speak_enable" t)) +(setq *enable* (ros::get-param "~enable" t)) (setq *reconfigure-server* (def-dynamic-reconfigure-server ;;; ((name type level description (default) (min) (max) (edit_method)) ... ) - (("volume" double_t 0 "tweet speak volume" 1.0 0.0 1.0)) + (("volume" double_t 0 "tweet speak volume" 1.0 0.0 1.0) + ("speak_enable" bool_t 0 "tweet speak enable" t) + ("enable" bool_t 0 "tweet enable" t)) ;; use lamda-closure to avoid memory error '(lambda-closure nil 0 0 (cfg level) - (setq *volume* (cdr (assoc "volume" cfg :test #'equal))) - (ros::ros-warn "Volume changed to: ~A" *volume*) + (let ((prev-volume *volume*) + (prev-speak-enable *speak-enable*) + (prev-enable *enable*)) + (setq *volume* (cdr (assoc "volume" cfg :test #'equal))) + (setq *speak-enable* (cdr (assoc "speak_enable" cfg :test #'equal))) + (setq *enable* (cdr (assoc "enable" cfg :test #'equal))) + (if (null (equal *volume* prev-volume)) + (ros::ros-warn "Volume changed to: ~A" *volume*)) + (if (null (equal *enable* prev-enable)) + (ros::ros-warn "Enable changed to: ~A" *enable*)) + (if (null (equal *speak-enable* prev-speak-enable)) + (ros::ros-warn "Speak enable changed to: ~A" *speak-enable*))) cfg))) (ros::advertise "/tweet" std_msgs::String 1) (ros::rate 0.1) (do-until-key - (setq *user-name* (ros::get-param "/active_user/launch_user_name") - *elapsed-time* (ros::get-param "/active_user/elapsed_time")) - ;; tweet depend on up time - (let ((st (ros::get-param "/active_user/start_time"))) - (when st - (let ((waking-time (- (send (ros::time-now) :to-sec) st))) - (ros::ros-debug "~A waking ~A sec (~A)" *robot-name* waking-time *waking-target-second*) - (when (> waking-time *waking-target-second*) - (incf *waking-target-second* *waking-tweet-second*) - ;; tweet source of robot-interface - (unless *src-lines* - (let* ((dirname (ros::rospack-find "pr2eus")) - (fname (format nil "~A/robot-interface.l" dirname)) - str) - (with-open-file (f fname) - (while (setq str (read-line f nil nil)) - (push str *src-lines*))) - (setq *src-lines* (nreverse *src-lines*)) - )) + (if *enable* + (progn + (setq *user-name* (ros::get-param "/active_user/launch_user_name") + *elapsed-time* (ros::get-param "/active_user/elapsed_time")) + ;; tweet depend on up time + (let ((st (ros::get-param "/active_user/start_time"))) + (when st + (let ((waking-time (- (send (ros::time-now) :to-sec) st))) + (ros::ros-debug "~A waking ~A sec (~A)" *robot-name* waking-time *waking-target-second*) + (when (> waking-time *waking-target-second*) + (incf *waking-target-second* *waking-tweet-second*) + ;; tweet source of robot-interface + (unless *src-lines* + (let* ((dirname (ros::rospack-find "pr2eus")) + (fname (format nil "~A/robot-interface.l" dirname)) + str) + (with-open-file (f fname) + (while (setq str (read-line f nil nil)) + (push str *src-lines*))) + (setq *src-lines* (nreverse *src-lines*)) + )) - (let* ((len (length *src-lines*)) - (start-n (floor (random (float len) *random-state*))) - (spos 0) (str-len 0) lines) - (push (format nil "I am running ~A min." (round (/ waking-time 60.0))) - lines) - (incf str-len (length (car lines))) - (while (< (+ start-n spos) len) - (let ((str (elt *src-lines* (+ start-n spos)))) - (incf str-len (length str)) - (if (> str-len 140) (return)) - (push str lines)) - (incf spos)) - (let* ((ln (apply #'+ (length lines) - (mapcar #'(lambda (x) (length x)) lines))) - (dt (make-string (1- ln))) - (pos 0)) - (dolist (s (nreverse lines)) - (replace dt s :start1 pos) - (incf pos (length s)) - (if (< pos (- ln 2)) (setf (elt dt pos) 10)) - (incf pos)) - (tweet-string dt :warning-time 1 :with-image t - :volume *volume*) - )) - )))) + (let* ((len (length *src-lines*)) + (start-n (floor (random (float len) *random-state*))) + (spos 0) (str-len 0) lines) + (push (format nil "I am running ~A min." (round (/ waking-time 60.0))) + lines) + (incf str-len (length (car lines))) + (while (< (+ start-n spos) len) + (let ((str (elt *src-lines* (+ start-n spos)))) + (incf str-len (length str)) + (if (> str-len 140) (return)) + (push str lines)) + (incf spos)) + (let* ((ln (apply #'+ (length lines) + (mapcar #'(lambda (x) (length x)) lines))) + (dt (make-string (1- ln))) + (pos 0)) + (dolist (s (nreverse lines)) + (replace dt s :start1 pos) + (incf pos (length s)) + (if (< pos (- ln 2)) (setf (elt dt pos) 10)) + (incf pos)) + (tweet-string dt :warning-time 1 :with-image t + :speak *speak-enable* + :volume *volume*) + )))))))) (ros::spin-once) (ros::sleep) ) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l index d40a055d4a..7fa754e89a 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l @@ -7,48 +7,62 @@ (ros::load-ros-manifest "diagnostic_msgs") (setq *volume* (ros::get-param "~volume" 1.0)) +(setq *speak-enable* (ros::get-param "~speak_enable" t)) +(setq *enable* (ros::get-param "~enable" t)) (setq *reconfigure-server* (def-dynamic-reconfigure-server ;;; ((name type level description (default) (min) (max) (edit_method)) ... ) - (("volume" double_t 0 "tweet speak volume" 1.0 0.0 1.0)) + (("volume" double_t 0 "tweet speak volume" 1.0 0.0 1.0) + ("speak_enable" bool_t 0 "tweet speak enable" t) + ("enable" bool_t 0 "tweet enable" t)) ;; use lamda-closure to avoid memory error '(lambda-closure nil 0 0 (cfg level) - (setq *volume* (cdr (assoc "volume" cfg :test #'equal))) - (ros::ros-warn "Volume changed to: ~A" *volume*) + (let ((prev-volume *volume*) + (prev-speak-enable *speak-enable*) + (prev-enable *enable*)) + (setq *volume* (cdr (assoc "volume" cfg :test #'equal))) + (setq *speak-enable* (cdr (assoc "speak_enable" cfg :test #'equal))) + (setq *enable* (cdr (assoc "enable" cfg :test #'equal))) + (if (null (equal *volume* prev-volume)) + (ros::ros-warn "Volume changed to: ~A" *volume*)) + (if (null (equal *enable* prev-enable)) + (ros::ros-warn "Enable changed to: ~A" *enable*)) + (if (null (equal *speak-enable* prev-speak-enable)) + (ros::ros-warn "Speak enable changed to: ~A" *speak-enable*))) cfg))) (defun diagnostics-cb (msg) - (let ((diagnostics (make-hash-table :test #'equal)) - (tm (ros::time-now)) - status id) - (ros::ros-debug (format nil "~0,3f diagnostics_msgs~%" (send tm :to-sec))) - (dolist (status (send msg :status)) - ;; diagnostic_msgs::DiagnosticStatus::*WARN* - (when (>= (send status :level) diagnostic_msgs::DiagnosticStatus::*WARN*) ;; diagnostic_msgs::DiagnosticStatus::*ERROR*) - (cond ((substringp "/Motors" (send status :name)) - t) ;; skip motors - ((substringp "/Other/Accelerometer" (send status :name)) t) - ((substringp "/Other/Pressure" (send status :name)) t) - ((and (string= "/Computers/Network/Wifi Status (ddwrt)" (send status :name)) - (string= "Updates Stale" (send status :message))) t) - ((and (string= "/Computers/Network" (send status :name)) - (string= "Error" (send status :message))) t) - ((substringp "/Peripherals/PS3 Controller" (send status :name)) t) ;; fetch joystick warning - ((position #\/ (send status :name) :count 2) ;; check depth of name - (setq key (subseq (send status :name) 0 (position #\/ (send status :name) :count 2))) - (when (> (length (send status :name)) (length (gethash key diagnostics))) - (setf (gethash key diagnostics) (cons (send status :name) (send status :message))) - ) ;; when - )) - )) ;; when / dolist - (maphash #'(lambda (k v) (ros::ros-debug (format nil "Warnings ~A ~A~%" (length status) v)) (push v status)) diagnostics) - (when status - (setq id (random (length status))) - (when (= (mod (round (send tm :sec)) 1000) 0) - (tweet-string (format nil "Warning!! ~A is ~A at ~0,3f" (car (elt status id)) (cdr (elt status id)) (send tm :to-sec)) - :warning-time 1 :with-image t :volume *volume*) - )) ;; when - )) ;; let + (if *enable* + (let ((diagnostics (make-hash-table :test #'equal)) + (tm (ros::time-now)) + status id) + (ros::ros-debug (format nil "~0,3f diagnostics_msgs~%" (send tm :to-sec))) + (dolist (status (send msg :status)) + ;; diagnostic_msgs::DiagnosticStatus::*WARN* + (when (>= (send status :level) diagnostic_msgs::DiagnosticStatus::*WARN*) ;; diagnostic_msgs::DiagnosticStatus::*ERROR*) + (cond ((substringp "/Motors" (send status :name)) + t) ;; skip motors + ((substringp "/Other/Accelerometer" (send status :name)) t) + ((substringp "/Other/Pressure" (send status :name)) t) + ((and (string= "/Computers/Network/Wifi Status (ddwrt)" (send status :name)) + (string= "Updates Stale" (send status :message))) t) + ((and (string= "/Computers/Network" (send status :name)) + (string= "Error" (send status :message))) t) + ((substringp "/Peripherals/PS3 Controller" (send status :name)) t) ;; fetch joystick warning + ((position #\/ (send status :name) :count 2) ;; check depth of name + (setq key (subseq (send status :name) 0 (position #\/ (send status :name) :count 2))) + (when (> (length (send status :name)) (length (gethash key diagnostics))) + (setf (gethash key diagnostics) (cons (send status :name) (send status :message))) + ) ;; when + )) + )) ;; when / dolist + (maphash #'(lambda (k v) (ros::ros-debug (format nil "Warnings ~A ~A~%" (length status) v)) (push v status)) diagnostics) + (when status + (setq id (random (length status))) + (when (= (mod (round (send tm :sec)) 1000) 0) + (tweet-string (format nil "Warning!! ~A is ~A at ~0,3f" (car (elt status id)) (cdr (elt status id)) (send tm :to-sec)) + :warning-time 1 :with-image t :volume *volume* :speak *speak*))) + ))) (ros::advertise "/tweet" std_msgs::String 1) (ros::subscribe "/diagnostics_agg" diagnostic_msgs::DiagnosticArray #'diagnostics-cb) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_worktime.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_worktime.l index 5b18959e52..52baa59aaf 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_worktime.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_worktime.l @@ -36,61 +36,77 @@ (setq *waking-target-second* *waking-tweet-second*))) (setq *volume* (ros::get-param "~volume" 1.0)) +(setq *speak-enable* (ros::get-param "~speak_enable" t)) +(setq *enable* (ros::get-param "~enable" t)) (setq *reconfigure-server* (def-dynamic-reconfigure-server ;;; ((name type level description (default) (min) (max) (edit_method)) ... ) - (("volume" double_t 0 "tweet speak volume" 1.0 0.0 1.0)) + (("volume" double_t 0 "tweet speak volume" 1.0 0.0 1.0) + ("speak_enable" bool_t 0 "tweet speak enable" t) + ("enable" bool_t 0 "tweet enable" t)) ;; use lamda-closure to avoid memory error '(lambda-closure nil 0 0 (cfg level) - (setq *volume* (cdr (assoc "volume" cfg :test #'equal))) - (ros::ros-warn "Volume changed to: ~A" *volume*) + (let ((prev-volume *volume*) + (prev-speak-enable *speak-enable*) + (prev-enable *enable*)) + (setq *volume* (cdr (assoc "volume" cfg :test #'equal))) + (setq *speak-enable* (cdr (assoc "speak_enable" cfg :test #'equal))) + (setq *enable* (cdr (assoc "enable" cfg :test #'equal))) + (if (null (equal *volume* prev-volume)) + (ros::ros-warn "Volume changed to: ~A" *volume*)) + (if (null (equal *enable* prev-enable)) + (ros::ros-warn "Enable changed to: ~A" *enable*)) + (if (null (equal *speak-enable* prev-speak-enable)) + (ros::ros-warn "Speak enable changed to: ~A" *speak-enable*))) cfg))) (ros::advertise "/tweet" std_msgs::String 1) (ros::rate 0.1) (do-until-key - (setq *user-name* (ros::get-param "/active_user/launch_user_name") - *elapsed-time* (ros::get-param "/active_user/elapsed_time")) - (ros::ros-debug "user -> ~A, time -> ~A (~A) " - *user-name* *elapsed-time* *target-second*) - ;; tweet depend on working time - (when (> *elapsed-time* *target-second*) - (incf *target-second* *tweet-second* ) - (ros::ros-info "tweet ~A ~A" *user-name* *elapsed-time*) - (let ((mainstr (format nil "~A has used ~A for ~d minutes" - ;; why delete *user-name* after space ? - ;;(subseq *user-name* 0 - ;;(or (position #\space *user-name*) - ;;(length *user-name*))) - *user-name* - *robot-name* - (round (/ *elapsed-time* 60)))) - presubstr postsubstr) - (cond - ((< *elapsed-time* 600) ;; 5 min - (setq presubstr "Congratulations! " - postsubstr ", Let's get started!")) - ((< *elapsed-time* 910) ;; 15 min - (setq presubstr "Gooood! " - postsubstr ", Go ahead!")) - ((< *elapsed-time* 1820) ;; 30 min - (setq presubstr "So Nice! " - postsubstr ", Go ahead!")) - ((< *elapsed-time* 2730) ;; 45 min - (setq presubstr "Fantastic! " - postsubstr ", Keep going!")) - ((< *elapsed-time* 3640) ;; 60 min - (setq presubstr "Amazing! " - postsubstr ", I'm not tired!")) - (t - (setq presubstr "Awesome! " - postsubstr ", Got some rest?"))) + (if *enable* + (progn + (setq *user-name* (ros::get-param "/active_user/launch_user_name") + *elapsed-time* (ros::get-param "/active_user/elapsed_time")) + (ros::ros-debug "user -> ~A, time -> ~A (~A) " + *user-name* *elapsed-time* *target-second*) + ;; tweet depend on working time + (when (> *elapsed-time* *target-second*) + (incf *target-second* *tweet-second* ) + (ros::ros-info "tweet ~A ~A" *user-name* *elapsed-time*) + (let ((mainstr (format nil "~A has used ~A for ~d minutes" + ;; why delete *user-name* after space ? + ;;(subseq *user-name* 0 + ;;(or (position #\space *user-name*) + ;;(length *user-name*))) + *user-name* + *robot-name* + (round (/ *elapsed-time* 60)))) + presubstr postsubstr) + (cond + ((< *elapsed-time* 600) ;; 5 min + (setq presubstr "Congratulations! " + postsubstr ", Let's get started!")) + ((< *elapsed-time* 910) ;; 15 min + (setq presubstr "Gooood! " + postsubstr ", Go ahead!")) + ((< *elapsed-time* 1820) ;; 30 min + (setq presubstr "So Nice! " + postsubstr ", Go ahead!")) + ((< *elapsed-time* 2730) ;; 45 min + (setq presubstr "Fantastic! " + postsubstr ", Keep going!")) + ((< *elapsed-time* 3640) ;; 60 min + (setq presubstr "Amazing! " + postsubstr ", I'm not tired!")) + (t + (setq presubstr "Awesome! " + postsubstr ", Got some rest?"))) - (tweet-string (format nil "~A~A~A" presubstr mainstr postsubstr) - :warning-time 1 :with-image t - :volume *volume*) - - )) + (tweet-string (format nil "~A~A~A" presubstr mainstr postsubstr) + :warning-time 1 :with-image t + :speak *speak-enable* + :volume *volume*) + )))) (ros::spin-once) (ros::sleep) ) From 7300ad8781ebce0d58d5c605b4c32565f11e056c Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Fri, 18 Nov 2022 18:52:26 +0900 Subject: [PATCH 341/430] [jsk_robot_startup] Use checking node status for timeout --- .../scripts/smach_to_mail.py | 30 ++++++++++--------- 1 file changed, 16 insertions(+), 14 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py index 5e18ebb316..bdbb9a6d37 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py +++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py @@ -9,6 +9,7 @@ import os import pickle import rospy +import rosnode import sys from cv_bridge import CvBridge @@ -50,7 +51,6 @@ def __init__(self): self.bridge = CvBridge() self.smach_state_list = {} # for status list self.smach_state_subject = {} # for status subject - self.smach_start_time = {} self.timeout = rospy.get_param("~timeout", 1200) try: self.sender_address = rospy.get_param("~sender_address") @@ -76,22 +76,25 @@ def _stop_timer_cb(self, event): If smach does not go to finish/end state, this is forced to send notification. ''' - now = rospy.Time.now() rospy.logdebug("SmachToMail stop timer called") - if (self.smach_state_list and - self.smach_state_subject and - self.timeout is not None and - self.smach_start_time is not None): + if (self.smach_state_list and self.smach_state_subject): for key in self.smach_state_list.keys(): - if (now - self.smach_start_time[key]).to_sec() > self.timeout: - self._send_mail( - self.smach_state_subject[key], self.smach_state_list[key]) - self._send_twitter( - self.smach_state_subject[key], self.smach_state_list[key]) - self.smach_state_subject[key] = None - self.smach_state_list[key] = None + # Check node status and force to send notification + if not rosnode.rosnode_ping( + key, max_count=30, verbose=False): rospy.logwarn( "SmachToMail timer publishes stop signal. Send Notification.") + if self.use_mail: + self._send_mail( + self.smach_state_subject[key], self.smach_state_list[key]) + if self.use_twitter: + self._send_twitter( + self.smach_state_subject[key], self.smach_state_list[key]) + if self.use_google_chat: + self._send_google_chat( + self.smach_state_subject[key], self.smach_state_list[key]) + del self.smach_state_subject[key] + del self.smach_state_list[key] def _status_cb(self, msg): ''' @@ -133,7 +136,6 @@ def _status_cb(self, msg): # If we received START/INIT status, restart storing smach_state_list if status_str in ["START", "INIT"]: - self.smach_start_time[caller_id] = rospy.Time.now() self.smach_state_list[caller_id] = [] # DESCRIPTION of START is MAIL SUBJECT if 'DESCRIPTION' in local_data_str: From e0a7aa720da76fd84b1b738c0b1f11437e4e6db5 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 18 Nov 2022 18:22:52 +0900 Subject: [PATCH 342/430] camera sound only when speak is t --- jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l index b4079f68fa..16838cb9eb 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l @@ -36,8 +36,9 @@ (with-image (unix::system (format nil "rm -f /tmp/tweet_image.jpg")) ;; camera shot sound - (play-sound (pathname (ros::resolve-ros-path "package://jsk_pr2_startup/jsk_pr2_lifelog/camera.wav")) - :topic-name "robotsound_jp" :wait t) + (when speak + (play-sound (pathname (ros::resolve-ros-path "package://jsk_pr2_startup/jsk_pr2_lifelog/camera.wav")) + :topic-name "robotsound_jp" :wait t)) ;; specify camera (when (stringp with-image) (ros::wait-for-service "/tweet_image_mux/list") From 69ec90cb1cc59188e8e3dafa2eb09a25078bdc46 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 18 Nov 2022 18:27:03 +0900 Subject: [PATCH 343/430] set volume for play-sound --- jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l index 16838cb9eb..e945665402 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l @@ -38,7 +38,7 @@ ;; camera shot sound (when speak (play-sound (pathname (ros::resolve-ros-path "package://jsk_pr2_startup/jsk_pr2_lifelog/camera.wav")) - :topic-name "robotsound_jp" :wait t)) + :topic-name "robotsound_jp" :wait t :volume volume)) ;; specify camera (when (stringp with-image) (ros::wait-for-service "/tweet_image_mux/list") From c10f84c63610dda06a163069f1e27f291b7384ae Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Nov 2022 14:02:43 +0900 Subject: [PATCH 344/430] check if *image* is nil or not --- .../jsk_fetch_startup/euslisp/go-to-kitchen.l | 110 ++++++++++-------- 1 file changed, 61 insertions(+), 49 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l index 9698c2fe59..bbfc171821 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -9,6 +9,7 @@ (load "package://jsk_fetch_startup/euslisp/navigation-utils.l") (ros::advertise "/photo_taken" sensor_msgs::Image 1) +(setq *image* nil) (defun image-cb (msg) (setq *image* msg)) @@ -140,7 +141,9 @@ (if light-on (set-alist 'description "電気がついていたよ" userdata) (set-alist 'description "電気がついていなかったよ" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (if *image* + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) light-on))) (:report-light-on '(lambda (userdata) @@ -156,9 +159,9 @@ (room-light-on :control-switchbot control-switchbot) (ros::spin-once) (set-alist 'description "電気をつけたよ" userdata) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (if (and *image* label-names) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t))) (:move-to-dock-front '(lambda (userdata) @@ -170,9 +173,9 @@ (if success (set-alist 'description "ドックの前に移動したよ" userdata) (set-alist 'description "ドックの前に移動しようとしたけど，迷子になっちゃった" userdata)) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (if (and *image* label-names) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) success))) (:inspect-dock-front '(lambda (userdata) @@ -180,9 +183,9 @@ (inspect-dock-front :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description "ドックの前の様子を見たよ" userdata) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (if (and *image* label-names) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t))) (:report-move-to-dock-front-failure '(lambda (userdata) @@ -190,9 +193,9 @@ (report-move-to-dock-front-failure) (ros::spin-once) (set-alist 'description "ドックの前に移動できなかったよ" userdata) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (if (and *image* label-names) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t))) (:move-to-tv-front '(lambda (userdata) @@ -211,9 +214,9 @@ (inspect-tv-front :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description "テレビの前の様子を見たよ" userdata) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (if (and *image* label-names) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t))) (:report-move-to-tv-front-failure '(lambda (userdata) @@ -221,9 +224,9 @@ (report-move-to-tv-front-failure) (ros::spin-once) (set-alist 'description "テレビの前に移動できなかったよ" userdata) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (if (and *image* label-names) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t))) (:move-to-tv-desk '(lambda (userdata) @@ -243,9 +246,9 @@ (inspect-tv-desk :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description "机の様子を確認したよ" userdata) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (if (and *image* label-names) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t))) (:report-move-to-tv-desk-failure '(lambda (userdata) @@ -253,9 +256,9 @@ (report-move-to-tv-desk-failure) (ros::spin-once) (set-alist 'description "机の前に移動できなかったよ" userdata) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (if (and *image* label-names) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t))) (:move-to-desk-back '(lambda (userdata) @@ -275,9 +278,9 @@ (inspect-desk-back :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description "部屋の後ろを確認したよ" userdata) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (if (and *image* label-names) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t))) (:report-move-to-desk-back-failure '(lambda (userdata) @@ -285,9 +288,9 @@ (report-move-to-desk-back-failure) (ros::spin-once) (set-alist 'description "部屋の後ろに移動できなかったよ" userdata) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (if (and *image* label-names) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t))) (:move-to-desk-front '(lambda (userdata) @@ -306,9 +309,9 @@ (inspect-desk-front :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description "部屋の前を確認したよ" userdata) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (if (and *image* label-names) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t))) (:report-move-to-desk-front-failure '(lambda (userdata) @@ -316,9 +319,9 @@ (report-move-to-desk-front-failure) (ros::spin-once) (set-alist 'description "部屋の前に移動できなかったよ" userdata) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (if (and *image* label-names) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t))) (:move-to-kitchen-door-front '(lambda (userdata) @@ -337,9 +340,9 @@ (inspect-kitchen-door-front :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description "ドアの前からキッチンの様子を見たよ" userdata) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata)) + (if (and *image* label-names) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t))) (:report-move-to-kitchen-door-front-failure '(lambda (userdata) @@ -367,18 +370,19 @@ (inspect-kitchen :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description (format nil "キッチンの様子を見たよ。~A" notify-text) userdata) - (if label-names + (if (and *image* label-names) (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) - (set-alist 'image "" userdata))) - t)) + (set-alist 'image "" userdata)) + t))) (:report-move-to-sink-front-failure '(lambda (userdata) (let* ((label-names (notify-recognition :location "on the way to sink-front"))) (report-move-to-sink-front-failure) (ros::spin-once) (set-alist 'description "キッチンに行けなかったよ" userdata) - (if label-names - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)) + (if (and *image* label-names) + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t))) (:move-to-trashcan-front '(lambda (userdata) @@ -397,14 +401,18 @@ (inspect-trashcan :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description "ゴミ箱の様子を確認したよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (if *image* + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t)) (:report-move-to-trashcan-front-failure '(lambda (userdata) (report-move-to-trashcan-front-failure) (ros::spin-once) (set-alist 'description "ゴミ箱の前に行けなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (if *image* + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t)) (:auto-dock '(lambda (userdata) @@ -416,14 +424,18 @@ (if success (set-alist 'description "帰ってきたよ" userdata) (set-alist 'description "帰ってこようとしたけど，迷子になっちゃった" userdata)) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (if *image* + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) success))) (:auto-dock-failure '(lambda (userdata) (report-auto-dock-failure) (ros::spin-once) (set-alist 'description "帰ってこられなかったよ" userdata) - (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (if *image* + (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) + (set-alist 'image "" userdata)) t)) (:room-light-off '(lambda (userdata) From 8bf1caf2f05ab85f4661cff2493f576cab36e138 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Nov 2022 14:10:17 +0900 Subject: [PATCH 345/430] load 73b2 env in kinematics simulation --- jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l index bbfc171821..f862a7cc67 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -119,6 +119,11 @@ '((:init '(lambda (userdata) (fetch-init) + (if (send *ri* :simulation-modep) + (progn + (load "models/room73b2-scene.l") + (room73b2) + (send *ri* :objects (send *room73b2* :objects)))) (undock) (send *ri* :clear-costmap) (store-params) From bc2958a6cbb7c3a1232d86463e4d4e88f6c2463f Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Nov 2022 14:23:32 +0900 Subject: [PATCH 346/430] set timeout for notify-recognition --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 56baff7ec8..ca702463de 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -405,8 +405,9 @@ Args: (defun notify-recognition (&key (location "kitchen")) (let* ((msg (one-shot-subscribe "/edgetpu_object_detector/output/class" - jsk_recognition_msgs::ClassificationResult)) - (label-names (send msg :label_names))) + jsk_recognition_msgs::ClassificationResult + :timeout 3000)) + (label-names (if msg (send msg :label_names)))) (when label-names (ros::ros-info (format nil "Notify app that ~A is found." label-names)) (notify-app "object recognition" From 33c64a4e146c75aeeae9fac2774e9f5731625a3f Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Nov 2022 16:00:33 +0900 Subject: [PATCH 347/430] add advertise /tweet in go-to-kitchen.l --- jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l index f862a7cc67..823dc26bb1 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -8,6 +8,7 @@ (load "package://jsk_fetch_startup/euslisp/navigation-utils.l") +(ros::advertise "/tweet" std_msgs::String 1) (ros::advertise "/photo_taken" sensor_msgs::Image 1) (setq *image* nil) From 23a4713affabae8f99ba3fad98cb8af0334fd85e Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Nov 2022 16:02:48 +0900 Subject: [PATCH 348/430] wait-for-service timeout in tweet_client.l --- jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l index e945665402..0dce467b52 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l @@ -40,8 +40,8 @@ (play-sound (pathname (ros::resolve-ros-path "package://jsk_pr2_startup/jsk_pr2_lifelog/camera.wav")) :topic-name "robotsound_jp" :wait t :volume volume)) ;; specify camera - (when (stringp with-image) - (ros::wait-for-service "/tweet_image_mux/list") + (when (and (stringp with-image) + (ros::wait-for-service "/tweet_image_mux/list" 1)) (let ((current-image-list (send (ros::service-call "/tweet_image_mux/list" (instance topic_tools::muxlistrequest :init)) :topics))) (unless (find with-image current-image-list :test #'string=) From 9f3d67dc5c168eacb094934092c5b8de11b54d41 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Nov 2022 16:10:17 +0900 Subject: [PATCH 349/430] check if prev-image-topic exists or not --- jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l index 0dce467b52..4053c0c081 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l @@ -48,8 +48,6 @@ (ros::service-call "/tweet_image_mux/add" (instance topic_tools::muxaddrequest :init :topic with-image))) (setq prev-image-topic (send (ros::service-call "/tweet_image_mux/select" (instance topic_tools::muxselectrequest :init :topic with-image)) :prev_topic)))) - (unless prev-image-topic - (setq prev-image-topic (send (one-shot-subscribe "/tweet_image_mux/selected" std_msgs::String) :data))) ;; retrieve image ;; (call-empty-service "/tweet_image_saver/save" :wait t) @@ -63,7 +61,8 @@ :data (format nil "~A ~A" twit-str (format nil "/tmp/tweet_image.jpg"))))) (ros::ros-error "fail saving image and tweeting")) - (ros::service-call "/tweet_image_mux/select" (instance topic_tools::muxselectrequest :init :topic prev-image-topic))) + (if prev-image-topic + (ros::service-call "/tweet_image_mux/select" (instance topic_tools::muxselectrequest :init :topic prev-image-topic)))) (t (ros::publish tweet-topic-name (instance std_msgs::String :init :data twit-str)))) (when speak (speak-jp "ついーとしました" :wait t :volume volume)))) From 6b699ea68a09675b3aff608e8ce9256e61c961cc Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Nov 2022 16:15:12 +0900 Subject: [PATCH 350/430] add timeout in one-shot-subscribe --- .../jsk_fetch_startup/euslisp/navigation-utils.l | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index ca702463de..9a021cb943 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -459,7 +459,7 @@ Args: ;; sink (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3 :with-image "/edgetpu_object_detector/output/image" :speak t) - (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image))) + (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image :timeout 1000))) (ros::publish "/photo_taken" img)) (take-photo "kitchen_sink.jpg") (notify-recognition :location "kitchen sink")) @@ -532,7 +532,7 @@ Args: (progn (tweet-string "I took a photo in front of the dock." :warning-time 3 :with-image "/edgetpu_object_detector/output/image" :speak t) - (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image))) + (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image :timeout 1000))) (ros::publish "/photo_taken" img))))) (defun inspect-tv-front (&key (tweet t)) @@ -544,7 +544,7 @@ Args: (progn (tweet-string "I took a photo in front of the tv." :warning-time 3 :with-image "/edgetpu_object_detector/output/image" :speak t) - (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image))) + (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image :timeout 1000))) (ros::publish "/photo_taken" img))))) (defun inspect-tv-desk (&key (tweet t)) @@ -556,7 +556,7 @@ Args: (progn (tweet-string "I took a photo in front of the tv." :warning-time 3 :with-image "/edgetpu_object_detector/output/image" :speak t) - (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image))) + (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image :timeout 1000))) (ros::publish "/photo_taken" img))))) (defun inspect-desk-back (&key (tweet t)) @@ -568,7 +568,7 @@ Args: (progn (tweet-string "I took a photo of desks." :warning-time 3 :with-image "/edgetpu_object_detector/output/image" :speak t) - (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image))) + (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image :timeout 1000))) (ros::publish "/photo_taken" img))))) (defun inspect-desk-front (&key (tweet t)) @@ -580,7 +580,7 @@ Args: (progn (tweet-string "I took a photo of desks." :warning-time 3 :with-image "/edgetpu_object_detector/output/image" :speak t) - (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image))) + (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image :timeout 1000))) (ros::publish "/photo_taken" img))))) (defun inspect-kitchen-door-front (&key (tweet t)) @@ -592,7 +592,7 @@ Args: (progn (tweet-string "I took a photo of kitchen." :warning-time 3 :with-image "/edgetpu_object_detector/output/image" :speak t) - (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image))) + (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image :timeout 1000))) (ros::publish "/photo_taken" img))))) (defun inspect-trashcan (&key (tweet t)) @@ -611,7 +611,7 @@ Args: (send *ri* :wait-interpolation) (tweet-string "I took a photo of 73B2 trash can inside." :warning-time 3 :with-image "/edgetpu_object_detector/output/image" :speak t) - (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image))) + (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image :timeout 1000))) (ros::publish "/photo_taken" img)) (take-photo "trashcan_inside.jpg") (notify-recognition :location "trash cans inside") From 3433df3d58bc20b674ab61d642ad2930ecbe0ac1 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Nov 2022 18:01:47 +0900 Subject: [PATCH 351/430] load jsk_maps scene for kinematics simulation --- jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l index 823dc26bb1..5641e22cd0 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -123,8 +123,14 @@ (if (send *ri* :simulation-modep) (progn (load "models/room73b2-scene.l") + (load "package://jsk_maps/src/eng2-scene.l") (room73b2) - (send *ri* :objects (send *room73b2* :objects)))) + (setq *base-spot* "/eng2/7f/room73B2-base") + (setq *scene* (make-eng2-7f-scene)) + (send *ri* :objects (send *room73b2* :objects)) + (send (send *ri* :robot) + :newcoords (car (get-spot-coords "/eng2/7f/room73B2-center"))) + )) (undock) (send *ri* :clear-costmap) (store-params) From b0700d26bbdf165285a38ac4dc2bec4aea74c4c3 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Nov 2022 18:02:06 +0900 Subject: [PATCH 352/430] use jsk_maps scene for kinematics simulation --- .../euslisp/navigation-utils.l | 35 ++++++++++++------- 1 file changed, 23 insertions(+), 12 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 9a021cb943..8355a98543 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -58,17 +58,26 @@ (defun get-spot-coords (name) - (unless *spots* - (setq *spots* (one-shot-subscribe "/spots_marker_array" visualization_msgs::MarkerArray))) - (let ((spot-coords nil) (frame-id nil)) - (dolist (x (send *spots* :markers)) - (if (equal (send x :text) name) - (progn - (setq spot-coords (send x :pose)) - (setq frame-id (send (send x :header) :frame_id))))) - (send (send spot-coords :position) :z 0) - (setq spot-coords (ros::tf-pose->coords spot-coords)) - (cons spot-coords frame-id))) + (if (send *ri* :simulation-modep) + (let ((base-coords (send *scene* :spot *base-spot*)) + (spot-coords (send *scene* :spot name)) + (goal-coords nil)) + (if (and base-coords spot-coords) + (setq goal-coords (send base-coords :transformation spot-coords))) + (cons goal-coords nil)) + (progn + (unless *spots* + (setq *spots* (one-shot-subscribe "/spots_marker_array" visualization_msgs::MarkerArray))) + (let ((spot-coords nil) (frame-id nil)) + (dolist (x (send *spots* :markers)) + (if (equal (send x :text) name) + (progn + (setq spot-coords (send x :pose)) + (setq frame-id (send (send x :header) :frame_id))))) + (send (send spot-coords :position) :z 0) + (setq spot-coords (ros::tf-pose->coords spot-coords)) + (cons spot-coords frame-id)) + ))) (defun simple-dock (&key (use-pose t)) @@ -210,7 +219,9 @@ Args: (setq goal-pose (send goal-pose :translate relative-pos :world))) (when relative-rot (setq goal-pose (send goal-pose :rotate relative-rot :z :local))) - (send *ri* :move-to goal-pose :frame-id frame-id))) + (if frame-id + (send *ri* :move-to goal-pose :frame-id frame-id) + (send *ri* :move-to goal-pose)))) (defun auto-dock (&key (n-trial 1) (clear-costmap t)) From fee5c5b6608f61cd6bda5d1999dcb99f130284c2 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Nov 2022 15:58:04 +0900 Subject: [PATCH 353/430] use go-to-spot for move func --- .../euslisp/navigation-utils.l | 30 +++++++++++++------ 1 file changed, 21 insertions(+), 9 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 8355a98543..62278dd0a1 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -487,10 +487,13 @@ Args: success-move-to-sink-front)) (defun move-to-dock-front (&key (n-trial 1) (offset #f(400 -500 0))) - (let ((success-move-to-dock-front nil)) + (let ((success-move-to-dock-front nil) + (goal-coords (make-coords :pos (float-vector 5077.8 6763.237 30000.0) + :rpy (float-vector 0.059 0 0)))) (dotimes (i n-trial) (setq success-move-to-dock-front - (send *ri* :move-to (make-coords :pos (float-vector 5077.8 6763.237 30000.0) :rpy (float-vector 0.059 0 0)) :relative-pos offset)) + (go-to-spot *dock-spot* + :relative-pos offset :undock-rotate t)) (when success-move-to-dock-front (return))) success-move-to-dock-front)) @@ -498,15 +501,19 @@ Args: (let ((success-move-to-tv-front nil)) (dotimes (i n-trial) (setq success-move-to-tv-front - (send *ri* :move-to (make-coords :pos (float-vector 5082.057 6800.628 30000.0) :rpy (float-vector 3.109 0 0)) :relative-pos offset)) + (go-to-spot "/eng2/7f/room73B2-tv-front" + :relative-pos offset :undock-rotate t)) (when success-move-to-tv-front (return))) success-move-to-tv-front)) (defun move-to-tv-desk (&key (n-trial 1) (offset #f(400 -500 0))) - (let ((success-move-to-tv-desk nil)) + (let ((success-move-to-tv-desk nil) + (goal-coords (make-coords :pos (float-vector 4035.759 7343.818 30000.0) + :rpy (float-vector 1.753 0 0)))) (dotimes (i n-trial) (setq success-move-to-tv-desk - (send *ri* :move-to (make-coords :pos (float-vector 4035.759 7343.818 30000.0) :rpy (float-vector 1.753 0 0)) :relative-pos offset)) + (go-to-spot "/eng2/7f/room73B2-tv-desk" + :relative-pos offset :undock-rotate t)) (when success-move-to-tv-desk (return))) success-move-to-tv-desk)) @@ -514,7 +521,8 @@ Args: (let ((success-move-to-desk-back nil)) (dotimes (i n-trial) (setq success-move-to-desk-back - (send *ri* :move-to (make-coords :pos (float-vector 4324.417 6121.184 30000.0) :rpy (float-vector -0.845 0 0)) :relative-pos offset)) + (go-to-spot "/eng2/7f/room73B2-desk-back" + :relative-pos offset :undock-rotate t)) (when success-move-to-desk-back (return))) success-move-to-desk-back)) @@ -522,15 +530,19 @@ Args: (let ((success-move-to-desk-front nil)) (dotimes (i n-trial) (setq success-move-to-desk-front - (send *ri* :move-to (make-coords :pos (float-vector 4318.808 6108.146 30000.0) :rpy (float-vector -2.231 0 0)) :relative-pos offset)) + (go-to-spot "/eng2/7f/room73B2-desk-front" + :relative-pos offset :undock-rotate t)) (when success-move-to-desk-front (return))) success-move-to-desk-front)) (defun move-to-kitchen-door-front (&key (n-trial 1) (offset #f(400 -500 0))) - (let ((success-move-to-kitchen-door-front nil)) + (let ((success-move-to-kitchen-door-front nil) + (goal-coords (make-coords :pos (float-vector 1558.69 7230.57 30000.0) + :rpy (float-vector 2.296 0 0)))) (dotimes (i n-trial) (setq success-move-to-kitchen-door-front - (send *ri* :move-to (make-coords :pos (float-vector 1558.69 7230.57 30000.0) :rpy (float-vector 2.296 0 0)) :relative-pos offset)) + (go-to-spot "/eng2/7f/room73B2-kitchen-door-front" + :relative-pos offset :undock-rotate t)) (when success-move-to-kitchen-door-front (return))) success-move-to-kitchen-door-front)) From 698c706e336f2caca987c39ced775c69891f7fe9 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Nov 2022 18:02:19 +0900 Subject: [PATCH 354/430] set dock-spot for kinematics simulation --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 62278dd0a1..6fe5e46ad6 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -21,7 +21,7 @@ "/eng2/7f/room73B2-fetch-dock-front") ((equal robot-name "fetch1075") "/eng2/7f/room73B2-fetch-dock2-front") - (t nil)))) + (t "/eng2/7f/room73B2-fetch-dock2-front"))) (defun store-params () From a59a0f6996955cc381df196fd8ef60821d1fe105 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Nov 2022 18:19:56 +0900 Subject: [PATCH 355/430] fix typo in navigation-utils.l --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 6fe5e46ad6..665f1145bd 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -87,7 +87,7 @@ "/dock" fetch_auto_dock_msgs::DockAction))) (unless (send *dock-action* :wait-for-server 5) (ros::ros-error "/dock action server is not started") - (return-from dock nil)) + (return-from simple-dock nil)) (let ((dock-action-goal (instance fetch_auto_dock_msgs::DockActionGoal :init))) (when use-pose (let* ((timestamp (ros::time-now)) From 7b211c984452f046e02dc39541e878f3034aadc1 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Nov 2022 18:30:26 +0900 Subject: [PATCH 356/430] check if dynamic reconfigure server is up ot not --- .../euslisp/navigation-utils.l | 20 +++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 665f1145bd..fb906fb115 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -33,14 +33,18 @@ (defun restore-params () - (if (boundp '*global-inflation-radius*) - (ros::set-dynamic-reconfigure-param - "/move_base/global_costmap/inflater" "inflation_radius" - :double *global-inflation-radius*)) - (if (boundp '*local-inflation-radius*) - (ros::set-dynamic-reconfigure-param - "/move_base/local_costmap/inflater" "inflation_radius" - :double *local-inflation-radius*)) + (let ((global-costmap-server "/move_base/global_costmap/inflater") + (local-costmap-server "/move_base/local_costmap/inflater")) + (if (and (boundp '*global-inflation-radius*) + (ros::wait-for-service (format nil "~A/set_parameters" global-costmap-server) 1)) + (ros::set-dynamic-reconfigure-param + "/move_base/global_costmap/inflater" "inflation_radius" + :double *global-inflation-radius*)) + (if (and (boundp '*local-inflation-radius*) + (ros::wait-for-service (format nil "~A/set_parameters" local-costmap-server) 1)) + (ros::set-dynamic-reconfigure-param + "/move_base/local_costmap/inflater" "inflation_radius" + :double *local-inflation-radius*))) t) From a8ecfb4eea5efcf85137bf8e156a4a4cd93af2d4 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Nov 2022 18:30:46 +0900 Subject: [PATCH 357/430] skip dock in kinematics simlation --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index fb906fb115..587c6d152f 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -235,7 +235,7 @@ Args: :relative-pos #f(-800 0 0) :clear-costmap clear-costmap) (ros::ros-info "arrived at the dock.") - (setq success (dock)) + (setq success (if (send *ri* :simulation-modep) t (dock))) (when success (return-from auto-dock success)))) success)) From 8ec570212ecdea8749a2db3565038fddd46ed586 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Nov 2022 18:51:55 +0900 Subject: [PATCH 358/430] skip battery checking in kinematics simulation --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 587c6d152f..b367e5e254 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -153,6 +153,7 @@ ;; while dock succeeds, the result will not be correct, ;; so wait for a certain time when docking. """ + (if (send *ri* :simulation-modep) (return-from wait-until-is-charging nil)) (let* ((msg nil) (is-charging nil) (duration 0) @@ -174,6 +175,7 @@ - key timeout: Set waiting time for topic. """ + (if (send *ri* :simulation-modep) (return-from get-battery-charging-state nil)) (let* ((msg (one-shot-subscribe "/battery_state" power_msgs::batterystate :timeout timeout)) (is-charging (if msg (send msg :is_charging)))) ;; You may fail to subscribe /battery_state From 510f3b6d3d9d8f800971537c4625b635dd03e8d8 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Mon, 28 Nov 2022 19:11:51 +0900 Subject: [PATCH 359/430] fix typo --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index b367e5e254..52a7c065cf 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -21,7 +21,7 @@ "/eng2/7f/room73B2-fetch-dock-front") ((equal robot-name "fetch1075") "/eng2/7f/room73B2-fetch-dock2-front") - (t "/eng2/7f/room73B2-fetch-dock2-front"))) + (t "/eng2/7f/room73B2-fetch-dock2-front")))) (defun store-params () From e0f3292d9c4339c400869086c5a7241308f67de4 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Mon, 28 Nov 2022 19:21:46 +0900 Subject: [PATCH 360/430] fix func name --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index 52a7c065cf..a9e4410df3 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -328,7 +328,7 @@ Args: (ros::ros-info "start going back to the dock.") (send *ri* :speak-jp "ドックに戻ります。" :wait t)) -(defun report-move-to-sink-front-success () +(defun report-move-to-sink-front () (ros::ros-info "arrived at the kitchen stove.") (send *ri* :speak-jp "キッチンのコンロの前につきました。" :wait t)) @@ -463,7 +463,7 @@ Args: occupancy))))) (defun inspect-kitchen (&key (tweet t)) - (report-move-to-sink-front-success) + (report-move-to-sink-front) (if tweet (progn ;; stove From aeda9041ee7d476e4279a091aa0b67cd7eb514be Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Mon, 28 Nov 2022 20:33:08 +0900 Subject: [PATCH 361/430] fix typo in move-to functions --- .../euslisp/navigation-utils.l | 24 +++++++------------ 1 file changed, 9 insertions(+), 15 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index a9e4410df3..aa4be969f5 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -492,10 +492,8 @@ Args: (when success-move-to-sink-front (return))) success-move-to-sink-front)) -(defun move-to-dock-front (&key (n-trial 1) (offset #f(400 -500 0))) - (let ((success-move-to-dock-front nil) - (goal-coords (make-coords :pos (float-vector 5077.8 6763.237 30000.0) - :rpy (float-vector 0.059 0 0)))) +(defun move-to-dock-front (&key (n-trial 1) (offset #f(0 0 0))) + (let ((success-move-to-dock-front nil)) (dotimes (i n-trial) (setq success-move-to-dock-front (go-to-spot *dock-spot* @@ -503,7 +501,7 @@ Args: (when success-move-to-dock-front (return))) success-move-to-dock-front)) -(defun move-to-tv-front (&key (n-trial 1) (offset #f(400 -500 0))) +(defun move-to-tv-front (&key (n-trial 1) (offset #f(0 0 0))) (let ((success-move-to-tv-front nil)) (dotimes (i n-trial) (setq success-move-to-tv-front @@ -512,10 +510,8 @@ Args: (when success-move-to-tv-front (return))) success-move-to-tv-front)) -(defun move-to-tv-desk (&key (n-trial 1) (offset #f(400 -500 0))) - (let ((success-move-to-tv-desk nil) - (goal-coords (make-coords :pos (float-vector 4035.759 7343.818 30000.0) - :rpy (float-vector 1.753 0 0)))) +(defun move-to-tv-desk (&key (n-trial 1) (offset #f(0 0 0))) + (let ((success-move-to-tv-desk nil)) (dotimes (i n-trial) (setq success-move-to-tv-desk (go-to-spot "/eng2/7f/room73B2-tv-desk" @@ -523,7 +519,7 @@ Args: (when success-move-to-tv-desk (return))) success-move-to-tv-desk)) -(defun move-to-desk-back (&key (n-trial 1) (offset #f(400 -500 0))) +(defun move-to-desk-back (&key (n-trial 1) (offset #f(0 0 0))) (let ((success-move-to-desk-back nil)) (dotimes (i n-trial) (setq success-move-to-desk-back @@ -532,7 +528,7 @@ Args: (when success-move-to-desk-back (return))) success-move-to-desk-back)) -(defun move-to-desk-front (&key (n-trial 1) (offset #f(400 -500 0))) +(defun move-to-desk-front (&key (n-trial 1) (offset #f(0 0 0))) (let ((success-move-to-desk-front nil)) (dotimes (i n-trial) (setq success-move-to-desk-front @@ -541,10 +537,8 @@ Args: (when success-move-to-desk-front (return))) success-move-to-desk-front)) -(defun move-to-kitchen-door-front (&key (n-trial 1) (offset #f(400 -500 0))) - (let ((success-move-to-kitchen-door-front nil) - (goal-coords (make-coords :pos (float-vector 1558.69 7230.57 30000.0) - :rpy (float-vector 2.296 0 0)))) +(defun move-to-kitchen-door-front (&key (n-trial 1) (offset #f(0 0 0))) + (let ((success-move-to-kitchen-door-front nil)) (dotimes (i n-trial) (setq success-move-to-kitchen-door-front (go-to-spot "/eng2/7f/room73B2-kitchen-door-front" From 06928cee065b3a252a24c947d766b0a5920964ae Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Fri, 11 Nov 2022 15:01:28 +0900 Subject: [PATCH 362/430] [jsk_robot_startup] Support replication client in addition to robot/type --- jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch index e7b6b684d8..f21316309b 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch @@ -10,6 +10,7 @@ + @@ -18,6 +19,9 @@ + + extra_collections: $(arg extra_collections) + From c57560916a6ed81f268190a3e7858b0a718224bf Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Fri, 11 Nov 2022 15:02:33 +0900 Subject: [PATCH 363/430] [jsk_fetch_startup] Add extra_collections argument --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml index 7d630a5d66..5314211d42 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml @@ -2,6 +2,7 @@ + @@ -11,11 +12,13 @@ + + From 675aeb1caa05459ef2913d9d194812242dbca418 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Fri, 11 Nov 2022 15:03:00 +0900 Subject: [PATCH 364/430] [jsk_fetch_startup] Add extra collection argument to fetch_bringup.launch --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 2be8f75811..206a047988 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -49,6 +49,7 @@ + @@ -137,6 +138,7 @@ if="$(arg launch_fetch_lifelog)"> + From 2beab86f3f7eaaaf750a6267e506d84fef41ff4a Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Fri, 11 Nov 2022 15:06:22 +0900 Subject: [PATCH 365/430] [jsk_fetch_startup] Logging go_to_kitchen --- .../apps/go_to_kitchen/go_to_kitchen.xml | 27 +++++++++++++++++++ 1 file changed, 27 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index e8eec07635..564d431302 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -28,4 +28,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + From 38866c55cbd27f4d7bdf47bcadda0060f96e71d0 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Fri, 11 Nov 2022 17:55:23 +0900 Subject: [PATCH 366/430] [jsk_robot_startup] Add human_pose logger --- .../lifelog/common_logger.launch | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch index 7d15c029a4..f2728912cd 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch @@ -15,6 +15,7 @@ + @@ -355,6 +356,22 @@ + + + + database: $(arg database) + topics: + - /edgetpu_human_pose_estimator/output/poses + + + collection: $(arg collection) + + + Date: Fri, 11 Nov 2022 17:58:08 +0900 Subject: [PATCH 367/430] [jsk_fetch_startup] Logging speech in go_to_kitchen and save human_pose, save_base_trajectory --- .../apps/go_to_kitchen/go_to_kitchen.xml | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 564d431302..8fb8a8f668 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -42,17 +42,26 @@ - + + + + + + topics: + - /sound_play/goal + - /speech_to_text + + From 8e9e7537171aa88026f53c9ac929dd7e75343847 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Fri, 11 Nov 2022 17:58:45 +0900 Subject: [PATCH 368/430] [jsk_fetch_startup] Save human pose as default in fetch --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml index 5314211d42..ab52d40cc4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml @@ -31,6 +31,7 @@ + From 58bb8d5296df5b8e5200fb07de22b8b1c643d7ec Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 30 Nov 2022 14:18:28 +0900 Subject: [PATCH 369/430] [jsk_robot_startup] Fix private name space resolution --- .../jsk_robot_startup/src/lightweight_logger_nodelet.