From 271061da941c0c1155c628adcf2d00dee271b213 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Mon, 17 Oct 2022 17:21:19 +0900 Subject: [PATCH 01/19] [jsk_pepper_startup/apps/meeting.l] add end function into roseus-sigint-handler function --- .../apps/meeting/scripts/meeting.l | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l index 653a72acb41..510028969fd 100755 --- a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l +++ b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l @@ -209,8 +209,21 @@ ;; https://github.com/jsk-ros-pkg/jsk_roseus/pull/717 ;; did not work, when we subscribe image data ??? +(defun end () + (let () + (send *ri* :angle-vector-sequence (list #f(2.0 -2.0 -5.0 85.0 20.0 -70.0 -20.0 -40.0 85.0 -20.0 70.0 20.0 40.0 30.0 -10.0) #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0) #f(2.0 -2.0 -5.0 85.0 20.0 -70.0 -20.0 -40.0 85.0 -20.0 70.0 20.0 40.0 -30.0 -10.0) #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0)) (list 1000 1000 1000 1000)) + (send *ri* :speak "\\vct=120\\\\rspd=80\\みなさん") + (send *ri* :wait-interpolation) + (send *ri* :angle-vector-sequence (list *a* *d* *a* *d* *a* *d* *a* *d* *a* *e* *reset*) (list 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 3000)) + (send *ri* :speak "\\vct=120\\\\rspd=80\\おつかれさまでしたッ！\\rspd=100\\") + (send *ri* :wait-interpolation) + (send *ri* :hide-image) + (send *ri* :set-language "English") + )) + (defun ros::roseus-sigint-handler (sig code) (ros::ros-warn (format nil "ros::roseus-sigint-handler ~A" sig)) + (end) (setq *continue* nil)) (unix:signal unix::sigint 'ros::roseus-sigint-handler) From 7494cbdb63deedb92b453697340085a7fdea610c Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Mon, 17 Oct 2022 17:31:08 +0900 Subject: [PATCH 02/19] delete joy subscriber because joy_node is not included in meeting.xml --- .../jsk_pepper_startup/apps/meeting/scripts/meeting.l | 8 -------- 1 file changed, 8 deletions(-) diff --git a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l index 510028969fd..375fc70f010 100755 --- a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l +++ b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l @@ -86,14 +86,6 @@ (ros::roseus "online-meeting-enhancement-main") -(ros::subscribe "joy" sensor_msgs::Joy - #'(lambda (msg) - (let ((button (send msg :buttons))) - (ros::ros-info "received joy button ~A" button) - (when (eq (elt button 3) 1) - (send *ri* :speak "はい") - (setq *continue* nil))))) - (defun start-func (args) (let () (setq *last-tm* (ros::time-now)) From 0fba8c597619fa572953b7247c524f60424230bb Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Tue, 18 Oct 2022 13:43:07 +0900 Subject: [PATCH 03/19] delete end function and use end-func in sigint-handler --- .../apps/meeting/scripts/meeting.l | 20 ++++--------------- 1 file changed, 4 insertions(+), 16 deletions(-) diff --git a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l index 375fc70f010..d1e23443c82 100755 --- a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l +++ b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l @@ -86,7 +86,7 @@ (ros::roseus "online-meeting-enhancement-main") -(defun start-func (args) +(defun start-func (&rest args) (let () (setq *last-tm* (ros::time-now)) ;; @@ -106,7 +106,7 @@ (set-alist 'description "" args) :started)) -(defun end-func (args) +(defun end-func (&rest args) (let () (send *ri* :show-image "golden-saying-by-pepper-7.png") (send *ri* :angle-vector-sequence (list #f(2.0 -2.0 -5.0 85.0 20.0 -70.0 -20.0 -40.0 85.0 -20.0 70.0 20.0 40.0 30.0 -10.0) #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0) #f(2.0 -2.0 -5.0 