From 7dfbbbe7e2588b9d8a553cffd4165fb808d0f3f6 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 24 Dec 2020 03:06:56 +0900 Subject: [PATCH] add supervisor scripts for melodic --- .../supervisor_scripts/jsk-coral.conf | 11 +++++++++++ .../supervisor_scripts/jsk-fetch-startup.conf | 11 +++++++++++ .../supervisor_scripts/jsk-log-wifi.conf | 10 ++++++++++ .../supervisor_scripts/jsk-network-monitor.conf | 10 ++++++++++ .../jsk_fetch_startup/supervisor_scripts/robot.conf | 11 +++++++++++ .../jsk_fetch_startup/supervisor_scripts/roscore.conf | 10 ++++++++++ 6 files changed, 63 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-coral.conf create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.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 new file mode 100644 index 0000000000..d7cf1778cf --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-coral.conf @@ -0,0 +1,11 @@ +[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}]: ${message}",PYTHONUNBUFFERED=1 +priority=200 diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf new file mode 100644 index 0000000000..c6d201e3f5 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf @@ -0,0 +1,11 @@ +[program:jsk-fetch-startup] +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch boot_sound:=true use_voice_text:=false --wait" +stopsignal=TERM +directory=/home/fetch/ros/melodic +autostart=true +autorestart=false +stdout_logfile=/var/log/ros/jsk-fetch-startup.log +stderr_logfile=/var/log/ros/jsk-fetch-startup.log +user=fetch +environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",AUDIO_DEVICE="alsa_output.usb-1130_USB_AUDIO-00.analog-stereo",PYTHONUNBUFFERED=1 +priority=100 diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf new file mode 100644 index 0000000000..cdb54b8638 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf @@ -0,0 +1,10 @@ +[program:jsk-log-wifi] +command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup log-wifi-link.sh" +stopsignal=TERM +autostart=true +autorestart=false +stdout_logfile=/var/log/ros/jsk-log-wifi.log +stderr_logfile=/var/log/ros/jsk-log-wifi.log +user=root +environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1 +priority=1 diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf new file mode 100644 index 0000000000..7eacb1e29c --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf @@ -0,0 +1,10 @@ +[program:jsk-network-monitor] +command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup network_monitor.py" +stopsignal=TERM +autostart=true +autorestart=false +stdout_logfile=/var/log/ros/jsk-network-monitor.log +stderr_logfile=/var/log/ros/jsk-network-monitor.log +user=root +environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1 +priority=1 diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf new file mode 100644 index 0000000000..d265c59b0d --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf @@ -0,0 +1,11 @@ +[program:robot] +command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen" +stopsignal=TERM +directory=/home/fetch/ros/melodic +autostart=true +autorestart=unexpected +stdout_logfile=/var/log/ros/robot.log +stderr_logfile=/var/log/ros/robot.log +user=ros +environment=ROS_LOG_DIR=/var/log/ros,ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",FETCH_CALIBRATED_URDF=/etc/ros/melodic/calibrated_2020_12_04_02_08_34.urdf,FETCH_CALIBRATED_RGB=/etc/ros/melodic/rgb_2020_12_04_02_08_34.yaml,FETCH_CALIBRATED_DEPTH=/etc/ros/melodic/depth_2020_12_04_02_08_34.yaml,PYTHONUNBUFFERED=1 +priority=10 diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf new file mode 100644 index 0000000000..7d8b14bbc7 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf @@ -0,0 +1,10 @@ +[program:roscore] +command=/bin/bash -c ". /opt/ros/roscore_prestart.bash && . /opt/ros/melodic/setup.bash && roscore" +stopsignal=TERM +autostart=true +autorestart=unexpected +stdout_logfile=/var/log/ros/roscore.log +stderr_logfile=/var/log/ros/roscore.log +user=ros +environment=ROS_LOG_DIR=/var/log/ros,ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1 +priority=1