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp index 7ee9ab569d..2d497f925f 100644 --- a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp +++ b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp @@ -49,7 +49,7 @@ namespace jsk_robot_startup jsk_topic_tools::StealthRelay::onInit(); // settings for database - if (ros::param::has("~database")) + if (ros::param::has(pnh_->resolveName("database"))) { pnh_->param("database", db_name_, "jsk_robot_lifelog"); } @@ -57,7 +57,7 @@ namespace jsk_robot_startup { pnh_->param("/robot/database", db_name_, "jsk_robot_lifelog"); } - if (ros::param::has("~collection")) + if (ros::param::has(pnh_->resolveName("collection"))) { pnh_->param("collection", col_name_, std::string()); } From b80d66662f5c6469961e84414d3f1d4583f65f55 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 30 Nov 2022 14:19:56 +0900 Subject: [PATCH 370/430] [jsk_robot_startup] not calling vital_checker_ until initializing --- .../src/lightweight_logger_nodelet.cpp | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp index 2d497f925f..e16b176b6c 100644 --- a/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp +++ b/jsk_robot_common/jsk_robot_startup/src/lightweight_logger_nodelet.cpp @@ -198,7 +198,9 @@ namespace jsk_robot_startup const boost::shared_ptr& msg = event.getConstMessage(); jsk_topic_tools::StealthRelay::inputCallback(msg); - vital_checker_->poke(); + if (vital_checker_ != nullptr) { + vital_checker_->poke(); + } bool on_the_fly = initialized_ && buffer_.empty(); if (!wait_for_insert_ && msg_store_->getNumInsertSubscribers() == 0) { @@ -246,7 +248,7 @@ namespace jsk_robot_startup } else if (!initialized_) { stat.summary(diagnostic_msgs::DiagnosticStatus::ERROR, getName() + " is taking too long to be initialized"); - } else if (vital_check_ && !vital_checker_->isAlive()) { + } else if (vital_checker_ != nullptr && vital_check_ && !vital_checker_->isAlive()) { jsk_topic_tools::addDiagnosticErrorSummary(getName(), vital_checker_, stat); } else if (insert_error_count_ != prev_insert_error_count_) { stat.summary(diagnostic_msgs::DiagnosticStatus::ERROR, @@ -259,7 +261,9 @@ namespace jsk_robot_startup stat.add("Inserted", inserted_count_); stat.add("Insert Failure", insert_error_count_); - vital_checker_->registerStatInfo(stat, "Last Insert"); + if (vital_checker_ != nullptr) { + vital_checker_->registerStatInfo(stat, "Last Insert"); + } } } // lifelog } // jsk_robot_startup From 53ee30e0ef13c172975c14486ee263aee33b21b6 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 30 Nov 2022 15:57:07 +0900 Subject: [PATCH 371/430] [jsk_robot_startup] Add database and collection param to dialogflow and aws logger --- .../jsk_robot_startup/lifelog/common_logger.launch | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch index f2728912cd..be227e116d 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch @@ -288,10 +288,14 @@ machine="$(arg machine)" respawn="$(arg respawn)"> + database: $(arg database) topics: - /aws_auto_checkin_app/class - /aws_detect_faces/attributes + + collection: $(arg collection) + @@ -301,10 +305,14 @@ machine="$(arg machine)" respawn="$(arg respawn)"> + database: $(arg database) topics: - /dialogflow_client/text_action/goal - /dialogflow_client/text_action/result + + collection: $(arg collection) + From 74863a03ab4d1411bb9fb568d51482a9af460c6d Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 30 Nov 2022 15:57:40 +0900 Subject: [PATCH 372/430] [jsk_robot_startup] Save human pose class --- jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch index be227e116d..3d2a453ff1 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch @@ -373,6 +373,7 @@ database: $(arg database) topics: + - /edgetpu_human_pose_estimator/output/class - /edgetpu_human_pose_estimator/output/poses From 82b3889fb86e3a1ebb2a45c4ac4fea6c75ff7d29 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 30 Nov 2022 15:58:08 +0900 Subject: [PATCH 373/430] [jsk_robot_startup] Add option to save_edgetpu_object_detector --- .../lifelog/common_logger.launch | 45 +++++++++++++------ 1 file changed, 31 insertions(+), 14 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch index 3d2a453ff1..72f525653b 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch @@ -15,6 +15,7 @@ + @@ -349,20 +350,36 @@ - - - database: $(arg database) - map_frame: $(arg map_frame_id) - robot_frame: $(arg base_frame_id) - - - collection: $(arg collection) - - + + + + database: $(arg database) + topics: + - /edgetpu_human_pose_estimator/output/class + + + collection: $(arg collection) + + + + + database: $(arg database) + map_frame: $(arg map_frame_id) + robot_frame: $(arg base_frame_id) + + + collection: $(arg collection) + + + Date: Wed, 30 Nov 2022 15:58:47 +0900 Subject: [PATCH 374/430] [jsk_robot_startup] Save edgetpu object detection in go-to-kitchen --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index 8fb8a8f668..be357db5b8 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -43,7 +43,8 @@ - + + From 94e7656b0bb28223d4deeff0b307cbae32a4542b Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 30 Nov 2022 16:12:21 +0900 Subject: [PATCH 375/430] [jsk_fetch_startup] Save depth in kitchen-demo --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index be357db5b8..bc08d9e064 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -39,7 +39,7 @@ - + From 784f1317714a394ccbe851d47108bc9f7c3346ba Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 30 Nov 2022 16:30:13 +0900 Subject: [PATCH 376/430] [jsk_fetch_startup] Set depth topic name --- .../apps/go_to_kitchen/go_to_kitchen.xml | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml index bc08d9e064..095dd2a6cb 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml @@ -35,11 +35,13 @@ - + - - + + + + From 76231125f53324a6fdb019af22fa16383c8b4c54 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 30 Nov 2022 16:47:13 +0900 Subject: [PATCH 377/430] [jsk_robot_startup] Fix typo; human_pose_estimator --> object_detector --- jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch index 72f525653b..30ba32c146 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch @@ -359,7 +359,7 @@ database: $(arg database) topics: - - /edgetpu_human_pose_estimator/output/class + - /edgetpu_object_detector/output/class collection: $(arg collection) From f402c6ba6d70fb5bec3048e8b8287afa81279456 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 30 Nov 2022 16:47:51 +0900 Subject: [PATCH 378/430] [jsk_robot_startup] Save rects of human pose estimator and object detector --- jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch index 30ba32c146..9af0e43968 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch @@ -360,6 +360,7 @@ database: $(arg database) topics: - /edgetpu_object_detector/output/class + - /edgetpu_object_detector/output/rects collection: $(arg collection) @@ -392,6 +393,7 @@ topics: - /edgetpu_human_pose_estimator/output/class - /edgetpu_human_pose_estimator/output/poses + - /edgetpu_human_pose_estimator/output/rects collection: $(arg collection) From 8e5490539a95010bc6a1a435eaed635eb8e9c70f Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 30 Nov 2022 16:50:20 +0900 Subject: [PATCH 379/430] [jsk_robot_startup] set rosparam in node section Co-authored-by: Shingo Kitagawa --- .../jsk_robot_startup/lifelog/mongodb.launch | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch index f21316309b..489da6e5ec 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch @@ -19,12 +19,14 @@ - - extra_collections: $(arg extra_collections) - + + output="screen" machine="$(arg machine)"> + + extra_collections: $(arg extra_collections) + + From 06730b68a5953f876d3ed4d179e3b0d3f2ef66df Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Fri, 2 Dec 2022 17:27:49 +0900 Subject: [PATCH 380/430] [jsk_robot_startup] Fix variable name; *speak* -> *speak-enable* --- .../jsk_robot_startup/lifelog/tweet_client_warning.l | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l index 7fa754e89a..0f0c1d1b03 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l @@ -61,7 +61,7 @@ (setq id (random (length status))) (when (= (mod (round (send tm :sec)) 1000) 0) (tweet-string (format nil "Warning!! ~A is ~A at ~0,3f" (car (elt status id)) (cdr (elt status id)) (send tm :to-sec)) - :warning-time 1 :with-image t :volume *volume* :speak *speak*))) + :warning-time 1 :with-image t :volume *volume* :speak *speak-enable*))) ))) (ros::advertise "/tweet" std_msgs::String 1) From a8731fa46b270239414228c6d742e56d0324d1ef Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Fri, 2 Dec 2022 17:39:02 +0900 Subject: [PATCH 381/430] [jsk_fetch_startup] Change smach image topic --- jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l index 5641e22cd0..ce19d61d15 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -136,7 +136,7 @@ (store-params) (inflation-loose) (clear-app-notification) - (ros::subscribe "/edgetpu_object_detector/output/image/compressed" + (ros::subscribe "/head_camera/rgb/image_rect_color/compressed" sensor_msgs::CompressedImage #'image-cb) t)) (:report-start-go-to-kitchen From 42c3be1573a522cf7df0d9c12d75b6019b04402c Mon Sep 17 00:00:00 2001 From: Kanazawa Naoaki Date: Thu, 3 Nov 2022 18:20:09 +0900 Subject: [PATCH 382/430] Add nodes to adjust the volume of the speaking --- .../jsk_pr2_warning/pr2_speak_volume_lower.l | 9 +++++++++ .../jsk_pr2_warning/pr2_speak_volume_reset.l | 9 +++++++++ .../jsk_pr2_warning/pr2_speak_volume_zero.l | 9 +++++++++ 3 files changed, 27 insertions(+) create mode 100755 jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/pr2_speak_volume_lower.l create mode 100755 jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/pr2_speak_volume_reset.l create mode 100755 jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/pr2_speak_volume_zero.l diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/pr2_speak_volume_lower.l b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/pr2_speak_volume_lower.l new file mode 100755 index 0000000000..e3efe68518 --- /dev/null +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/pr2_speak_volume_lower.l @@ -0,0 +1,9 @@ +#!/usr/bin/env roseus + +(ros::roseus "speak_volume_lower") +(ros::set-dynamic-reconfigure-param "/audible_warning" "volume" :double 0.2) +(ros::set-dynamic-reconfigure-param "/tweet_client_tablet" "volume" :double 0.2) +(ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "volume" :double 0.2) +(ros::set-dynamic-reconfigure-param "/tweet_client_warning" "volume" :double 0.2) +(ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "volume" :double 0.2) +(exit) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/pr2_speak_volume_reset.l b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/pr2_speak_volume_reset.l new file mode 100755 index 0000000000..89685bfb3b --- /dev/null +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/pr2_speak_volume_reset.l @@ -0,0 +1,9 @@ +#!/usr/bin/env roseus + +(ros::roseus "speak_volume_reset") +(ros::set-dynamic-reconfigure-param "/audible_warning" "volume" :double 1.0) +(ros::set-dynamic-reconfigure-param "/tweet_client_tablet" "volume" :double 1.0) +(ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "volume" :double 1.0) +(ros::set-dynamic-reconfigure-param "/tweet_client_warning" "volume" :double 1.0) +(ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "volume" :double 1.0) +(exit) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/pr2_speak_volume_zero.l b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/pr2_speak_volume_zero.l new file mode 100755 index 0000000000..6f89b26903 --- /dev/null +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/pr2_speak_volume_zero.l @@ -0,0 +1,9 @@ +#!/usr/bin/env roseus + +(ros::roseus "speak_volume_zero") +(ros::set-dynamic-reconfigure-param "/audible_warning" "volume" :double 0.0) +(ros::set-dynamic-reconfigure-param "/tweet_client_tablet" "volume" :double 0.0) +(ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "volume" :double 0.0) +(ros::set-dynamic-reconfigure-param "/tweet_client_warning" "volume" :double 0.0) +(ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "volume" :double 0.0) +(exit) From a1d23403af9567523f7ec8284d590006fad06bd4 Mon Sep 17 00:00:00 2001 From: Kanazawa Naoaki Date: Sun, 13 Nov 2022 18:03:13 +0900 Subject: [PATCH 383/430] Add volume adjust apps --- .../apps/robot_apps.installed | 8 +++++++- .../apps/volume_lower/volume_lower.app | 6 ++++++ .../apps/volume_lower/volume_lower.interface | 2 ++ .../apps/volume_lower/volume_lower.png | Bin 0 -> 571776 bytes .../apps/volume_reset/volume_reset.app | 6 ++++++ .../apps/volume_reset/volume_reset.interface | 2 ++ .../apps/volume_reset/volume_reset.png | Bin 0 -> 81525 bytes .../apps/volume_zero/volume_zero.app | 6 ++++++ .../apps/volume_zero/volume_zero.interface | 2 ++ .../apps/volume_zero/volume_zero.png | Bin 0 -> 69298 bytes .../lifelog/auto_speak_volume_lower.l | 0 .../lifelog/auto_speak_volume_reset.l | 0 .../lifelog/auto_speak_volume_zero.l | 0 13 files changed, 31 insertions(+), 1 deletion(-) create mode 100644 jsk_robot_common/jsk_robot_startup/apps/volume_lower/volume_lower.app create mode 100644 jsk_robot_common/jsk_robot_startup/apps/volume_lower/volume_lower.interface create mode 100644 jsk_robot_common/jsk_robot_startup/apps/volume_lower/volume_lower.png create mode 100644 jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.app create mode 100644 jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.interface create mode 100644 jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.png create mode 100644 jsk_robot_common/jsk_robot_startup/apps/volume_zero/volume_zero.app create mode 100644 jsk_robot_common/jsk_robot_startup/apps/volume_zero/volume_zero.interface create mode 100644 jsk_robot_common/jsk_robot_startup/apps/volume_zero/volume_zero.png rename jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/pr2_speak_volume_lower.l => jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_lower.l (100%) rename jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/pr2_speak_volume_reset.l => jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_reset.l (100%) rename jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/pr2_speak_volume_zero.l => jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_zero.l (100%) diff --git a/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed b/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed index 378c08693f..1350da5b19 100644 --- a/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed +++ b/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed @@ -1,9 +1,15 @@ apps: - app: jsk_robot_startup/personal_use - display: Personal use + display: Personal use - app: jsk_robot_startup/check_use_sim_time display: Check /use_sim_time param - app: jsk_robot_startup/roseus_resume_interrupt display: Interrupt - app: jsk_robot_startup/roseus_resume_resume display: Resume + - app: jsk_robot_startup/volume_lower + display: Volume lower + - app: jsk_robot_startup/volume_reset + display: Volume reset + - app: jsk_robot_startup/volume_zero + display: Volume zero diff --git a/jsk_robot_common/jsk_robot_startup/apps/volume_lower/volume_lower.app b/jsk_robot_common/jsk_robot_startup/apps/volume_lower/volume_lower.app new file mode 100644 index 0000000000..e9648c034f --- /dev/null +++ b/jsk_robot_common/jsk_robot_startup/apps/volume_lower/volume_lower.app @@ -0,0 +1,6 @@ +display: Volume Lower +description: robot speaks lower volume +platform: all +run: jsk_robot_startup/auto_speak_volume_lower.l +interface: jsk_robot_startup/volume_lower.interface +icon: jsk_robot_startup/volume_lower.png \ No newline at end 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b/jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.app new file mode 100644 index 0000000000..9b71b6cfb6 --- /dev/null +++ b/jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.app @@ -0,0 +1,6 @@ +display: Volume Reset +description: robot speaks reset volume +platform: all +run: jsk_robot_startup/auto_speak_volume_reset.l +interface: jsk_robot_startup/volume_reset.interface +icon: jsk_robot_startup/volume_reset.png \ No newline at end of file diff --git a/jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.interface b/jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.interface new file mode 100644 index 0000000000..5cb4ae9816 --- /dev/null +++ b/jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.interface @@ -0,0 +1,2 @@ +published_topics: {} +subscribed_topics: {} \ No newline at end of file diff --git a/jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.png 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z&0Q_D8Wnk8p@IhFr0K%9Z5Po+57}F<0y&YMPe3#274%N8ZNUOHHT6vK0or2CrV=lX z!46b(9-pNuDyoo&9{(;KNLYDI|McmG{Ok1UKJ3!w_ZNK9GL-8NO&e1NNGE9n`ztpq z2(2|gO!57vIBT>RSGF!!4ZvhJiTNJ6M=OiXs?7O8Eq&e#urwRz?Gi>XY5L9gdq7Kn zW4e1%yJNM-gt>;MO7r8nH`{%$-EST`7*M#lj`1;mJUipyFD^UTnHif0!2$U*z`OO) z&lg|J4SY~iIm0r1&C5MCNJZa&`YfB`hhJxF>w`jFs4k{$*fI$O9k6wTs^Xze#P;3 z;hyR|3I&QYVrDC2zr|70n&S{gR{ zAIhU`M4M>e3<7#6?Q0OVe$hj=3-%BNKk>T_)KO@dO#!I&H#G$jofAbSyb12tej0?2 zkBk^W#1SlfH3xqW1YPRNKO=vA*Eo+63GT(Z1hasD9(kcjv=g?0^2kcA(C zXoYfF)18&i@}@IxBe^i%i~0L~_Gpxrd72m$H}G?p2^dgyhuQO&CS`YYfImg^G4p)@ zUI{iO0{vf+|1I<>XSVYb5ZiYo7;Mr6tij`9GwZL Date: Sun, 4 Dec 2022 15:24:34 +0900 Subject: [PATCH 384/430] [jsk_fetch_startup] always take photo in smach --- .../jsk_fetch_startup/euslisp/go-to-kitchen.l | 30 +++++++++---------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l index ce19d61d15..1f53a3d8bb 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -171,7 +171,7 @@ (room-light-on :control-switchbot control-switchbot) (ros::spin-once) (set-alist 'description "電気をつけたよ" userdata) - (if (and *image* label-names) + (if *image* (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) t))) @@ -185,7 +185,7 @@ (if success (set-alist 'description "ドックの前に移動したよ" userdata) (set-alist 'description "ドックの前に移動しようとしたけど，迷子になっちゃった" userdata)) - (if (and *image* label-names) + (if *image* (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) success))) @@ -195,7 +195,7 @@ (inspect-dock-front :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description "ドックの前の様子を見たよ" userdata) - (if (and *image* label-names) + (if *image* (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) t))) @@ -205,7 +205,7 @@ (report-move-to-dock-front-failure) (ros::spin-once) (set-alist 'description "ドックの前に移動できなかったよ" userdata) - (if (and *image* label-names) + (if *image* (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) t))) @@ -226,7 +226,7 @@ (inspect-tv-front :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description "テレビの前の様子を見たよ" userdata) - (if (and *image* label-names) + (if *image* (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) t))) @@ -236,7 +236,7 @@ (report-move-to-tv-front-failure) (ros::spin-once) (set-alist 'description "テレビの前に移動できなかったよ" userdata) - (if (and *image* label-names) + (if *image* (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) t))) @@ -258,7 +258,7 @@ (inspect-tv-desk :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description "机の様子を確認したよ" userdata) - (if (and *image* label-names) + (if *image* (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) t))) @@ -268,7 +268,7 @@ (report-move-to-tv-desk-failure) (ros::spin-once) (set-alist 'description "机の前に移動できなかったよ" userdata) - (if (and *image* label-names) + (if *image* (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) t))) @@ -290,7 +290,7 @@ (inspect-desk-back :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description "部屋の後ろを確認したよ" userdata) - (if (and *image* label-names) + (if *image* (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) t))) @@ -300,7 +300,7 @@ (report-move-to-desk-back-failure) (ros::spin-once) (set-alist 'description "部屋の後ろに移動できなかったよ" userdata) - (if (and *image* label-names) + (if *image* (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) t))) @@ -321,7 +321,7 @@ (inspect-desk-front :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description "部屋の前を確認したよ" userdata) - (if (and *image* label-names) + (if *image* (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) t))) @@ -331,7 +331,7 @@ (report-move-to-desk-front-failure) (ros::spin-once) (set-alist 'description "部屋の前に移動できなかったよ" userdata) - (if (and *image* label-names) + (if *image* (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) t))) @@ -352,7 +352,7 @@ (inspect-kitchen-door-front :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description "ドアの前からキッチンの様子を見たよ" userdata) - (if (and *image* label-names) + (if *image* (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) t))) @@ -382,7 +382,7 @@ (inspect-kitchen :tweet (cdr (assoc 'tweet userdata))) (ros::spin-once) (set-alist 'description (format nil "キッチンの様子を見たよ。~A" notify-text) userdata) - (if (and *image* label-names) + (if *image* (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) t))) @@ -392,7 +392,7 @@ (report-move-to-sink-front-failure) (ros::spin-once) (set-alist 'description "キッチンに行けなかったよ" userdata) - (if (and *image* label-names) + (if *image* (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata) (set-alist 'image "" userdata)) t))) From 9a1563db97338f0ae36ba592dad929b7e0eaffc1 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Mon, 5 Dec 2022 20:01:18 +0900 Subject: [PATCH 385/430] move app_schedule config in jsk_fetch_startup --- .../config/fetch1075_app_schedule.yaml | 52 +++++++++++++++++++ .../config/fetch15_app_schedule.yaml | 33 ++++++++++++ .../launch/fetch_bringup.launch | 2 +- 3 files changed, 86 insertions(+), 1 deletion(-) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/fetch1075_app_schedule.yaml create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/fetch15_app_schedule.yaml diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/fetch1075_app_schedule.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/fetch1075_app_schedule.yaml new file mode 100644 index 0000000000..b15d843c4b --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/config/fetch1075_app_schedule.yaml @@ -0,0 +1,52 @@ +# 'go to kitchen' launch time is temporary changed to 9:30 AM by yamaguchi, 2022/05/20. +# Recently fetch1075 freezes at 9:00 AM. +# I think the reason may be the simultaneous launch of 'go to kitchen' and 'time signal' +- name: go_to_kitchen_morning + app_name: jsk_fetch_startup/go_to_kitchen + app_schedule: + start: every(1).day.at("09:30") +- name: go_to_kitchen_noon + app_name: jsk_fetch_startup/go_to_kitchen + app_schedule: + start: every(1).day.at("13:30") +- name: go_to_kitchen_evening + app_name: jsk_fetch_startup/go_to_kitchen + app_schedule: + start: every(1).day.at("17:30") +- name: go_to_kitchen_night + app_name: jsk_fetch_startup/go_to_kitchen + app_schedule: + start: every(1).day.at("21:30") +# time singnal +- name: time_signal + app_name: jsk_fetch_startup/time_signal + app_schedule: + start: every(1).hour.at(":00") +# upload notification +- name: upload_notification + app_name: jsk_fetch_startup/upload_notification + app_schedule: + start: every(1).day.at("03:50") +# check use_sim_time +- name: check_use_sim_time + app_name: jsk_robot_startup/check_use_sim_time + app_schedule: + start: every().hour.at(":00") +# volume for monday meeting +- name: volume_zero_monday + app_name: jsk_robot_startup/volume_zero + app_schedule: + start: every().monday.at("12:00") +- name: volume_reset_monday + app_name: jsk_robot_startup/volume_reset + app_schedule: + start: every().monday.at("16:00") +# volume for tuesday meeting +- name: volume_zero_tuesday + app_name: jsk_robot_startup/volume_zero + app_schedule: + start: every().tuesday.at("12:00") +- name: volume_reset_tuesday + app_name: jsk_robot_startup/volume_reset + app_schedule: + start: every().tuesday.at("16:00") diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/fetch15_app_schedule.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/fetch15_app_schedule.yaml new file mode 100644 index 0000000000..6fd9e0c702 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/config/fetch15_app_schedule.yaml @@ -0,0 +1,33 @@ +# time signal +- name: time_signal + app_name: jsk_fetch_startup/time_signal + app_schedule: + start: every(1).hour.at(":00") +# upload notification +- name: upload_notification + app_name: jsk_fetch_startup/upload_notification + app_schedule: + start: every(1).day.at("03:50") +# check use_sim_time +- name: check_use_sim_time + app_name: jsk_robot_startup/check_use_sim_time + app_schedule: + start: every().hour.at(":00") +# volume for monday meeting +- name: volume_zero_monday + app_name: jsk_robot_startup/volume_zero + app_schedule: + start: every().monday.at("12:00") +- name: volume_reset_monday + app_name: jsk_robot_startup/volume_reset + app_schedule: + start: every().monday.at("16:00") +# volume for tuesday meeting +- name: volume_zero_tuesday + app_name: jsk_robot_startup/volume_zero + app_schedule: + start: every().tuesday.at("12:00") +- name: volume_reset_tuesday + app_name: jsk_robot_startup/volume_reset + app_schedule: + start: every().tuesday.at("16:00") diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 206a047988..6b7136e3fc 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -183,7 +183,7 @@ - + From 4f01a19e7031f7479bfbc3626685dfc366df7fa7 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Mon, 5 Dec 2022 20:13:22 +0900 Subject: [PATCH 386/430] use enable and speak_enable for volume control --- .../jsk_robot_startup/lifelog/auto_speak_volume_lower.l | 5 +++++ .../jsk_robot_startup/lifelog/auto_speak_volume_reset.l | 5 +++++ .../jsk_robot_startup/lifelog/auto_speak_volume_zero.l | 5 +++++ 3 files changed, 15 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_lower.l b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_lower.l index e3efe68518..48c236a58c 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_lower.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_lower.l @@ -1,6 +1,11 @@ #!/usr/bin/env roseus (ros::roseus "speak_volume_lower") +(ros::set-dynamic-reconfigure-param "/audible_warning" "enable" :bool t) +(ros::set-dynamic-reconfigure-param "/tweet_client_tablet" "speak_enable" :bool t) +(ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "speak_enable" :bool t) +(ros::set-dynamic-reconfigure-param "/tweet_client_warning" "speak_enable" :bool t) +(ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "speak_enable" :bool t) (ros::set-dynamic-reconfigure-param "/audible_warning" "volume" :double 0.2) (ros::set-dynamic-reconfigure-param "/tweet_client_tablet" "volume" :double 0.2) (ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "volume" :double 0.2) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_reset.l b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_reset.l index 89685bfb3b..a57c51c262 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_reset.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_reset.l @@ -1,6 +1,11 @@ #!/usr/bin/env roseus (ros::roseus "speak_volume_reset") +(ros::set-dynamic-reconfigure-param "/audible_warning" "enable" :bool t) +(ros::set-dynamic-reconfigure-param "/tweet_client_tablet" "speak_enable" :bool t) +(ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "speak_enable" :bool t) +(ros::set-dynamic-reconfigure-param "/tweet_client_warning" "speak_enable" :bool t) +(ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "speak_enable" :bool t) (ros::set-dynamic-reconfigure-param "/audible_warning" "volume" :double 1.0) (ros::set-dynamic-reconfigure-param "/tweet_client_tablet" "volume" :double 1.0) (ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "volume" :double 1.0) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_zero.l b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_zero.l index 6f89b26903..e0bb7d2c43 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_zero.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_zero.l @@ -1,6 +1,11 @@ #!/usr/bin/env roseus (ros::roseus "speak_volume_zero") +(ros::set-dynamic-reconfigure-param "/audible_warning" "enable" :bool nil) +(ros::set-dynamic-reconfigure-param "/tweet_client_tablet" "speak_enable" :bool nil) +(ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "speak_enable" :bool nil) +(ros::set-dynamic-reconfigure-param "/tweet_client_warning" "speak_enable" :bool nil) +(ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "speak_enable" :bool nil) (ros::set-dynamic-reconfigure-param "/audible_warning" "volume" :double 0.0) (ros::set-dynamic-reconfigure-param "/tweet_client_tablet" "volume" :double 0.0) (ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "volume" :double 0.0) From 1640f17123a445113420223b9be37a20fb74e63d Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 8 Dec 2022 14:34:51 +0900 Subject: [PATCH 387/430] [jsk_robot_startup] Support dynamic reconfigure in smach_to_mail --- jsk_robot_common/jsk_robot_startup/CMakeLists.txt | 1 + .../cfg/SmachNotificationReconfigure.cfg | 14 ++++++++++++++ 2 files changed, 15 insertions(+) create mode 100644 jsk_robot_common/jsk_robot_startup/cfg/SmachNotificationReconfigure.cfg diff --git a/jsk_robot_common/jsk_robot_startup/CMakeLists.txt b/jsk_robot_common/jsk_robot_startup/CMakeLists.txt index 76ce6de029..bf9d8a55cb 100644 --- a/jsk_robot_common/jsk_robot_startup/CMakeLists.txt +++ b/jsk_robot_common/jsk_robot_startup/CMakeLists.txt @@ -53,6 +53,7 @@ generate_dynamic_reconfigure_options( cfg/OdometryFeedbackWrapperReconfigure.cfg cfg/ConstantHeightFramePublisherReconfigure.cfg cfg/JointStatesThrottle.cfg + cfg/SmachNotificationReconfigure.cfg ) add_message_files( diff --git a/jsk_robot_common/jsk_robot_startup/cfg/SmachNotificationReconfigure.cfg b/jsk_robot_common/jsk_robot_startup/cfg/SmachNotificationReconfigure.cfg new file mode 100644 index 0000000000..0109f4b94d --- /dev/null +++ b/jsk_robot_common/jsk_robot_startup/cfg/SmachNotificationReconfigure.cfg @@ -0,0 +1,14 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +PKG = "jsk_robot_startup" + +gen = ParameterGenerator() + +gen.add("send_every_transition", bool_t, 0, "Send notification every transition", False) +gen.add("use_mail", bool_t, 0, "Use mail for smach notification", True) +gen.add("use_twitter", bool_t, 0, "Use twitter for smach notification", True) +gen.add("use_google_chat", bool_t, 0, "Use google chat for smach notification", True) + +exit(gen.generate(PKG, PKG, "SmachNotificationReconfigure")) From ad2fe10a0acb597e80411d91439286d4e18826a4 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 8 Dec 2022 14:42:53 +0900 Subject: [PATCH 388/430] [jsk_robot_startup] Enable to send notification in every transition --- .../scripts/smach_to_mail.py | 29 +++++++++++++++++-- 1 file changed, 27 insertions(+), 2 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py index bdbb9a6d37..b2f1316a64 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py +++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py @@ -13,6 +13,8 @@ import sys from cv_bridge import CvBridge +from dynamic_reconfigure.server import Server +from jsk_robot_startup.cfg import SmachNotificationReconfigureConfig from jsk_robot_startup.msg import Email from jsk_robot_startup.msg import EmailBody from sensor_msgs.msg import CompressedImage @@ -42,8 +44,12 @@ def __init__(self): self.use_twitter = rospy.get_param("~use_twitter", True) self.use_google_chat = rospy.get_param( "~use_google_chat", _enable_google_chat) + self.send_every_transition = rospy.get_param( + "~send_every_transition", False) self.pub_email = rospy.Publisher("email", Email, queue_size=10) self.pub_twitter = rospy.Publisher("tweet", String, queue_size=10) + self.reconfigure_server = Server( + SmachNotificationReconfigureConfig, self._reconfigure_cb) rospy.Subscriber( "~smach/container_status", SmachContainerStatus, self._status_cb) rospy.Timer(rospy.Duration( @@ -71,6 +77,18 @@ def __init__(self): self.gchat_image_dir = rospy.get_param("~google_chat_tmp_image_dir", "/tmp") self._gchat_thread = None + def _reconfigure_cb(self, config, level): + self.use_mail = config['use_mail'] + self.use_twitter = config['use_twitter'] + self.use_google_chat = config['use_google_chat'] + self.send_every_transition = config['send_every_transition'] + rospy.loginfo( + "Switched parameters; use_mail: {send_every_transition}, " + "use_twitter: {use_twitter}, " + "use_google_chat: {use_google_chat}, " + "send_every_transition: {send_every_transition}".format(**config)) + return config + def _stop_timer_cb(self, event): ''' If smach does not go to finish/end state, @@ -170,6 +188,13 @@ def _status_cb(self, msg): else: self.smach_state_list[caller_id].append(status_dict) + if self.send_every_transition: + if (self.use_google_chat + and not self.smach_state_list[caller_id] is None): + rospy.loginfo("Send every transition called") + self._send_google_chat( + self.smach_state_subject[caller_id], [status_dict]) + # If we received END/FINISH status, send email, etc... if status_str in ["END", "FINISH", "FINISH-SUCCESS", "FINISH-FAILURE"]: if (caller_id not in self.smach_state_list) or self.smach_state_list[caller_id] is None: @@ -185,7 +210,7 @@ def _status_cb(self, msg): self._send_mail(self.smach_state_subject[caller_id], self.smach_state_list[caller_id]) if self.use_twitter: self._send_twitter(self.smach_state_subject[caller_id], self.smach_state_list[caller_id]) - if self.use_google_chat: + if self.use_google_chat and not self.send_every_transition: self._send_google_chat(self.smach_state_subject[caller_id], self.smach_state_list[caller_id]) self.smach_state_list[caller_id] = None self.smach_state_subject[caller_id] = None @@ -306,7 +331,7 @@ def _send_google_chat(self, subject, state_list): result = self.gchat_ac.get_result() if not self._gchat_thread: self._gchat_thread = result.message_result.thread_name - rospy.loginfo("Sending google chat messsage: {} to {} chat space".format(text, self.chat_space)) + rospy.loginfo("Sending google chat messsage:{} chat space".format(self.chat_space)) rospy.logdebug("Google Chat result: {}".format(self.gchat_ac.get_result())) if __name__ == '__main__': From 58524c7c0f0a223801908f00be1bc29297844da4 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 8 Dec 2022 18:53:17 +0900 Subject: [PATCH 389/430] [jsk_robot_startup] Display sendng gchat thread --- jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py