jsk-ros-pkg · knorth55 · Dec 16, 2021 · Dec 19, 2021 · Dec 19, 2021 · Apr 26, 2022
diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -1,43 +1,9 @@
 #!/usr/bin/env bash
 
-. $HOME/ros/melodic/devel/setup.bash
-# Filename should end with .txt to preview the contents in a web browser
-LOGFILE=$HOME/ros/melodic/update_workspace.txt
-
-{
-set -x
-# Update workspace
-cd $HOME/ros/melodic/src
-ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/melodic/src/.rosinstall
-wstool foreach --git 'git stash'
-wstool update --delete-changed-uris
-WSTOOL_UPDATE_RESULT=$?
-cd $HOME/ros/melodic
-catkin clean aques_talk collada_urdf_jsk_patch -y
-catkin init
-catkin config -DCMAKE_BUILD_TYPE=Release
-catkin build
-CATKIN_BUILD_RESULT=$?
-# Send mail
-MAIL_BODY=""
-if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then
-    MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. "
-fi
-if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
-    MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually."
-fi
-set +x
-} > $LOGFILE 2>&1
-if [ -n "$MAIL_BODY" ]; then
-   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_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_pr2_robot/jsk_pr2_startup/apps/tweet/tweet.app b/jsk_pr2_robot/jsk_pr2_startup/apps/tweet/tweet.app
@@ -1,6 +1,7 @@
 display: PR2 Tweet
 description: PR2 likes tweeting
 platform: pr2
-launch: jsk_pr2_startup/tweet.xml
+# launch: jsk_pr2_startup/tweet.xml
+run: jsk_pr2_startup/tweet.l
 interface: jsk_pr2_startup/tweet.interface
 icon: jsk_pr2_startup/tweet.png
diff --git a/jsk_pr2_robot/jsk_pr2_startup/apps/tweet/tweet.l b/jsk_pr2_robot/jsk_pr2_startup/apps/tweet/tweet.l
diff --git a/jsk_pr2_robot/jsk_pr2_startup/config/jsk_startup.rviz b/jsk_pr2_robot/jsk_pr2_startup/config/jsk_startup.rviz
@@ -5,6 +5,8 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Diagnostics1/Power1
+        - /Vision1/NarrowStereoLeft1
+        - /Planning1/SmachImage1
       Splitter Ratio: 0.557554007
     Tree Height: 1855
   - Class: rviz/Selection
@@ -899,9 +901,9 @@ Visualization Manager:
           Enabled: false
           Invert Rainbow: false
           Max Color: 255; 255; 255
-          Max Intensity: 1.08762002
+          Max Intensity: 4096
           Min Color: 0; 0; 0
-          Min Intensity: 0.190980002
+          Min Intensity: 0
           Name: TiltScan
           Position Transformer: XYZ
           Queue Size: 10
@@ -976,6 +978,23 @@ Visualization Manager:
           Value: true
       Enabled: true
       Name: Vision
+    - Class: rviz/Group
+      Displays:
+        - Class: jsk_rviz_plugin/OverlayImage
+          Enabled: true
+          Name: SmachImage
+          Topic: /smach_image_publisher/image
+          Value: true
+          alpha: 0.850000024
+          height: 200
+          keep aspect ratio: true
+          left: 2700
+          overwrite alpha value: false
+          top: 50
+          transport hint: compressed
+          width: 600
+      Enabled: true
+      Name: Planning
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -1003,25 +1022,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 10.3789015
+      Distance: 8.56335258
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 1.27238953
-        Y: -0.646221399
-        Z: 1.45365202
+        X: 1.20282674
+        Y: 0.220421076
+        Z: 1.34202754
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.0500000007
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 0.449796855
+      Pitch: 0.429796875
       Target Frame: base_link
       Value: Orbit (rviz)
-      Yaw: 0.113857321
+      Yaw: 0.71885699
     Saved: ~
 Window Geometry:
   Displays:

