Merge pull request #1519 from 708yamaguchi/add-m5stack-rosserial-master

[jsk_fetch_startup] Add launch to use m5stack sensors via rosserial + bluetooth

jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch

@@ -259,4 +259,9 @@
     </rosparam>
   </node>
 
+  <!-- Two robots cannot use one rosserial device at the same time -->
+  <group if="$(eval hostname == 'fetch1075')">
+    <include file="$(find jsk_fetch_startup)/launch/fetch_rosserial.launch" />
+  </group>
+
 </launch>

jsk_fetch_robot/jsk_fetch_startup/launch/fetch_rosserial.launch

@@ -0,0 +1,79 @@
+<launch>
+  <!-- The rfcomm device names (e.g. /dev/rfcomm0) corresponds to
+       the order of /var/lib/robot/rfcomm_devices.yaml -->
+  <!-- To bind rfcomm devices, https://github.com/jsk-ros-pkg/jsk_robot/pull/1401 is used -->
+
+  <!-- The firmwares are https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/289 -->
+  <!-- Set logger leve to error to supress WARN when the device is not connected -->
+
+  <arg name="sgp30_ns" value="sgp30" />
+  <arg name="pdm_spm1423_ns" value="pdm_spm1423" />
+  <arg name="mlx90640_ns" value="mlx90640" />
+  <arg name="unitv_ns" value="unitv" />
+
+  <!-- rosseiral via Bluetooth -->
+  <!-- sgp30 gas sensor -->
+  <group ns="$(arg sgp30_ns)">
+    <node pkg="rosserial_python" type="serial_node.py" name="serial_node"
+          respawn="true" respawn_delay="10">
+      <rosparam subst_value="true">
+        port: /dev/rfcomm0
+        baud: 115200
+      </rosparam>
+    </node>
+    <node pkg="rosservice" type="rosservice" name="set_logger_level"
+          args="call --wait /$(arg sgp30_ns)/serial_node/set_logger_level 'rosout' 'error'" />
+  </group>
+  <!-- pdm_spm1423 microphone -->
+  <group ns="$(arg pdm_spm1423_ns)">
+    <node pkg="rosserial_python" type="serial_node.py" name="serial_node"
+          respawn="true" respawn_delay="10">
+      <rosparam subst_value="true">
+        port: /dev/rfcomm1
+        baud: 115200
+      </rosparam>
+    </node>
+    <node pkg="rosservice" type="rosservice" name="set_logger_level"
+          args="call --wait /$(arg pdm_spm1423_ns)/serial_node/set_logger_level 'rosout' 'error'" />
+  </group>
+  <!-- mlx90640 thermography -->
+  <group ns="$(arg mlx90640_ns)">
+    <node pkg="rosserial_python" type="serial_node.py" name="serial_node"
+          respawn="true" respawn_delay="10">
+      <rosparam subst_value="true">
+        port: /dev/rfcomm2
+        baud: 115200
+      </rosparam>
+    </node>
+    <node pkg="rosservice" type="rosservice" name="set_logger_level"
+          args="call --wait /$(arg mlx90640_ns)/serial_node/set_logger_level 'rosout' 'error'" />
+  </group>
+  <!-- unitv AI camera -->
+  <group ns="$(arg unitv_ns)">
+    <node pkg="rosserial_python" type="serial_node.py" name="serial_node"
+          respawn="true" respawn_delay="10">
+      <rosparam subst_value="true">
+        port: /dev/rfcomm3
+        baud: 115200
+      </rosparam>
+    </node>
+    <node pkg="rosservice" type="rosservice" name="set_logger_level"
+          args="call --wait /$(arg unitv_ns)/serial_node/set_logger_level 'rosout' 'error'" />
+    <!-- decompress unitv image -->
+    <node pkg="image_transport" type="republish" name="republish" args="compressed raw">
+      <remap from="in" to="unitv_image" />
+      <remap from="out" to="unitv_image" />
+    </node>
+    <!-- draw recognized result on unitv image -->
+    <node name="draw_rects" pkg="jsk_perception" type="draw_rects">
+      <remap from="~input" to="unitv_image" />
+      <remap from="~input/rects" to="unitv_image/rects" />
+      <remap from="~input/class" to="unitv_image/class" />
+      <rosparam>
+        use_classification_result: true
+        label_size: 0.3
+        resolution_factor: 2.0
+      </rosparam>
+    </node>
+  </group>
+</launch>

jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf

@@ -0,0 +1,12 @@
+[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"
+
+stopsignal=TERM
+directory=/home/fetch/ros/melodic
+autostart=true
+autorestart=false
+stdout_logfile=/var/log/ros/jsk-rfcomm-bind.log
+stderr_logfile=/var/log/ros/jsk-rfcomm-bind.log
+user=root
+environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1
+priority=200

jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml

@@ -41,3 +41,4 @@ windows:
   - 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