85.0 20.0 -70.0 -20.0 -40.0 85.0 -20.0 70.0 20.0 40.0 -30.0 -10.0) #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0)) (list 1000 1000 1000 1000)) @@ -122,7 +122,7 @@ (set-alist 'description "End Meeting" args) :finished)) -(defun comment-func (args) +(defun comment-func (&rest args) (let (count str (wait 600) tm) ;; cleanup description/image (set-alist 'description "" args) @@ -201,21 +201,9 @@ ;; https://github.com/jsk-ros-pkg/jsk_roseus/pull/717 ;; did not work, when we subscribe image data ??? -(defun end () - (let () - (send *ri* :angle-vector-sequence (list #f(2.0 -2.0 -5.0 85.0 20.0 -70.0 -20.0 -40.0 85.0 -20.0 70.0 20.0 40.0 30.0 -10.0) #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0) #f(2.0 -2.0 -5.0 85.0 20.0 -70.0 -20.0 -40.0 85.0 -20.0 70.0 20.0 40.0 -30.0 -10.0) #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0)) (list 1000 1000 1000 1000)) - (send *ri* :speak "\\vct=120\\\\rspd=80\\みなさん") - (send *ri* :wait-interpolation) - (send *ri* :angle-vector-sequence (list *a* *d* *a* *d* *a* *d* *a* *d* *a* *e* *reset*) (list 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 3000)) - (send *ri* :speak "\\vct=120\\\\rspd=80\\おつかれさまでしたッ！\\rspd=100\\") - (send *ri* :wait-interpolation) - (send *ri* :hide-image) - (send *ri* :set-language "English") - )) - (defun ros::roseus-sigint-handler (sig code) (ros::ros-warn (format nil "ros::roseus-sigint-handler ~A" sig)) - (end) + (end-func) (setq *continue* nil)) (unix:signal unix::sigint 'ros::roseus-sigint-handler) From e2987db7be940cf6f11f9576559902588526900d Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Tue, 18 Oct 2022 13:48:46 +0900 Subject: [PATCH 04/19] move naoqi_apps files to jsk_pepper_startup.launch --- jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.xml | 3 --- .../jsk_pepper_startup/apps/meeting/scripts/meeting.l | 2 ++ .../jsk_pepper_startup/launch/jsk_pepper_startup.launch | 5 +++++ 3 files changed, 7 insertions(+), 3 deletions(-) diff --git a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.xml b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.xml index 2a74a9b0d45..c1a38bdf83a 100644 --- a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.xml +++ b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.xml @@ -1,7 +1,4 @@ - - - diff --git a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l index d1e23443c82..fdfe0f56cb1 100755 --- a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l +++ b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l @@ -109,6 +109,8 @@ (defun end-func (&rest args) (let () (send *ri* :show-image "golden-saying-by-pepper-7.png") + (send *ri* :set-basic-awareness-enabled nil) + (send *ri* :set-background-movement-enabled nil) (send *ri* :angle-vector-sequence (list #f(2.0 -2.0 -5.0 85.0 20.0 -70.0 -20.0 -40.0 85.0 -20.0 70.0 20.0 40.0 30.0 -10.0) #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0) #f(2.0 -2.0 -5.0 85.0 20.0 -70.0 -20.0 -40.0 85.0 -20.0 70.0 20.0 40.0 -30.0 -10.0) #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0)) (list 1000 1000 1000 1000)) (send *ri* :speak "\\vct=120\\\\rspd=80\\みなさん") (send *ri* :wait-interpolation) diff --git a/jsk_naoqi_robot/jsk_pepper_startup/launch/jsk_pepper_startup.launch b/jsk_naoqi_robot/jsk_pepper_startup/launch/jsk_pepper_startup.launch index 20353e87128..fe0f2d3b2c7 100644 --- a/jsk_naoqi_robot/jsk_pepper_startup/launch/jsk_pepper_startup.launch +++ b/jsk_naoqi_robot/jsk_pepper_startup/launch/jsk_pepper_startup.launch @@ -15,6 +15,11 @@ + + + + + From 58a9f213da483e7cfbc7621338d6a80874b0120d Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Tue, 18 Oct 