index b2f1316a64..b558166f8f 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py +++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py @@ -331,7 +331,7 @@ def _send_google_chat(self, subject, state_list): result = self.gchat_ac.get_result() if not self._gchat_thread: self._gchat_thread = result.message_result.thread_name - rospy.loginfo("Sending google chat messsage:{} chat space".format(self.chat_space)) + rospy.loginfo("Sending google chat messsage:{} chat space, {} thread".format(self.chat_space, self._gchat_thread)) rospy.logdebug("Google Chat result: {}".format(self.gchat_ac.get_result())) if __name__ == '__main__': From 3a400bad0b165a162eb2f304750ca2bf83bfbb81 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 8 Dec 2022 21:28:15 +0900 Subject: [PATCH 390/430] [jsk_robot_startup] Remove rospy.get_param which uses dynamic_reconfigure --- jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py | 6 ------ 1 file changed, 6 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py index b558166f8f..9f63daf278 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py +++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py @@ -40,12 +40,6 @@ def __init__(self): rospy.init_node('server_name') # it should be 'smach_to_mail', but 'server_name' # is the default name of smach_ros - self.use_mail = rospy.get_param("~use_mail", True) - self.use_twitter = rospy.get_param("~use_twitter", True) - self.use_google_chat = rospy.get_param( - "~use_google_chat", _enable_google_chat) - self.send_every_transition = rospy.get_param( - "~send_every_transition", False) self.pub_email = rospy.Publisher("email", Email, queue_size=10) self.pub_twitter = rospy.Publisher("tweet", String, queue_size=10) self.reconfigure_server = Server( From 2ae4656d628cc314e797158c3d7cb284c428fcbc Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 8 Dec 2022 21:29:08 +0900 Subject: [PATCH 391/430] [jsk_robot_startup] Combine two if to one --- .../jsk_robot_startup/scripts/smach_to_mail.py | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py index 9f63daf278..ee2f54252e 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py +++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py @@ -182,12 +182,13 @@ def _status_cb(self, msg): else: self.smach_state_list[caller_id].append(status_dict) - if self.send_every_transition: - if (self.use_google_chat - and not self.smach_state_list[caller_id] is None): - rospy.loginfo("Send every transition called") - self._send_google_chat( - self.smach_state_subject[caller_id], [status_dict]) + # send notification every transition + if (self.send_every_transition + and self.use_google_chat + and not self.smach_state_list[caller_id] is None): + rospy.loginfo("Send every transition called") + self._send_google_chat( + self.smach_state_subject[caller_id], [status_dict]) # If we received END/FINISH status, send email, etc... if status_str in ["END", "FINISH", "FINISH-SUCCESS", "FINISH-FAILURE"]: From 4d5e6ec8fefa0877f00be75f1cfc82bc04c04912 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Fri, 9 Dec 2022 12:12:10 +0900 Subject: [PATCH 392/430] [jsk_robot_startup] Change permission of SmachNotificationReconfigure to avoid build error --- .../jsk_robot_startup/cfg/SmachNotificationReconfigure.cfg | 0 1 file changed, 0 insertions(+), 0 deletions(-) mode change 100644 => 100755 jsk_robot_common/jsk_robot_startup/cfg/SmachNotificationReconfigure.cfg diff --git a/jsk_robot_common/jsk_robot_startup/cfg/SmachNotificationReconfigure.cfg b/jsk_robot_common/jsk_robot_startup/cfg/SmachNotificationReconfigure.cfg old mode 100644 new mode 100755 From 05db64817ff7d2b0a462200f78a81c74ffec9801 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 24 Mar 2023 00:42:57 +0900 Subject: [PATCH 393/430] launch zdepth throttle node --- .../jsk_fetch_startup/launch/fetch_sensors.xml | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml index 2649c370e9..7b88454973 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml @@ -78,6 +78,15 @@ + + + + + Date: Fri, 24 Mar 2023 00:44:51 +0900 Subject: [PATCH 394/430] record zdepth instead for go_to_kitchen rosbag --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app index 2577fa0141..b5a69c054e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app @@ -40,7 +40,7 @@ plugins: - /head_camera/rgb/throttled/camera_info - /head_camera/depth_registered/throttled/camera_info - /head_camera/rgb/throttled/image_rect_color/compressed - - /head_camera/depth_registered/throttled/image_rect/compressedDepth + - /head_camera/depth_registered/throttled/image_rect/zdepth - /photo_taken - /server_name/smach/container_init - /server_name/smach/container_status From 41d696c8e5e6741639495a9d33a9409a8b1b84fb Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 24 Mar 2023 21:59:45 +0900 Subject: [PATCH 395/430] advertise when no tweet publisher is advertised yet --- jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l index 4053c0c081..24d39ae856 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l @@ -10,6 +10,8 @@ (tweet-topic-name "/tweet") (volume 1.0)) (if (null (ros::get-num-subscribers tweet-topic-name)) (ros::advertise tweet-topic-name std_msgs::String 1)) + (if (null (ros::get-num-subscribers "/tweet_image_server/tweet/goal")) + (ros::advertise "/tweet_image_server/tweet/goal" rostwitter::TweetActionGoal 1)) (let (prev-image-topic img) (when warning-time (unless (numberp warning-time) From 3f378aaf5ebe4b1ac3fa27db5670189062005885 Mon Sep 17 00:00:00 2001 From: JSK fetch user Date: Sat, 25 Mar 2023 20:38:36 +0900 Subject: [PATCH 396/430] load rostwitter message --- jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l index 24d39ae856..2e082e481f 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l @@ -1,6 +1,7 @@ #!/usr/bin/env roseus (ros::roseus-add-srvs "topic_tools") +(ros::roseus-add-msgs "rostwitter") (ros::roseus-add-msgs "std_msgs") (ros::roseus-add-msgs "sensor_msgs") From 24dfe679b8ebe0ecc7562cb4b5c1a274a48fc95d Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Mon, 17 Apr 2023 12:56:28 +0900 Subject: [PATCH 397/430] [jsk_fetch_startup] Add ros_google_cloud_language to fetch_bringup.launch --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 6b7136e3fc..fbebd12b3b 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -35,6 +35,7 @@ + @@ -408,6 +409,11 @@ + + + + From 06bbeeb40e7e47798f50ab72fb240a580da31b11 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Mon, 17 Apr 2023 17:59:35 +0900 Subject: [PATCH 398/430] [jsk_fetch_startup] Add download link of google_cloud_credentials_json --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index fbebd12b3b..8760cc5f0e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -412,6 +412,7 @@ + From c132b577db7fea2105eacd22e187fb7bfbf40d45 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Sun, 30 Apr 2023 23:14:25 +0900 Subject: [PATCH 399/430] [Fetch] Fix jsk_recognition branch in jsk_fetch.rosinstall.melodic --- jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic index cc1f06db8e..2ecfc0bdfb 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic +++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic @@ -65,12 +65,11 @@ local-name: jsk-ros-pkg/jsk_pr2eus uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git version: master -# we need this PR for fisheye vital check -# https://github.com/jsk-ros-pkg/jsk_recognition/pull/2734 +# we need to use the development branch until the next release. - git: local-name: jsk-ros-pkg/jsk_recognition - uri: https://github.com/knorth55/jsk_recognition.git - version: fisheye-vital-check + uri: https://github.com/jsk-ros-pkg/jsk_recognition.git + version: master # we need to use the development branch (fetch15 branch in knorth55's fork) # until it is merged to master - git: From 0b10ace4f1fa83d4425ab593406927e131a63532 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Sun, 30 Apr 2023 23:17:46 +0900 Subject: [PATCH 400/430] [Fetch] Fix comment of develop/fetch branch --- jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic index 2ecfc0bdfb..08e5b87b75 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic +++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic @@ -70,7 +70,7 @@ local-name: jsk-ros-pkg/jsk_recognition uri: https://github.com/jsk-ros-pkg/jsk_recognition.git version: master -# we need to use the development branch (fetch15 branch in knorth55's fork) +# we need to use the development branch (develop/fetch branch in jsk-ros-pkg) # until it is merged to master - git: local-name: jsk-ros-pkg/jsk_robot From 0c80702b7443e0c447c4314d638860d5e25086d9 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Mon, 5 Jun 2023 15:06:13 +0900 Subject: [PATCH 401/430] [jsk_robot_startup/lifelog] Add replicate_on_write arg to mongodb.launch to search at replication server --- jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch index 489da6e5ec..7f7af07807 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch @@ -11,6 +11,7 @@ + @@ -25,6 +26,7 @@ output="screen" machine="$(arg machine)"> extra_collections: $(arg extra_collections) + replicate_on_write: $(arg replicate_on_write) From 410c9988720a935a69e63d1060c2c9ffeb6e1bdd Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Mon, 5 Jun 2023 15:06:52 +0900 Subject: [PATCH 402/430] [jsk_fetch_startup] Add replicate_on_write arg --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml index ab52d40cc4..3e80d8de9e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml @@ -3,6 +3,7 @@ + @@ -13,12 +14,14 @@ + + From 040b36af751886995159de97e570a49426a0315e Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 7 Jun 2023 14:26:20 +0900 Subject: [PATCH 403/430] [jsk_robot_startup/lifelog] Tweet randomly from uptime --- .../jsk_robot_startup/lifelog/tweet_client_uptime.l | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l index 1dc3caed3c..4313e8faf7 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l @@ -18,6 +18,13 @@ (unix::sleep 3) (ros::ros-info "Wait for /active_user/elapsed_time parameter ...")) +(cond + ((ros::has-param "/active_user/tweet_random_range") + (setq *tweet-random-range* (ros::get-param "/active_user/tweet_random_range"))) + (t + (setq *tweet-random-range* 600.0) + )) + (cond ((ros::has-param "/active_user/tweet_second") (setq *tweet-second* (ros::get-param "/active_user/tweet_second"))) @@ -34,9 +41,9 @@ (let ((st (ros::get-param "/active_user/start_time"))) (setq *waking-target-second* (+ (- (send (ros::time-now) :to-sec) st) - *waking-tweet-second*)))) + (+ *waking-tweet-second* (random *tweet-random-range*)))))) (t - (setq *waking-target-second* *waking-tweet-second*))) + (setq *waking-target-second* (+ *waking-tweet-second* (random *tweet-random-range*))))) (setq *volume* (ros::get-param "~volume" 1.0)) (setq *speak-enable* (ros::get-param "~speak_enable" t)) @@ -76,7 +83,7 @@ (let ((waking-time (- (send (ros::time-now) :to-sec) st))) (ros::ros-debug "~A waking ~A sec (~A)" *robot-name* waking-time *waking-target-second*) (when (> waking-time *waking-target-second*) - (incf *waking-target-second* *waking-tweet-second*) + (incf *waking-target-second* (+ *waking-tweet-second* (random *tweet-random-range*))) ;; tweet source of robot-interface (unless *src-lines* (let* ((dirname (ros::rospack-find "pr2eus")) From dae2076e4788c06cda0ec2fabfd783bf9068b7b7 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 19 Jun 2023 09:22:14 +0900 Subject: [PATCH 404/430] Add labeler action for develop/fetch (#1815) * Add labeler action for develop/fetch (#1810) * [.github] Add labeler action for develop/fetch * [.github] Fix PR * [.github] Fix workflow for temporal test * Fix * Update laberconf * Change some * update * update * Change some * Change some * update some * update some * delete unused workflow for test * delete unused workflow for test * update some * update some * update some * update some * update some * update some * update some * update some * update some * update some * update some * update some * update some * Revert "delete unused workflow for test" This reverts commit 691e7915220e93887627b8f1bf06460394ab90de. * [.github] Fix target branch --- .github/labeler_conf/develop_fetch_labeler.yml | 2 ++ .github/workflows/develop_fetch_labeler.yml | 16 ++++++++++++++++ 2 files changed, 18 insertions(+) create mode 100644 .github/labeler_conf/develop_fetch_labeler.yml create mode 100644 .github/workflows/develop_fetch_labeler.yml diff --git a/.github/labeler_conf/develop_fetch_labeler.yml b/.github/labeler_conf/develop_fetch_labeler.yml new file mode 100644 index 0000000000..e0fe1fbe40 --- /dev/null +++ b/.github/labeler_conf/develop_fetch_labeler.yml @@ -0,0 +1,2 @@ +develop/fetch: + - '**' diff --git a/.github/workflows/develop_fetch_labeler.yml b/.github/workflows/develop_fetch_labeler.yml new file mode 100644 index 0000000000..f85a2a913d --- /dev/null +++ b/.github/workflows/develop_fetch_labeler.yml @@ -0,0 +1,16 @@ +name: "Pull Request Labeler for develop/fetch" +on: + pull_request_target: + branches: + - develop/fetch + +jobs: + triage: + runs-on: ubuntu-latest + steps: + - uses: actions/labeler@v4.1.0 + with: + configuration-path: ".github/labeler_conf/develop_fetch_labeler.yml" + repo-token: "${{ secrets.GITHUB_TOKEN }}" + sync-labels: true + dot: true From f784f5d566861dfd7f3da3e91f27592cb53fef67 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Tue, 20 Jun 2023 13:29:56 +0900 Subject: [PATCH 405/430] [jsk_fetch_startup] Avoid collision between l515 and head_pan_link --- jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.srdf.xacro | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.srdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.srdf.xacro index fdc9de6879..3edbee4c8b 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.srdf.xacro +++ b/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.srdf.xacro @@ -3,4 +3,6 @@ + + From 77adce1bc650049c85f43e4a5b06148512abbfe3 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 21 Jun 2023 17:35:37 +0900 Subject: [PATCH 406/430] [Fetch] Switch branch of jsk_pr2eus to develop/fetch --- jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic index 08e5b87b75..491417fa4f 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic +++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic @@ -60,11 +60,17 @@ local-name: jsk-ros-pkg/jsk_demos uri: https://github.com/jsk-ros-pkg/jsk_demos.git version: master +# we need to use the development branch until PR below are merged. +# - https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/495 # we need to use the development branch until the next release. +# - git: +# local-name: jsk-ros-pkg/jsk_pr2eus +# uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git +# version: develop/fetch - git: local-name: jsk-ros-pkg/jsk_pr2eus uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git - version: master + version: develop/fetch # we need to use the development branch until the next release. - git: local-name: jsk-ros-pkg/jsk_recognition From 7a649a2c9b36b45363ba15fcb34913faf05e9e4e Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 21 Jun 2023 17:59:06 +0900 Subject: [PATCH 407/430] [Fetch] Fix comment develop/fetch --> master --- jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic index 491417fa4f..3e43c99a28 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic +++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic @@ -66,7 +66,7 @@ # - git: # local-name: jsk-ros-pkg/jsk_pr2eus # uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git -# version: develop/fetch +# version: master - git: local-name: jsk-ros-pkg/jsk_pr2eus uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git From d6bd19bdc40d26065911a6106ea0599fa8ba63b9 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 15 Jun 2023 11:42:30 +0900 Subject: [PATCH 408/430] [jsk_robot_startup] Change order of git stash and git fetch --- .../jsk_robot_startup/scripts/update_workspace_main.