From 092ce6705782d9096f3acac7427a69e95786f87c Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 30 Sep 2022 20:30:20 +0900
Subject: [PATCH] add smach_image_publisher in fetch_bringup.launch

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic              | 6 ++++++
 .../jsk_fetch_startup/launch/fetch_bringup.launch         | 8 ++++++++
 2 files changed, 14 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 3de8996f0e..a779372410 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -148,6 +148,12 @@
     local-name: jsk-ros-pkg/coral_usb_ros
     uri: https://github.com/jsk-ros-pkg/coral_usb_ros.git
     version: master
+# headless smach_viewer
+# https://github.com/ros-visualization/executive_smach_visualization/pull/46
+- git:
+    local-name: ros-visualization/executive_smach_visualization
+    uri: https://github.com/knorth55/executive_smach_visualization.git
+    version: develop/fetch
 # eus10 and roseus_resume
 - git:
     local-name: euslisp/Euslisp
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 @@
     </rosparam>
   </node>
 
+  <!-- publish smach image -->
+  <node name="smach_image_publisher" pkg="smach_viewer" type="smach_image_publisher.py"
+	output="screen">
+    <rosparam>
+      duration: 0.5
+    </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" />