diff --git a/jsk_pr2_robot/jsk_pr2_startup/config/pr2_app_schedule.yaml b/jsk_pr2_robot/jsk_pr2_startup/config/pr2_app_schedule.yaml
@@ -0,0 +1,23 @@
+# 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
+- 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
+- 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/..._robot/jsk_pr2_startup/jsk_pr2.rosinstall → ...jsk_pr2_startup/jsk_pr2.rosinstall.indigo b/..._robot/jsk_pr2_startup/jsk_pr2.rosinstall → ...jsk_pr2_startup/jsk_pr2.rosinstall.indigo
@@ -15,7 +15,7 @@
 - git:
     local-name: PR2/pr2_controllers
     uri: https://github.com/PR2/pr2_controllers.git
-    version: melodic-devel
+    version: 1.10.18
 # we need to install from source because pr2 is indigo
 - git:
     local-name: PR2/pr2_self_test
@@ -85,8 +85,8 @@
 # we need this for eus10 and roseus_resume
 - git:
     local-name: jsk-ros-pkg/jsk_pr2eus
-    uri: https://github.com/knorth55/jsk_pr2eus.git
-    version: pr1040
+    uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git
+    version: master 
 # we need to install from source because pr2 is indigo
 - git:
     local-name: jsk-ros-pkg/jsk_recognition
@@ -143,6 +143,11 @@
     uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/visualization_msgs/1.12.7-0.tar.gz
     version: common_msgs-release-release-kinetic-visualization_msgs-1.12.7-0
 # we need to install from source because pr2 is indigo
+- git:
+    local-name: ros-visualization/executive_smach_visualization
+    uri: https://github.com/ros-visualization/executive_smach_visualization.git
+    version: melodic-devel
+# we need to install from source because pr2 is indigo
 - git:
     local-name: ros-visualization/interactive_markers
     uri: https://github.com/ros-visualization/interactive_markers.git

diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2.rosinstall.noetic b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2.rosinstall.noetic
@@ -0,0 +1,148 @@
+- git:
+    local-name: Affonso-Gui/euslime
+    uri: https://github.com/Affonso-Gui/euslime.git
+    version: eus10
+- git:
+    local-name: Affonso-Gui/roseus_resume
+    uri: https://github.com/Affonso-Gui/roseus_resume.git
+    version: eus10
+- git:
+    local-name: BehaviorTree/behaviortree_ros
+    uri: https://github.com/BehaviorTree/BehaviorTree.ROS.git
+    version: master
+- git:
+    local-name: PR2/app_manager
+    uri: https://github.com/PR2/app_manager.git
+    version: kinetic-devel
+- git:
+    local-name: PR2/pr2_apps
+    uri: https://github.com/pr2/pr2_apps.git
+    version: melodic-devel
+- git:
+    local-name: PR2/pr2_gripper_sensor
+    uri: https://github.com/pr2/pr2_gripper_sensor.git
+    version: hydro-devel
+- git:
+    local-name: PR2/pr2_navigation
+    uri: https://github.com/PR2/pr2_navigation.git
+    version: kinetic-devel
+- git:
+    local-name: PR2/pr2_robot
+    uri: https://github.com/TAMS-Group/pr2_robot.git
+    version: pr-various 
+- git:
+    local-name: PR2/rqt_pr2_dashboard
+    uri: https://github.com/PR2/rqt_pr2_dashboard.git
+    version: kinetic-devel
+- git:
+    local-name: SharedAutonomyToolkit/shared_autonomy_manipulation
+    uri: https://github.com/SharedAutonomyToolkit/shared_autonomy_manipulation.git
+    version: hydro-devel
+- git:
+    local-name: euslisp/Euslisp
+    uri: https://github.com/Affonso-Gui/EusLisp.git
+    version: eus10
+- git:
+    local-name: euslisp/jskeus
+    uri: https://github.com/euslisp/jskeus.git
+    version: master
+- git:
+    local-name: jsk-ros-pkg/coral_usb_ros
+    uri: https://github.com/jsk-ros-pkg/coral_usb_ros.git
+    version: master
+- git:
+    local-name: jsk-ros-pkg/geneus
+    uri: https://github.com/jsk-ros-pkg/geneus.git
+    version: master
+- git:
+    local-name: jsk-ros-pkg/jsk_3rdparty
+    uri: https://github.com/jsk-ros-pkg/jsk_3rdparty.git
+    version: develop/pr2 
+- git:
+    local-name: jsk-ros-pkg/jsk_common
+    uri: https://github.com/jsk-ros-pkg/jsk_common.git
+    version: develop/pr2
+- git:
+    local-name: jsk-ros-pkg/jsk_control
+    uri: https://github.com/jsk-ros-pkg/jsk_control.git
+    version: master
+- git:
+    local-name: jsk-ros-pkg/jsk_demos
+    uri: https://github.com/jsk-ros-pkg/jsk_demos.git
+    version: master
+- git:
+    local-name: jsk-ros-pkg/jsk_model_tools
+    uri: https://github.com/jsk-ros-pkg/jsk_model_tools.git
+    version: master
+- git:
+    local-name: jsk-ros-pkg/jsk_planning
+    uri: https://github.com/jsk-ros-pkg/jsk_planning.git
+    version: master
+- 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_recognition
+    uri: https://github.com/jsk-ros-pkg/jsk_recognition.git
+    version: master
+- git:
+    local-name: jsk-ros-pkg/jsk_robot
+    uri: https://github.com/jsk-ros-pkg/jsk_robot.git
+    version: develop/pr2-noetic 
+- git:
+    local-name: jsk-ros-pkg/jsk_roseus
+    uri: https://github.com/knorth55/jsk_roseus.git
+    version: pr1040
+- git:
+    local-name: jsk-ros-pkg/jsk_visualization
+    uri: https://github.com/jsk-ros-pkg/jsk_visualization.git
+    version: master
+- git:
+    local-name: knorth55/app_manager_utils
+    uri: https://github.com/knorth55/app_manager_utils.git
+    version: master
+- git:
+    local-name: ros-drivers/audio_common
+    uri: https://github.com/ros-drivers/audio_common.git
+    version: master
+- git:
+    local-name: ros-drivers/hokuyo_node
+    uri: https://github.com/ros-drivers/hokuyo_node.git
+    version: indigo-devel
+- git:
+    local-name: ros-drivers/joystick_drivers
+    uri: https://github.com/knorth55/joystick_drivers.git
+    version: pr1040-noetic
+- git:
+    local-name: ros-drivers/prosilica_driver
+    uri: https://github.com/knorth55/prosilica_driver.git
+    version: plugin-install-fix
+- git:
+    local-name: ros-drivers/wge100_driver
+    uri: https://github.com/ros-drivers/wge100_driver.git
+    version: hydro-devel
+- git:
+    local-name: ros-drivers/wifi_ddwrt
+    uri: https://github.com/TAMS-Group/wifi_ddwrt.git
+    version: noetic-devel
+- git:
+    local-name: ros-visualization/executive_smach_visualization
+    uri: https://github.com/knorth55/executive_smach_visualization.git
+    version: fix-python3 
+- git:
+    local-name: ros/collada_urdf
+    uri: https://github.com/werner291/collada_urdf.git
+    version: patch-1
+- git:
+    local-name: strands-project/mongodb_store
+    uri: https://github.com/strands-project/mongodb_store.git
+    version: noetic-devel
+- git:
+    local-name: tork-a/roswww
+    uri: https://github.com/knorth55/roswww.git
+    version: fix-python3
+- git:
+    local-name: tork-a/visualization_rwt
+    uri: https://github.com/tork-a/visualization_rwt.git
+    version: kinetic-devel
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/pr2_microphone.launch b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/pr2_microphone.launch
@@ -4,9 +4,7 @@
   <arg name="respawn" default="false"/>
 
   <arg name="language" default="ja-JP"/>
-
-  <arg name="machine" default="c1" if="$(optenv USE_MIC_C1 false)"/>
-  <arg name="machine" default="c2" if="$(optenv USE_MIC_C2 false)"/>
+  <arg name="machine" default="c1" />
 
   <arg name="ROBOT" default="$(optenv ROBOT pr2)"/>
   <include file="$(find pr2_machine)/$(arg ROBOT).machine"/>
@@ -29,7 +27,7 @@
 
     <node name="speech_to_text"
           pkg="respeaker_ros" type="speech_to_text.py"
-          machine="$(arg machine)">
+          machine="$(arg machine)" respawn="$(arg respawn)">
       <remap from="speech_to_text" to="speech_to_text_google" />
       <remap from="audio" to="speech_audio"/>
       <remap from="sound_play" to="robotsound_jp"/>

diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/pr2_tweet.launch b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/pr2_tweet.launch
@@ -3,6 +3,8 @@
 
   <include file="$(find jsk_robot_startup)/lifelog/tweet.launch">
     <arg name="robot_name" value="PR2"/>
+    <arg name="image_topics" default="/edgetpu_human_pose_estimator/output/image" />
+    <arg name="compressed_image_topics" default="/edgetpu_human_pose_estimator/output/image/compressed" />
 
     <arg name="machine" value="c2"/>
     <arg name="output" value="screen"/>