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh index 053f0fcfd3..15da544cb7 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh +++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh @@ -80,8 +80,8 @@ TMP_MAIL_BODY_FILE=/tmp/update_workspace_mailbody.txt set -x # Update workspace -wstool foreach -t $WORKSPACE/src --git 'git stash' wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune' +wstool foreach -t $WORKSPACE/src --git 'git stash' wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot --delete-changed-uris ln -sf $ROSINSTALL $WORKSPACE/src/.rosinstall wstool update -t $WORKSPACE/src --delete-changed-uris From 44a255c01dddc6a77458a6db925fc3a020be2363 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 15 Jun 2023 13:15:07 +0900 Subject: [PATCH 409/430] [jsk_robot_startup] Add dry run option not to update forcefully --- .../scripts/update_workspace_main.sh | 29 ++++++++++++------- 1 file changed, 19 insertions(+), 10 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh index 15da544cb7..3506151739 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh +++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh @@ -2,7 +2,7 @@ function usage() { - echo "Usage: $0 [-w workspace_directory] [-r rosinstall_path] [-t robot_type] [-s skip keys] [-h] [-u] [-l] + echo "Usage: $0 [-w workspace_directory] [-r rosinstall_path] [-t robot_type] [-s skip keys] [-h] [-u] [-l] [-n] optional arguments: -h show this help @@ -12,6 +12,7 @@ optional arguments: -s SKIP_KEYS rosdep install skip keys -u do not run apt-get upgrade and rosdep install -l do not send a mail + -n do not update workspace, only show wstool status " } @@ -22,9 +23,10 @@ function get_full_path() ROSDEP_INSTALL=true SEND_MAIL=true +UPDATE_WORKSPACE=true WORKSPACE=$(get_full_path $HOME/ros/$ROS_DISTRO) -while getopts w:r:t:s:ulh OPT +while getopts w:r:t:s:ulnh OPT do case $OPT in w) @@ -45,6 +47,9 @@ do l) SEND_MAIL=false ;; + n) + UPDATE_WORKSPACE=false + ;; h) usage exit 1 @@ -81,14 +86,18 @@ set -x # Update workspace wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune' -wstool foreach -t $WORKSPACE/src --git 'git stash' -wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot --delete-changed-uris -ln -sf $ROSINSTALL $WORKSPACE/src/.rosinstall -wstool update -t $WORKSPACE/src --delete-changed-uris -# Forcefully checkout specified branch -wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi' -wstool update -t $WORKSPACE/src -WSTOOL_UPDATE_RESULT=$? +if [ "${UPDATE_WORKSPACE}" == "true" ]; then + wstool foreach -t $WORKSPACE/src --git 'git stash' + wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot --delete-changed-uris + ln -sf $ROSINSTALL $WORKSPACE/src/.rosinstall + wstool update -t $WORKSPACE/src --delete-changed-uris + # Forcefully checkout specified branch + wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi' + wstool update -t $WORKSPACE/src + WSTOOL_UPDATE_RESULT=$? +else + WSTOOL_UPDATE_RESULT=0 +fi # Rosdep Install if [ "${ROSDEP_INSTALL}" == "true" ]; then sudo apt-get update -y; From 99cc5a4ee600a23f0e3234a605f2790dd8cb25cc Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 15 Jun 2023 13:19:41 +0900 Subject: [PATCH 410/430] [jsk_robot_startup] Show wstool status to mail body --- .../jsk_robot_startup/scripts/update_workspace_main.sh | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh index 3506151739..3656f4557b 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh +++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh @@ -84,8 +84,14 @@ TMP_MAIL_BODY_FILE=/tmp/update_workspace_mailbody.txt { set -x # Update workspace - +echo "" > $TMP_MAIL_BODY_FILE wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune' +WSTOOL_STATUS=$(wstool status -t $WORKSPACE/src) +if [ -n "$WSTOOL_STATUS" ]; then + echo -e "Please commit robot internal change and send pull request.\n" >> $TMP_MAIL_BODY_FILE + echo -e $WSTOOL_STATUS >> $TMP_MAIL_BODY_FILE + wstool diff -t $WORKSPACE/src # rostopic pub fail when wstool diff has single quote or double quotes +fi if [ "${UPDATE_WORKSPACE}" == "true" ]; then wstool foreach -t $WORKSPACE/src --git 'git stash' wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot --delete-changed-uris @@ -115,7 +121,6 @@ catkin config -DCMAKE_BUILD_TYPE=Release catkin build --continue-on-failure CATKIN_BUILD_RESULT=$? # Send mail -echo "" > $TMP_MAIL_BODY_FILE if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then echo "Please wstool update workspace manually.\n" >> $TMP_MAIL_BODY_FILE fi From 5e6bfa16ccf059b22264c945eb80e728a5fed058 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Mon, 19 Jun 2023 16:04:45 +0900 Subject: [PATCH 411/430] [jsk_robot_startup] Escape single quote, double quote, and comma, which have bad effects on rostopic pub --- .../jsk_robot_startup/scripts/update_workspace_main.sh | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh index 3656f4557b..61f259b844 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh +++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh @@ -90,7 +90,8 @@ WSTOOL_STATUS=$(wstool status -t $WORKSPACE/src) if [ -n "$WSTOOL_STATUS" ]; then echo -e "Please commit robot internal change and send pull request.\n" >> $TMP_MAIL_BODY_FILE echo -e $WSTOOL_STATUS >> $TMP_MAIL_BODY_FILE - wstool diff -t $WORKSPACE/src # rostopic pub fail when wstool diff has single quote or double quotes + # escape " ' , -- and add change line code to end of line + wstool diff -t $WORKSPACE/src | sed -e "s/'/ /g" -e "s/^--/ /g" -e 's/"/ /g' -e "s/
      /\\\n/" -e 's/$/
      /g' -e "s/,/ /g" | tee -a $TMP_MAIL_BODY_FILE fi if [ "${UPDATE_WORKSPACE}" == "true" ]; then wstool foreach -t $WORKSPACE/src --git 'git stash' From c9f0139039087e81bfc7e200e9d3463a3f7097d9 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Mon, 19 Jun 2023 16:06:21 +0900 Subject: [PATCH 412/430] [jsk_robot_startup] Use html to change line at mail body --- .../scripts/update_workspace_main.sh | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh index 61f259b844..494c7fa795 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh +++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh @@ -62,15 +62,15 @@ do done if [ "$WORKSPACE" = "" ]; then - echo "Please set valid workspace -w $WORKSPACE" + echo "Please set valid workspace -w $WORKSPACE
      " exit 1 fi if [ "$ROSINSTALL" = "" ]; then - echo "Please set valid rosinstall -r $ROSINSTALL" + echo "Please set valid rosinstall -r $ROSINSTALL
      " exit 1 fi if [ "$ROBOT_TYPE" = "" ]; then - echo "Please set valid robot type -t $ROBOT_TYPE" + echo "Please set valid robot type -t $ROBOT_TYPE
      " exit 1 fi @@ -88,7 +88,7 @@ echo "" > $TMP_MAIL_BODY_FILE wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune' WSTOOL_STATUS=$(wstool status -t $WORKSPACE/src) if [ -n "$WSTOOL_STATUS" ]; then - echo -e "Please commit robot internal change and send pull request.\n" >> $TMP_MAIL_BODY_FILE + echo -e "Please commit robot internal change and send pull request.
      " >> $TMP_MAIL_BODY_FILE echo -e $WSTOOL_STATUS >> $TMP_MAIL_BODY_FILE # escape " ' , -- and add change line code to end of line wstool diff -t $WORKSPACE/src | sed -e "s/'/ /g" -e "s/^--/ /g" -e 's/"/ /g' -e "s/
      /\\\n/" -e 's/$/
      /g' -e "s/,/ /g" | tee -a $TMP_MAIL_BODY_FILE @@ -123,13 +123,13 @@ catkin build --continue-on-failure CATKIN_BUILD_RESULT=$? # Send mail if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then - echo "Please wstool update workspace manually.\n" >> $TMP_MAIL_BODY_FILE + echo "Please wstool update workspace manually.
      " >> $TMP_MAIL_BODY_FILE fi if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then - echo "Please install dependencies manually.\n" >> $TMP_MAIL_BODY_FILE + echo "Please install dependencies manually.
      " >> $TMP_MAIL_BODY_FILE fi if [ $CATKIN_BUILD_RESULT -ne 0 ]; then - echo "Please catkin build workspace manually.\n" >> $TMP_MAIL_BODY_FILE + echo "Please catkin build workspace manually.
      " >> $TMP_MAIL_BODY_FILE fi set +x } 2>&1 | tee $LOGFILE @@ -148,7 +148,7 @@ if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then frame_id: '' subject: 'Daily workspace update fails' body: -- {type: 'text', message: '${MAIL_BODY}', file_path: '', img_data: '', img_size: 0} +- {type: 'html', message: '${MAIL_BODY}', file_path: '', img_data: '', img_size: 0} sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp' receiver_address: '$ROBOT_TYPE@jsk.imi.i.u-tokyo.ac.jp' smtp_server: '' From c9f22adc70cbcd3fbe87ccb10521b4ca91403300 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Mon, 19 Jun 2023 16:08:52 +0900 Subject: [PATCH 413/430] [jsk_robot_startup] Use bold to easy to read mail text --- .../jsk_robot_startup/scripts/update_workspace_main.sh | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh index 494c7fa795..bb8fbba094 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh +++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh @@ -88,7 +88,7 @@ echo "" > $TMP_MAIL_BODY_FILE wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune' WSTOOL_STATUS=$(wstool status -t $WORKSPACE/src) if [ -n "$WSTOOL_STATUS" ]; then - echo -e "Please commit robot internal change and send pull request.
      " >> $TMP_MAIL_BODY_FILE + echo -e "Please commit robot internal change and send pull request.

      " >> $TMP_MAIL_BODY_FILE echo -e $WSTOOL_STATUS >> $TMP_MAIL_BODY_FILE # escape " ' , -- and add change line code to end of line wstool diff -t $WORKSPACE/src | sed -e "s/'/ /g" -e "s/^--/ /g" -e 's/"/ /g' -e "s/
      /\\\n/" -e 's/$/
      /g' -e "s/,/ /g" | tee -a $TMP_MAIL_BODY_FILE @@ -123,13 +123,13 @@ catkin build --continue-on-failure CATKIN_BUILD_RESULT=$? # Send mail if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then - echo "Please wstool update workspace manually.
      " >> $TMP_MAIL_BODY_FILE + echo "Please wstool update workspace manually.
      " >> $TMP_MAIL_BODY_FILE fi if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then - echo "Please install dependencies manually.
      " >> $TMP_MAIL_BODY_FILE + echo "Please install dependencies manually.
      " >> $TMP_MAIL_BODY_FILE fi if [ $CATKIN_BUILD_RESULT -ne 0 ]; then - echo "Please catkin build workspace manually.
      " >> $TMP_MAIL_BODY_FILE + echo "Please catkin build workspace manually.
      " >> $TMP_MAIL_BODY_FILE fi set +x } 2>&1 | tee $LOGFILE From cda483ba035c884a8a72d1595bcb856f3274d328 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Fri, 23 Jun 2023 11:14:27 +0900 Subject: [PATCH 414/430] Revert "[Fetch] Fix comment develop/fetch --> master" This reverts commit 1cddbe050e2e7832f9ae0fa5fd6e4ed37a0c8bcf. Revert "[Fetch] Switch branch of jsk_pr2eus to develop/fetch" This reverts commit b8041d2746767a8da5ddd2566f6a2510663ebd7e. --- jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic index 3e43c99a28..08e5b87b75 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic +++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic @@ -60,17 +60,11 @@ local-name: jsk-ros-pkg/jsk_demos uri: https://github.com/jsk-ros-pkg/jsk_demos.git version: master -# we need to use the development branch until PR below are merged. -# - https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/495 # we need to use the development branch until the next release. -# - git: -# local-name: jsk-ros-pkg/jsk_pr2eus -# uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git -# version: master - git: local-name: jsk-ros-pkg/jsk_pr2eus uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git - version: develop/fetch + version: master # we need to use the development branch until the next release. - git: local-name: jsk-ros-pkg/jsk_recognition From 40bb04f51b455ea70446415f33b3b2295040a447 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 26 Jun 2023 16:07:14 +0900 Subject: [PATCH 415/430] [jsk_fetch_startup][jsk_fetch_robot] add esp_now_ros to launch --- jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 5 +++++ jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 2 ++ .../jsk_fetch_startup/launch/fetch_bringup.launch | 8 ++++++++ 3 files changed, 15 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic index 08e5b87b75..71db5a428f 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic +++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic @@ -185,3 +185,8 @@ local-name: BehaviorTree/BehaviorTree.ROS uri: https://github.com/BehaviorTree/BehaviorTree.ROS version: master +# we need this for smart device ros system +- git: + local-name: sktometometo/esp_now_ros + uri: https://github.com/sktometometo/esp_now_ros.git + version: v0.1.0 diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash index 4ce9b16dc8..1ce371abbf 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash +++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash @@ -47,4 +47,6 @@ elif [ $(hostname) = 'fetch1075' ]; then export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2"; export AUDIO_DEVICE="alsa_output.usb-SEEED_ReSpeaker_4_Mic_Array__UAC1.0_-00.analog-stereo" + + export SMART_DEVICE_PORT=/dev/ttyACM0 fi diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch index 8760cc5f0e..cdef8e6b09 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -47,6 +47,7 @@ + @@ -422,6 +423,13 @@       + + + + + + + Date: Tue, 27 Jun 2023 15:12:07 +0900 Subject: [PATCH 416/430] [Fetch] Use bugfix branch of executive_smach_visualization --- jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic index 71db5a428f..0ae3e5a75d 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic +++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic @@ -151,10 +151,16 @@ uri: https://github.com/jsk-ros-pkg/coral_usb_ros.git version: master # we need melodic-devel branch for headless visualization +# - git: +# local-name: ros-visualization/executive_smach_visualization +# uri: https://github.com/ros-visualization/executive_smach_visualization.git +# version: master +# UnicodeDecodeError is output without the following PR +# https://github.com/ros-visualization/executive_smach_visualization/pull/54 - git: local-name: ros-visualization/executive_smach_visualization - uri: https://github.com/ros-visualization/executive_smach_visualization.git - version: melodic-devel + uri: https://github.com/tkmtnt7000/executive_smach_visualization.git + version: fix-pickle-loads-python-version # we need this for eus10 and roseus_resume - git: local-name: euslisp/Euslisp From 280c1a61df6ba7baf75812c8bb8ce817253dc090 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 27 Jun 2023 16:29:38 +0900 Subject: [PATCH 417/430] [jsk_fetch_robot] update esp_now_ros version to v0.2.0 --- jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic index 0ae3e5a75d..3d91fb7c09 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic +++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic @@ -195,4 +195,4 @@ - git: local-name: sktometometo/esp_now_ros uri: https://github.com/sktometometo/esp_now_ros.git - version: v0.1.0 + version: v0.2.0 From f5c821000e7d87ec47c6d2ee11aee8984eec8e69 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 27 Jun 2023 17:16:38 +0900 Subject: [PATCH 418/430] Add enr_message_board capability to kitchen demo (#1830) * [jsk_fetch_startup] add write-message-on-message-board to navigation-utils.l * [jsk_fetch_startup] Use write-message-on-message-board in kitchen-demo * Update jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l add package existence check for esp_now_ros Co-authored-by: Naoto Tsukamoto * [jsk_fetch_startup] publish dummy packet before write message on message board * Add more message and debug output * [jsk_fetch_startup] fix error * [jsk_fetch_starup] get rid of dummy message writing * [jsk_fetch_startup] Change enr_message_board address --------- Co-authored-by: Naoto Tsukamoto --- .../euslisp/navigation-utils.l | 49 +++++++++++++++++++ 1 file changed, 49 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l index aa4be969f5..2ed7414721 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -8,6 +8,8 @@ (ros::load-ros-manifest "jsk_recognition_msgs") (ros::load-ros-manifest "power_msgs") (ros::load-ros-manifest "sensor_msgs") +(if (ros::rospack-find "esp_now_ros") + (ros::load-ros-manifest "esp_now_ros")) (defparameter *dock-action* nil) (defparameter *undock-action* nil) @@ -427,6 +429,12 @@ Args: (label-names (if msg (send msg :label_names)))) (when label-names (ros::ros-info (format nil "Notify app that ~A is found." label-names)) + (write-message-on-message-board + (list 120 33 132 149 126 152) + (format nil "Notify app that ~A is found." label-names) + (ros::time 600) + (ros::get-param "/robot/name" "default_name") + ) (notify-app "object recognition" (send msg :header :stamp) location @@ -455,6 +463,12 @@ Args: (when occupancy (ros::ros-info (format nil "Notify app that the occupancy of trash can is measured. ~A." occupancy)) + (write-message-on-message-board + (list 120 33 132 149 126 152) + (format nil "~A Trashcan occupancy is ~A" notify-text occupancy) + (ros::time 600) + (ros::get-param "/robot/name" "default_name") + ) (notify-app "trashcan occupancy" (ros::time-now) location @@ -654,4 +668,39 @@ Args: (send *ri* :go-pos-unsafe 0 0 -80) ;; face the front against the trash can success-move-to-trashcan-front)) +(defun padding-byte-array (byte-array target-length) + (concatenate cons byte-array (make-list (- target-length (length byte-array)) :initial-element 0))) + +(defun write-message-on-message-board (target-addr message timeout-duration source-name) + "Send packet to write message on a message board. + + Args: + target-addr: list of integer to represent mac address of target message board. + message: string + timeout-duration: ros::time to represent message timoeut + source-name: string + " + (let* ((packet-type-array (list 42 0)) + (source-name-array (padding-byte-array (coerce source-name cons) 64)) + (timeout-duration-msec (floor (* 1000 (send timeout-duration :to-sec)))) + (timeout-duration-array + (mapcar + #'(lambda (order) + (/ + (- timeout-duration-msec + (* (round (expt 256 (+ 1 order))) (/ timeout-duration-msec (round (expt 256 (+ 1 order)))))) + (round (expt 256 order)))) + '(0 1 2 3 4 5 6 7) + )) + (message-array (padding-byte-array (coerce message cons) 64)) + (byte-data (concatenate cons