Merge pull request #100 from a-ichikura/temp_20230418_internal_intera…

…ction Temp 20230418 internal interaction
jsk-ros-pkg · Apr 21, 2023 · 4e2bee5 · 4e2bee5
2 parents 25c963c + 12871ba
commit 4e2bee5
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Showing 3 changed files with 15 additions and 10 deletions.
diff --git a/jsk_spot_robot/jsk_spot_startup/apps/head_lead_demo/head_lead_demo.xml b/jsk_spot_robot/jsk_spot_startup/apps/head_lead_demo/head_lead_demo.xml
@@ -2,15 +2,19 @@
   <include file="$(find jsk_spot_startup)/launch/rosbag_record.launch" >
     <arg name="rosbag" value="$(env HOME)/head_lead_demo" />
   </include>
-  <include file="$(find jsk_spot_startup)/launch/include/lifelog.launch" >
-  </include>
+  <!--include file="$(find jsk_spot_startup)/launch/include/lifelog.launch" >
+  </include-->
   <include file="$(find jsk_spot_startup)/launch/include/interaction.launch" >
   </include>
   <include file="$(find jsk_spot_startup)/launch/include/perception.launch" >
-    <arg name="start_aws_detect_faces" default="true" />
-    <arg name="start_aws_auto_checkin_app" default="true" />
-    <arg name="image_sources" default="[frontleft_fisheye_image, frontright_fisheye_image, left_fisheye_image, right_fisheye_image]" />
-    <arg name="ml_confidence" default="0.7" />
+    <!--arg name="start_aws_detect_faces" value="true" /-->
+    <!--arg name="start_aws_auto_checkin_app" value="true" /-->
+    <arg name="start_aws_detect_faces" value="false" />
+    <arg name="start_aws_auto_checkin_app" value="false" />
+    <!--arg name="image_sources" value="[frontleft_fisheye_image, frontright_fisheye_image, left_fisheye_image, right_fisheye_image]" /-->
+    <arg name="image_sources" value="[frontleft_fisheye_image, frontright_fisheye_image]" />
+    <arg name="ml_models" value="[dogtoy-model]" />
+    <arg name="ml_confidence" value="0.7" />
   </include>
   <!-- head teleop nodes
      1. end_effector_to_joy.py: subscribe spot/manipulator_state and publish joy_head/joy_raw, using estimated_end_effector_force_in_hand

diff --git a/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch b/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch
@@ -58,7 +58,8 @@
   <!-- joystick teleop nodes -->
   <include file="$(find jsk_robot_startup)/launch/quadruped_joystick_teleop.launch" >
     <arg name="pad_type" value="dualsense" />
-    <arg name="joy_dev" value="/dev/input/js0" />
+    <!--arg name="joy_dev" value="/dev/input/js0" /-->
+    <arg name="joy_dev" value="/dev/dualsense" />
     <arg name="cmd_vel_topic" default="bluetooth_teleop/cmd_vel" />
     <arg name="joy_name_space" default="/spot/" />
     <arg name="dock_service" default="dock_fixed_id" />

diff --git a/jsk_spot_robot/jsk_spot_startup/launch/include/interaction.launch b/jsk_spot_robot/jsk_spot_startup/launch/include/interaction.launch
@@ -17,14 +17,14 @@
     <arg name="respawn" value="true" />
     <arg name="google_cloud_credentials_json" value="$(arg google_chat_credentials_json)"/>
     <arg name="to_dialogflow_client" value="true" />
-    <arg name="send_dialogflow_resonse_to_google_chat" value="false" />
+    <arg name="send_dialogflow_response_to_google_chat" value="false" />
   </include>
 
   <!-- Dialogflow Client ROS -->
   <include file="$(find dialogflow_task_executive)/launch/dialogflow_ros.launch">
     <arg name="credential" value="$(arg dialogflow_credentials_json)" />
-    <!-- <arg name="project_id" value="facialexpression-rpwe" /> -->
-    <arg name="project_id" value="collaborative-remembering-kwit" />
+    <arg name="project_id" value="facialexpression-rpwe" />
+    <!-- <arg name="project_id" value="collaborative-remembering-kwit" /> -->
     <arg name="enable_hotword" value="false" />
   </include>