2022 14:07:40 +0900 Subject: [PATCH 05/19] modify variables name for byebye movement --- .../jsk_pepper_startup/apps/meeting/scripts/meeting.l | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l index fdfe0f56cb1..fde188e2a3c 100755 --- a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l +++ b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l @@ -53,11 +53,10 @@ (defvar *pose6* (list #f(2.0 -2.0 -5.0 110.0 35.0 -40.0 -60.0 -40.0 110.0 -35.0 40.0 60.0 40.0 0.0 15.0) #f(2.0 -2.0 -5.0 110.0 35.0 -40.0 -60.0 -40.0 110.0 -35.0 40.0 60.0 40.0 0.0 15.0) #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0))) (defvar *time6* (list 2000 3000 1000)) -;; +;; poses for byebye (defvar *reset* #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0)) -(defvar *a* #f(2.0 -2.0 -5.0 0.0 10.0 -100.0 -70.0 60.0 0.0 -10.0 100.0 70.0 -60.0 0.0 0.0)) -(defvar *d* #f(2.0 -2.0 -5.0 0.0 10.0 -110.0 -70.0 60.0 0.0 -10.0 110.0 70.0 -60.0 0.0 -10.0)) -(defvar *e* #f(2.0 -2.0 -5.0 0.0 10.0 -110.0 -70.0 60.0 0.0 -10.0 110.0 70.0 -60.0 0.0 -10.0)) +(defvar *byebye-close* #f(2.0 -2.0 -5.0 0.0 10.0 -100.0 -70.0 60.0 0.0 -10.0 100.0 70.0 -60.0 0.0 0.0)) +(defvar *byebye-open* #f(2.0 -2.0 -5.0 0.0 10.0 -110.0 -70.0 60.0 0.0 -10.0 110.0 70.0 -60.0 0.0 -10.0)) (defvar *img-list* (list @@ -115,7 +114,7 @@ (send *ri* :speak "\\vct=120\\\\rspd=80\\みなさん") (send *ri* :wait-interpolation) - (send *ri* :angle-vector-sequence (list *a* *d* *a* *d* *a* *d* *a* *d* *a* *e* *reset*) (list 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 3000)) + (send *ri* :angle-vector-sequence (list *byebye-close* *byebye-open* *byebye-close* *byebye-open* *byebye-close* *byebye-open* *byebye-close* *byebye-open* *byebye-close* *byebye-open* *reset*) (list 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 3000)) (send *ri* :speak "\\vct=120\\\\rspd=80\\おつかれさまでしたッ！\\rspd=100\\") (send *ri* :wait-interpolation) (send *ri* :hide-image) From 09f1c1d1204da5b25a68e867e611f4253c515104 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Tue, 18 Oct 2022 15:22:13 +0900 Subject: [PATCH 06/19] delete end-func in sigint-handler --- .../jsk_pepper_startup/apps/meeting/scripts/meeting.l | 1 - 1 file changed, 1 deletion(-) diff --git a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l index fde188e2a3c..b200da23eeb 100755 --- a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l +++ b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l @@ -204,7 +204,6 @@ (defun ros::roseus-sigint-handler (sig code) (ros::ros-warn (format nil "ros::roseus-sigint-handler ~A" sig)) - (end-func) (setq *continue* nil)) (unix:signal unix::sigint 'ros::roseus-sigint-handler) From 08369253ddd1964fdc3866b1d935f8c97c6cc0f7 Mon Sep 17 00:00:00 2001 From: JSK PR2 Users Date: Fri, 21 Oct 2022 17:45:48 +0900 Subject: [PATCH 07/19] add volume --- .../jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py index 6d82d430571..e1ab5eaa0a0 100755 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py @@ -31,6 +31,7 @@ def speak(self, speak_str): msg.sound = SoundRequest.SAY msg.command = SoundRequest.PLAY_ONCE msg.arg = speak_str + msg.volume = 1.0 self.speak_pub.publish(msg) def restart_service_callback(self, req): From 11aa1a54853f97a90d82174f221f4738e5277c11 Mon Sep 17 00:00:00 2001 From: JSK PR2 Users Date: Fri, 21 Oct 2022 17:46:08 +0900 Subject: [PATCH 08/19] commentout subprocess --- .../jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py index e1ab5eaa0a0..1b6916276b6 100755 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py @@ -81,10 +81,10 @@ def restart_openni_node(self): # 2. pkill self.speak("killing child