packet-type-array source-name-array timeout-duration-array message-array)) + (msg (instance esp_now_ros::Packet :init + :mac_address (coerce target-addr string) + :data (coerce byte-data string))) + ) + (ros::advertise "/esp_now_ros/send" esp_now_ros::Packet 1) + (ros::publish "/esp_now_ros/send" msg) + (ros::ros-info "Write message ~A to board ~A" message target-addr) + ) + ) From db7ed5bc9561e7a8b25503eed5e5b203577ef879 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 28 Jun 2023 10:25:26 +0900 Subject: [PATCH 419/430] Revert "[Fetch] Use bugfix branch of executive_smach_visualization" This reverts commit 3ab128325e7bf31bdaf05cbd4a10ed1dd901ce59. --- jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic index 3d91fb7c09..d7ca64262f 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic +++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic @@ -151,16 +151,10 @@ uri: https://github.com/jsk-ros-pkg/coral_usb_ros.git version: master # we need melodic-devel branch for headless visualization -# - git: -# local-name: ros-visualization/executive_smach_visualization -# uri: https://github.com/ros-visualization/executive_smach_visualization.git -# version: master -# UnicodeDecodeError is output without the following PR -# https://github.com/ros-visualization/executive_smach_visualization/pull/54 - git: local-name: ros-visualization/executive_smach_visualization - uri: https://github.com/tkmtnt7000/executive_smach_visualization.git - version: fix-pickle-loads-python-version + uri: https://github.com/ros-visualization/executive_smach_visualization.git + version: melodic-devel # we need this for eus10 and roseus_resume - git: local-name: euslisp/Euslisp From 0bd3f1435f646be5a24365f907ae3de6ff411126 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 29 Jun 2023 16:45:37 +0900 Subject: [PATCH 420/430] [jsk_fetch_startup] Add TimeSignal.cfg --- jsk_fetch_robot/jsk_fetch_startup/cfg/TimeSignal.cfg | 11 +++++++++++ 1 file changed, 11 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/cfg/TimeSignal.cfg diff --git a/jsk_fetch_robot/jsk_fetch_startup/cfg/TimeSignal.cfg b/jsk_fetch_robot/jsk_fetch_startup/cfg/TimeSignal.cfg new file mode 100644 index 0000000000..e22d48bc1e --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/cfg/TimeSignal.cfg @@ -0,0 +1,11 @@ +#! /usr/bin/env python + + +from dynamic_reconfigure.parameter_generator_catkin import * + +PACKAGE = 'jsk_fetch_startup' + +gen = ParameterGenerator() +gen.add("volume", double_t, 0, "Volume of sound.", 1.0, 0.0, 1.0) + +exit(gen.generate(PACKAGE, PACKAGE, "TimeSignal")) From 7b894ddc1c83b99133893e3e7efdd06c8039e98e Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 29 Jun 2023 16:46:12 +0900 Subject: [PATCH 421/430] [jsk_fetch_startup] Add dynamic_reconfigure to dependency --- jsk_fetch_robot/jsk_fetch_startup/package.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/package.xml b/jsk_fetch_robot/jsk_fetch_startup/package.xml index 70d3f9eda9..f83da9e637 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/package.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/package.xml @@ -12,7 +12,9 @@ catkin fetch_teleop + dynamic_reconfigure + dynamic_reconfigure image_proc jsk_fetch_accessories jsk_fetch_diagnosis From 5906221cddfdd6073c049a360bbb24285c86b757 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 29 Jun 2023 16:46:42 +0900 Subject: [PATCH 422/430] [jsk_fetch_startup] Enable dynamic_recongiure --- jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt index 96d03f10ea..41d435037b 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt +++ b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt @@ -11,6 +11,7 @@ endif() ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS + dynamic_reconfigure roscpp std_msgs sensor_msgs @@ -24,10 +25,16 @@ find_package(catkin REQUIRED COMPONENTS ) find_package(Boost REQUIRED COMPONENTS) +generate_dynamic_reconfigure_options( + cfg/TimeSignal.cfg +) + ################################### ## catkin specific configuration ## ################################### -catkin_package() +catkin_package( + CATKIN_DEPENDS dynamic_reconfigure +) catkin_add_env_hooks(99.jsk_fetch_startup SHELLS bash zsh sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) From e85db11ab25221951abf1d201dcc27ff93af6f0b Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Thu, 29 Jun 2023 16:45:09 +0900 Subject: [PATCH 423/430] [jsk_fetch_startup] Set volume dynamically in time_signal.py --- .../jsk_fetch_startup/scripts/time_signal.py | 22 +++++++++++++++++-- 1 file changed, 20 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py index 321714985a..083e12c658 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py @@ -8,12 +8,14 @@ import sys import urllib2 +from dynamic_reconfigure.server import Server +from jsk_fetch_startup.cfg import TimeSignalConfig as Config from sound_play.msg import SoundRequestAction from sound_play.msg import SoundRequestGoal class TimeSignal(object): - def __init__(self): + def __init__(self, volume=1.0): self.client_en = actionlib.SimpleActionClient( '/sound_play', SoundRequestAction) self.client_jp = actionlib.SimpleActionClient( @@ -23,6 +25,8 @@ def __init__(self): self.now_hour = self.now_time.hour self.now_minute = self.now_time.minute self.day = self.now_time.strftime('%a') + self.volume = volume + self.srv = Server(Config, self.config_callback) reload(sys) sys.setdefaultencoding('utf-8') api_key_file = rospy.get_param( @@ -35,7 +39,7 @@ def speak(self, client, speech_text, lang=None): sound_goal = SoundRequestGoal() sound_goal.sound_request.sound = -3 sound_goal.sound_request.command = 1 - sound_goal.sound_request.volume = 1.0 + sound_goal.sound_request.volume = self.volume if lang is not None: sound_goal.sound_request.arg2 = lang sound_goal.sound_request.arg = speech_text @@ -153,6 +157,20 @@ def _get_weather_forecast(self, lang='en'): forecast_text += " The wind speed is {} meter per second.".format(wind_speed) return forecast_text + def _set_volume(self, volume): + ''' + Set speak volume between 0.0 and 1.0 + ''' + volume = min(max(0.0, volume), 1.0) + if self.volume != volume: + self.volume = volume + rospy.loginfo("time_signal's volume was set to {}".format( + self.volume)) + + def config_callback(self, config, level): + self._set_volume(config.volume) + return config + if __name__ == '__main__': rospy.init_node('time_signal') From 0dfccd54bbcdb6cd7fb8b2e702d0ba8faaf18b5a Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Mon, 3 Jul 2023 11:33:39 +0900 Subject: [PATCH 424/430] [jsk_robot_startup] Add time_signal to auto speak volume control app --- .../jsk_robot_startup/lifelog/auto_speak_volume_lower.l | 1 + .../jsk_robot_startup/lifelog/auto_speak_volume_reset.l | 1 + .../jsk_robot_startup/lifelog/auto_speak_volume_zero.l | 1 + 3 files changed, 3 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_lower.l b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_lower.l index 48c236a58c..6696fe3f16 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_lower.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_lower.l @@ -11,4 +11,5 @@ (ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "volume" :double 0.2) (ros::set-dynamic-reconfigure-param "/tweet_client_warning" "volume" :double 0.2) (ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "volume" :double 0.2) +(ros::set-dynamic-reconfigure-param "/time_signal" "volume" :double 0.2) (exit) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_reset.l b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_reset.l index a57c51c262..315e9151af 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_reset.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_reset.l @@ -11,4 +11,5 @@ (ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "volume" :double 1.0) (ros::set-dynamic-reconfigure-param "/tweet_client_warning" "volume" :double 1.0) (ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "volume" :double 1.0) +(ros::set-dynamic-reconfigure-param "/time_signal" "volume" :double 1.0) (exit) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_zero.l b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_zero.l index e0bb7d2c43..39c58b530e 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_zero.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_zero.l @@ -11,4 +11,5 @@ (ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "volume" :double 0.0) (ros::set-dynamic-reconfigure-param "/tweet_client_warning" "volume" :double 0.0) (ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "volume" :double 0.0) +(ros::set-dynamic-reconfigure-param "/time_signal" "volume" :double 0.0) (exit) From ae0e41d8f80879ab2661baa10dd16c63b6052208 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Mon, 3 Jul 2023 12:06:40 +0900 Subject: [PATCH 425/430] [Fetch] Use run-name-entry-fetch15 branch in app_manager --- jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic index d7ca64262f..3cdd4ee529 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic +++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic @@ -5,10 +5,12 @@ # https://github.com/PR2/app_manager/pull/50 # In order to run multiple app_managers in one master, we need this PR # https://github.com/PR2/app_manager/pull/54 +# This PR add run_name entry to specif node name when we use run entry +# https://github.com/PR2/app_manager/pull/64 - git: local-name: PR2/app_manager - uri: https://github.com/knorth55/app_manager.git - version: fetch15 + uri: https://github.com/tkmtnt7000/app_manager.git + version: add-run-name-entry-fetch15 # we need this for proximity sensors - git: local-name: RoboticMaterials/FA-I-sensor From 1406ce728aadf01ab41b0ae4238eb3384646c5a1 Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Mon, 3 Jul 2023 12:07:08 +0900 Subject: [PATCH 426/430] [jsk_fetch_startup] Add run_name to time_signal.py to specify node name --- .../jsk_fetch_startup/apps/time_signal/time_signal.app | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app index 6137ee226b..e82fe5629f 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app @@ -1,6 +1,8 @@ display: Speak time signal platform: fetch run: jsk_fetch_startup/time_signal.py +run_name: "time_signal" +# run_name needs https://github.com/PR2/app_manager/pull/64 interface: jsk_fetch_startup/time_signal.interface icon: jsk_fetch_startup/time_signal.png timeout: 120 From f08427720dd2e467485aba4717d9779b87f3718e Mon Sep 17 00:00:00 2001 From: Naoto Tsukamoto Date: Wed, 12 Jul 2023 17:24:12 +0900 Subject: [PATCH 427/430] [jsk_robot_startup] Fix mongodb_replicate_on_write param --- jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch index 7f7af07807..2a60fe5e16 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch @@ -16,6 +16,7 @@ + @@ -26,7 +27,6 @@ output="screen" machine="$(arg machine)"> extra_collections: $(arg extra_collections) - replicate_on_write: $(arg replicate_on_write) From 1c61c3fcf40958bd98c68ef4d40e58f69a818cac Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Wed, 21 Jun 2023 20:32:11 +0900 Subject: [PATCH 428/430] [jsk_robot_startup] not to delete branch everytime --- .../jsk_robot_startup/scripts/update_workspace_main.sh | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh index bb8fbba094..ab07bbdac2 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh +++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh @@ -94,12 +94,13 @@ if [ -n "$WSTOOL_STATUS" ]; then wstool diff -t $WORKSPACE/src | sed -e "s/'/ /g" -e "s/^--/ /g" -e 's/"/ /g' -e "s/
      /\\\n/" -e 's/$/
      /g' -e "s/,/ /g" | tee -a $TMP_MAIL_BODY_FILE fi if [ "${UPDATE_WORKSPACE}" == "true" ]; then - wstool foreach -t $WORKSPACE/src --git 'git stash' - wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot --delete-changed-uris + wstool foreach -t $WORKSPACE/src --git 'git stash -u' + wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune' + wstool update -t $WORKSPACE/src $(rospack find jsk_robot_startup)/../.. --delete-changed-uris ln -sf $ROSINSTALL $WORKSPACE/src/.rosinstall wstool update -t $WORKSPACE/src --delete-changed-uris - # Forcefully checkout specified branch - wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi' + # When the repository's Spec-Version branch has commits which are not pushed to remote, they are evacuated to another branch + wstool foreach -t $WORKSPACE/src --git --shell 'expected_version=$(wstool info . | grep Spec-Version: | awk '\''{print $2}'\''); current_version=$(git rev-parse --abbrev-ref HEAD); remote_diff=$(git diff --stat $current_version origin/$current_version); if [ "$expected_version" = "$current_version" ] && [ -n "$remote_diff" ]; then git checkout -b ${expected_version}-patch-$(date +%Y%m%d%H%M%S); git checkout origin/$expected_version; git branch -D $expected_version; git checkout -b $expected_version --track origin/$expected_version; fi' wstool update -t $WORKSPACE/src WSTOOL_UPDATE_RESULT=$? else From 8b5ee7251ed7fc66e37e624a1cd306260af67896 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Fri, 14 Jul 2023 02:14:07 +0900 Subject: [PATCH 429/430] [jsk_robot_startup] use rev-list to check diverge --- .../jsk_robot_startup/scripts/update_workspace_main.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh index ab07bbdac2..63c381c888 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh +++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh @@ -100,7 +100,7 @@ if [ "${UPDATE_WORKSPACE}" == "true" ]; then ln -sf $ROSINSTALL $WORKSPACE/src/.rosinstall wstool update -t $WORKSPACE/src --delete-changed-uris # When the repository's Spec-Version branch has commits which are not pushed to remote, they are evacuated to another branch - wstool foreach -t $WORKSPACE/src --git --shell 'expected_version=$(wstool info . | grep Spec-Version: | awk '\''{print $2}'\''); current_version=$(git rev-parse --abbrev-ref HEAD); remote_diff=$(git diff --stat $current_version origin/$current_version); if [ "$expected_version" = "$current_version" ] && [ -n "$remote_diff" ]; then git checkout -b ${expected_version}-patch-$(date +%Y%m%d%H%M%S); git checkout origin/$expected_version; git branch -D $expected_version; git checkout -b $expected_version --track origin/$expected_version; fi' + wstool foreach -t $WORKSPACE/src --git --shell 'expected_version=$(wstool info . | grep Spec-Version: | awk '\''{print $2}'\''); current_version=$(git rev-parse --abbrev-ref HEAD); remote_diff_head_origin=$(git rev-list HEAD..origin); remote_diff_origin_head=$(git rev-list origin..HEAD); remote_diff="${remote_diff_head_origin}${remote_diff_origin_head}"; if [ "$expected_version" = "$current_version" ] && [ -n "$remote_diff" ]; then git checkout -b ${expected_version}-patch-$(date +%Y%m%d%H%M%S); git checkout origin/$expected_version; git branch -D $expected_version; git checkout -b $expected_version --track origin/$expected_version; fi' wstool update -t $WORKSPACE/src WSTOOL_UPDATE_RESULT=$? else From a3d2f7d72642af3cf793ffac597b39ca7fbcee73 Mon Sep 17 00:00:00 2001 From: Yoshiki Obinata Date: Fri, 14 Jul 2023 12:55:08 +0900 Subject: [PATCH 430/430] [develop/fetch] check origin/ instead --- .../jsk_robot_startup/scripts/update_workspace_main.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh index 63c381c888..868f61d9cf 100755 --- a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh +++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh @@ -100,7 +100,7 @@ if [ "${UPDATE_WORKSPACE}" == "true" ]; then ln -sf $ROSINSTALL $WORKSPACE/src/.rosinstall wstool update -t $WORKSPACE/src --delete-changed-uris # When the repository's Spec-Version branch has commits which are not pushed to remote, they are evacuated to another branch - wstool foreach -t $WORKSPACE/src --git --shell 'expected_version=$(wstool info . | grep Spec-Version: | awk '\''{print $2}'\''); current_version=$(git rev-parse --abbrev-ref HEAD); remote_diff_head_origin=$(git rev-list HEAD..origin); remote_diff_origin_head=$(git rev-list origin..HEAD); remote_diff="${remote_diff_head_origin}${remote_diff_origin_head}"; if [ "$expected_version" = "$current_version" ] && [ -n "$remote_diff" ]; then git checkout -b ${expected_version}-patch-$(date +%Y%m%d%H%M%S); git checkout origin/$expected_version; git branch -D $expected_version; git checkout -b $expected_version --track origin/$expected_version; fi' + wstool foreach -t $WORKSPACE/src --git --shell 'expected_version=$(wstool info . | grep Spec-Version: | awk '\''{print $2}'\''); current_version=$(git rev-parse --abbrev-ref HEAD); remote_diff_head_origin=$(git rev-list HEAD..origin/${expected_version}); remote_diff_origin_head=$(git rev-list origin/${expected_version}..HEAD); remote_diff="${remote_diff_head_origin}${remote_diff_origin_head}"; if [ "$expected_version" = "$current_version" ] && [ -n "$remote_diff" ]; then git checkout -b ${expected_version}-patch-$(date +%Y%m%d%H%M%S); git checkout origin/$expected_version; git branch -D $expected_version; git checkout -b $expected_version --track origin/$expected_version; fi' wstool update -t $WORKSPACE/src WSTOOL_UPDATE_RESULT=$? else

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