processes") retcode = subprocess.call('pkill -f %s_nodelet_manager' % self.camera, shell=True) - time.sleep(10) + # time.sleep(10) # 3 restarting - self.speak("restarting processes") - retcode = subprocess.call('roslaunch openni_launch openni.launch camera:=%s publish_tf:=false depth_registration:=true rgb_processing:=false ir_processing:=false depth_processing:=false depth_registered_processing:=false disparity_processing:=false disparity_registered_processing:=false hw_registered_processing:=true sw_registered_processing:=false rgb_frame_id:=/head_mount_kinect_rgb_optical_frame depth_frame_id:=/head_mount_kinect_ir_optical_frame' % self.camera, shell=True) + # self.speak("restarting processes") + # retcode = subprocess.call('roslaunch openni_launch openni.launch camera:=%s publish_tf:=false depth_registration:=true rgb_processing:=false ir_processing:=false depth_processing:=false depth_registered_processing:=false disparity_processing:=false disparity_registered_processing:=false hw_registered_processing:=true sw_registered_processing:=false rgb_frame_id:=/head_mount_kinect_rgb_optical_frame depth_frame_id:=/head_mount_kinect_ir_optical_frame' % self.camera, shell=True) except Exception as e: rospy.logerr('[%s] Unable to kill kinect node, caught exception:\n%s', self.__class__.__name__, traceback.format_exc()) From 815277358b94cbb773111e26ad9fdfa47ff7ebdb Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 21 Oct 2022 20:05:21 +0900 Subject: [PATCH 09/19] add manager_respawn arg in kinect_head.launch --- .../jsk_pr2_sensors/kinect_head.launch | 4 +- .../jsk_pr2_sensors/manager.launch.xml | 27 ++++ .../jsk_pr2_sensors/openni.launch | 118 ++++++++++++++++++ 3 files changed, 148 insertions(+), 1 deletion(-) create mode 100644 jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/manager.launch.xml create mode 100644 jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/openni.launch diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch index 500a142bf11..d312d3d69ff 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch @@ -1,5 +1,6 @@ + @@ -26,12 +27,13 @@ - + diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/manager.launch.xml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/manager.launch.xml new file mode 100644 index 00000000000..d5fc77e8684 --- /dev/null +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/manager.launch.xml @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/openni.launch b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/openni.launch new file mode 100644 index 00000000000..97305dc1642 --- /dev/null +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/openni.launch @@ -0,0 +1,118 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 59b823e3108c6c024392959d3dc12ceebbf3254b Mon Sep 17 00:00:00 2001 From: JSK PR2 Users Date: Mon, 24 Oct 2022 23:12:17 +0900 Subject: [PATCH 10/19] kill nodelet manager at once --- .../jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py index 1b6916276b6..547df4c7ada 100755 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py @@ -77,11 +77,12 @@ def restart_openni_node(self): # 1. kill nodelet manager self.speak("something wrong with kinect, I'll restart it, killing nodelet manager") retcode = subprocess.call('rosnode kill /%s/%s_nodelet_manager' % (self.camera, self.camera), shell=True) - time.sleep(10) - # 2. pkill - self.speak("killing child processes") retcode = subprocess.call('pkill -f %s_nodelet_manager' % self.camera, shell=True) # time.sleep(10) + # 2. pkill + # self.speak("killing child processes") + # retcode = subprocess.call('pkill -f %s_nodelet_manager' % self.camera, shell=True) + # time.sleep(10) # 3 restarting # self.speak("restarting processes") # retcode = subprocess.call('roslaunch openni_launch openni.launch camera:=%s publish_tf:=false depth_registration:=true rgb_processing:=false ir_processing:=false depth_processing:=false depth_registered_processing:=false disparity_processing:=false disparity_registered_processing:=false hw_registered_processing:=true sw_registered_processing:=false rgb_frame_id:=/head_mount_kinect_rgb_optical_frame depth_frame_id:=/head_mount_kinect_ir_optical_frame' % self.camera, shell=True) From 63350b255d65628fbac6806fb0ce9ebeb53aca0d Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Wed, 9 Nov 2022 23:32:42 +0900 Subject: [PATCH 11/19] [jsk_pepper_startup/apps/meeting] update meeting app icon image --- .../jsk_pepper_startup/apps/meeting/meeting.app | 2 +- .../jsk_pepper_startup/apps/meeting/meeting.jpg | Bin 0 -> 36260 bytes .../jsk_pepper_startup/apps/meeting/meeting.png | Bin 27575 -> 0 bytes 3 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.jpg delete mode 100644 jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.png diff --git a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.app b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.app index a8e5653406e..5dbb1b7e3e2 100644 --- a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.app +++ b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.app @@ -2,4 +2,4 @@ display: Meeting platform: pepper launch: jsk_pepper_startup/meeting.xml interface: jsk_pepper_startup/meeting.interface -icon: jsk_pepper_startup/meeting.png +icon: jsk_pepper_startup/meeting.jpg diff --git a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.jpg b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.jpg new file mode 100644 index 0000000000000000000000000000000000000000..3ecabdfe01160442f0dcd73ec9a8a9bc8fbb92e0 GIT binary patch literal 36260 zcmeFYcU)6n(>QpO0HFskNDCbWM0)6iBGRR+C?LHBq=p(=02K+nDI!7?LQw&cE?tCx 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zV+@`C_q;3PBFc#~{SNO_F{VRYsl;2j#{Z^1Wj1#FV$=RVMLj9udZ_fHZ1mfkGMJHz Q$SZ)6zL{RB4kG%008XMq(*OVf From b3621c91d5a22adcb5956c764d52895b39167a61 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Thu, 10 Nov 2022 20:02:53 +0900 Subject: [PATCH 12/19] jsk_robot_startup/lifelog/common_logger.launch add save_faces and save_dialogflow --- .../lifelog/common_logger.launch | 28 +++++++++++++++++++ 1 file changed, 28 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 4d53b2e6e4c..22e29277b82 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch @@ -5,6 +5,8 @@ + + @@ -236,6 +238,32 @@ + + + + topics: + - /aws_auto_checkin_app/class + - /aws_detect_faces/attributes + + + + + + + topics: + - /dialogflow_client/text_action/goal + - /dialogflow_client/text_action/result + + + Date: Thu, 10 Nov 2022 20:02:53 +0900 Subject: [PATCH 13/19] jsk_robot_startup/lifelog/common_logger.launch add save_faces and save_dialogflow --- .../lifelog/common_logger.launch | 28 +++++++++++++++++++ 1 file changed, 28 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 4d53b2e6e4c..22e29277b82 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch @@ -5,6 +5,8 @@ + + @@ -236,6 +238,32 @@ + + + + topics: + - /aws_auto_checkin_app/class + - /aws_detect_faces/attributes + + + + + + + topics: + - /dialogflow_client/text_action/goal + - /dialogflow_client/text_action/result + + + Date: Wed, 7 Dec 2022 23:02:27 +0900 Subject: [PATCH 14/19] add google_chat_logger, fix /aws_auto_checkin_app/class location --- .../lifelog/common_logger.launch | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 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 22e29277b82..ae86cd32308 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch @@ -7,6 +7,7 @@ + @@ -246,7 +247,7 @@ respawn="$(arg respawn)"> topics: - - /aws_auto_checkin_app/class + - /aws_auto_checkin_app/output/class - /aws_detect_faces/attributes @@ -264,6 +265,22 @@ + + + + topics: + - /google_chat_ros/send/goal + - /google_chat_ros/send/result + - /google_chat_ros/message_activity + - /google_chat_ros + - /google_chat_ros/card_activity + + + Date: Tue, 20 Dec 2022 16:47:39 +0900 Subject: [PATCH 15/19] [jsk_naoqi_robot/README] update output of wstool info because naoqi_dashboard is updated --- jsk_naoqi_robot/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/jsk_naoqi_robot/README.md b/jsk_naoqi_robot/README.md index e719f077aa3..bf009488a1a 100644 --- a/jsk_naoqi_robot/README.md +++ b/jsk_naoqi_robot/README.md @@ -132,13 +132,13 @@ workspace: /home/leus/catkin_ws/src Localname S SCM Version (Spec) UID (Spec) URI (Spec) [http(s)://...] --------- - --- -------------- ----------- --------------------------- pepper_robot git master (-) efad3979b374 github.com/ros-naoqi/pepper_robot - naoqi_driver M git kochigami-develop 98c0b678286a github.com/kochigami/naoqi_driver - naoqi_dashboard git kochigami-develop 33962f146c77 github.com/kochigami/naoqi_dashboard + naoqi_driver git kochigami-develop 98c0b678286a github.com/kochigami/naoqi_driver + naoqi_dashboard git kochigami-develop 7f32005e08e0 github.com/kochigami/naoqi_dashboard naoqi_bridge_msgs git kochigami-develop d7417613690e github.com/kochigami/naoqi_bridge_msgs naoqi_bridge git kochigami-develop c28b727e1e9b github.com/kochigami/naoqi_bridge nao_robot git master (-) 67476469a137 github.com/ros-naoqi/nao_robot nao_interaction git master (-) f97ad12f3896 github.com/ros-naoqi/nao_interaction - jsk_robot git master 1f44c97c7855 github.com/jsk-ros-pkg/jsk_robot.git + jsk_robot git master d551865511c3 github.com/jsk-ros-pkg/jsk_robot.git ``` ## Interface when controlling NAO and Pepper via roseus From 897224630a56d4b6c09a7faa60582963f83e30d2 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Wed, 21 Dec 2022 11:16:42 +0900 Subject: [PATCH 16/19] [jsk_naoqi_robot/README] add a note about NAOqi version and ROS version --- jsk_naoqi_robot/README.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/jsk_naoqi_robot/README.md b/jsk_naoqi_robot/README.md index bf009488a1a..66aeff6fd45 100644 --- a/jsk_naoqi_robot/README.md +++ b/jsk_naoqi_robot/README.md @@ -57,6 +57,8 @@ If this happens, please connect Pepper to network with DHCP and exit Setting. For ros kinetic, please refer to install guide like [here](http://wiki.ros.org/kinetic/Installation). For ros melodic, please refer to install guide like [here](http://wiki.ros.org/melodic/Installation). +% As mentioned in https://github.com/ros-naoqi/naoqi_driver#launch, naoqi_driver for ROS melodic and greater have to be used for robots running NAOqi 2.9 and greater. Using ROS melodic on Pepper running NAOqi OS 2.5 has some known issue like this: https://github.com/ros-naoqi/naoqi_driver/issues/96 + 1. Install ``Python NAOqi SDK`` You can download it (version = 2.5.5) from [here](https://drive.google.com/file/d/1xHuYREDa78xGiikEpsjxfZQ7Gfvo1E9D/view?usp=sharing). Please unzip the downloaded file. @@ -124,6 +126,8 @@ source devel/setup.bash Confirm that you get the following output when you type `wstool info` +% UID of jsk_robot may change from below, but there is no problem. That is because this package is in active developpment. + ``` $ cd ~/catkin_ws/src $ wstool info From 82204cad031de3421081f2d074449edce1c5df25 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Thu, 22 Dec 2022 14:02:20 +0900 Subject: [PATCH 17/19] [jsk_naoqi_robot/cross] add attach.sh to attach session which you detached once --- jsk_naoqi_robot/cross/build_user.sh | 1 + jsk_naoqi_robot/cross/startup_scripts/attach.sh | 2 ++ 2 files changed, 3 insertions(+) create mode 100755 jsk_naoqi_robot/cross/startup_scripts/attach.sh diff --git a/jsk_naoqi_robot/cross/build_user.sh b/jsk_naoqi_robot/cross/build_user.sh index 342a7311aa7..3a4cac1afdd 100755 --- a/jsk_naoqi_robot/cross/build_user.sh +++ b/jsk_naoqi_robot/cross/build_user.sh @@ -88,6 +88,7 @@ docker run -it --rm \ cp -a ${PWD}/startup_scripts/user_setup.bash ${SOURCE_ROOT}/ cp -a ${PWD}/startup_scripts/start.sh ${SOURCE_ROOT}/ cp -a ${PWD}/startup_scripts/screenrc ${SOURCE_ROOT}/ +cp -a ${PWD}/startup_scripts/attach.sh ${SOURCE_ROOT}/ echo " diff --git a/jsk_naoqi_robot/cross/startup_scripts/attach.sh b/jsk_naoqi_robot/cross/startup_scripts/attach.sh new file mode 100755 index 00000000000..ed4ee213683 --- /dev/null +++ b/jsk_naoqi_robot/cross/startup_scripts/attach.sh @@ -0,0 +1,2 @@ +source User/user_setup.bash +screen -c User/screenrc -r From 3fec2e9465902713540fcca3460a9306240ed349 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 24 Jan 2023 22:09:37 +0900 Subject: [PATCH 18/19] change python3 deps in jsk_panda_teleop --- jsk_panda_robot/jsk_panda_teleop/package.xml | 43 +++++++++++--------- 1 file changed, 23 insertions(+), 20 deletions(-) diff --git a/jsk_panda_robot/jsk_panda_teleop/package.xml b/jsk_panda_robot/jsk_panda_teleop/package.xml index 9307a29ca4a..acda39f88ac 100644 --- a/jsk_panda_robot/jsk_panda_teleop/package.xml +++ b/jsk_panda_robot/jsk_panda_teleop/package.xml @@ -1,4 +1,5 @@ - + + jsk_panda_teleop 1.1.0 Teleopration of dual-franka using TouchUSB @@ -11,29 +12,31 @@ catkin message_generation - message_runtime - rospy + message_runtime + rospy - franka_description - franka_msgs - franka_gripper - franka_control - franka_example_controllers - franka_visualization + franka_description + franka_msgs + franka_gripper + franka_control + franka_example_controllers + franka_visualization - omni_common - omni_msgs + omni_common + omni_msgs - python-scipy - python-numpy - python-absl-py-pip + python-scipy + python3-scipy + python-numpy + python3-numpy + python-absl-py-pip - jsk_panda_startup - jsk_teleop_joy + jsk_panda_startup + jsk_teleop_joy - audio_capture - audio_play - audio_common_msgs - sound_classification + audio_capture + audio_play + audio_common_msgs + sound_classification From b2a0bcae45e6aa8656c8e09d9f23e3e55d02a302 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 26 Jan 2023 00:39:01 +0900 Subject: [PATCH 19/19] add comment in launches --- .../jsk_pr2_startup/jsk_pr2_sensors/manager.launch.xml | 4 ++++ jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/openni.launch | 4 ++++ 2 files changed, 8 insertions(+) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/manager.launch.xml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/manager.launch.xml index d5fc77e8684..2cd52bb2a97 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/manager.launch.xml +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/manager.launch.xml @@ -1,3 +1,7 @@ + + + + diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/openni.launch b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/openni.launch index 97305dc1642..795cd90d49a 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/openni.launch +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/openni.launch @@ -1,3 +1,7 @@ + + + +