From 036707ee1cff3d3d34ed387120e84a36f20d13b3 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Sat, 19 Oct 2019 02:37:48 +0900
Subject: [PATCH 001/323] add mux candidates for fetch coral images

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_tweet.launch | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_tweet.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_tweet.launch
index d8faf71fb8..198a504b64 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_tweet.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_tweet.launch
@@ -1,11 +1,10 @@
 <launch>
-
   <include file="$(find jsk_fetch_startup)/jsk_fetch.machine" />
 
   <include file="$(find jsk_robot_startup)/lifelog/tweet.launch">
     <arg name="robot_name" value="fetch15"/>
 
-    <arg name="image_topics" default="/head_camera/rgb/image_rect_color"/>
+    <arg name="image_topics" default="/head_camera/rgb/image_rect_color /edgetpu_object_detector/output/image /edgetpu_human_pose_estimator/output/image"/>
     <arg name="machine" value="localhost"/>
     <arg name="output" value="screen"/>
     <arg name="motor_subscribe" value="true"/>

From 802cf6b7ec3f1dcaa06666fa4a73467880366236 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Sun, 20 Oct 2019 00:40:32 +0900
Subject: [PATCH 002/323] add video recorder

---
 .../apps/go_to_kitchen/go_to_kitchen.xml               | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index 4cba12ab53..5c8807f0bb 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -1,8 +1,16 @@
 <launch>
-  <node name="go_to_kitchen" pkg="roseus" type="roseus"
+  <node name="go_to_kitchen" pkg="roseus" type="roseus" required="true"
         args="$(find jsk_fetch_startup)/euslisp/go-to-kitchen.l"/>
 
   <!-- launch rviz with throttle -->
   <include file="$(find jsk_fetch_startup)/launch/rviz_record.launch" />
 
+  <node name="go_to_kitchen_video_recorder" pkg="image_view" type="video_recorder">
+    <remap from="image" to="/head_camera/rgb/image_rect_color" />
+    <rosparam>
+      filename: /tmp/go_to_kitchen.avi
+      stamped_filename: false
+      fps: 15
+    </rosparam>
+  </node>
 </launch>

From f3a9d99e3a3a35664f8a2743f7da839146a6aaf0 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Sun, 20 Oct 2019 05:55:44 +0900
Subject: [PATCH 003/323] save video file in xvid

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml       | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index 5c8807f0bb..821d4ee85a 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -9,6 +9,7 @@
     <remap from="image" to="/head_camera/rgb/image_rect_color" />
     <rosparam>
       filename: /tmp/go_to_kitchen.avi
+      codec: XVID
       stamped_filename: false
       fps: 15
     </rosparam>

From 7ba0d631e4b091e1f60903f679c7402cac8a13db Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Mon, 21 Oct 2019 23:25:24 +0900
Subject: [PATCH 004/323] save videos for go_to_kitchen demo

---
 .../apps/go_to_kitchen/go_to_kitchen.xml              | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index 821d4ee85a..ae2dff167a 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -11,7 +11,16 @@
       filename: /tmp/go_to_kitchen.avi
       codec: XVID
       stamped_filename: false
-      fps: 15
+      fps: 5
+    </rosparam>
+  </node>
+  <node name="go_to_kitchen_object_detection_video_recorder" pkg="image_view" type="video_recorder">
+    <remap from="image" to="/edgetpu_object_detector/output/image" />
+    <rosparam>
+      filename: /tmp/go_to_kitchen_object_detection.avi
+      codec: XVID
+      stamped_filename: false
+      fps: 5
     </rosparam>
   </node>
 </launch>

From 9d4e4d4516619d0281cceb14f8a8c9128140788e Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 22 Oct 2019 10:57:34 +0900
Subject: [PATCH 005/323] update fps

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml    | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index ae2dff167a..50fd204836 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -11,7 +11,7 @@
       filename: /tmp/go_to_kitchen.avi
       codec: XVID
       stamped_filename: false
-      fps: 5
+      fps: 30
     </rosparam>
   </node>
   <node name="go_to_kitchen_object_detection_video_recorder" pkg="image_view" type="video_recorder">
@@ -20,7 +20,7 @@
       filename: /tmp/go_to_kitchen_object_detection.avi
       codec: XVID
       stamped_filename: false
-      fps: 5
+      fps: 7.5
     </rosparam>
   </node>
 </launch>

From dd168bcc3f8d02cae6260420e46c93ee8413d7f0 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 22 Oct 2019 11:09:49 +0900
Subject: [PATCH 006/323] add ros-info and ros-error for logging

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index 50fd204836..037433202f 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -1,5 +1,5 @@
 <launch>
-  <node name="go_to_kitchen" pkg="roseus" type="roseus" required="true"
+  <node name="go_to_kitchen" pkg="roseus" type="roseus" required="true" output="screen"
         args="$(find jsk_fetch_startup)/euslisp/go-to-kitchen.l"/>
 
   <!-- launch rviz with throttle -->

From 89e760288c335c9dd63470ef1b69e0b5891d543d Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 24 Oct 2019 17:07:08 +0900
Subject: [PATCH 007/323] record video throttled

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml    | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index 037433202f..feeb8b0af6 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -6,12 +6,12 @@
   <include file="$(find jsk_fetch_startup)/launch/rviz_record.launch" />
 
   <node name="go_to_kitchen_video_recorder" pkg="image_view" type="video_recorder">
-    <remap from="image" to="/head_camera/rgb/image_rect_color" />
+    <remap from="image" to="/head_camera/rgb/throttled/image_rect_color" />
     <rosparam>
       filename: /tmp/go_to_kitchen.avi
       codec: XVID
       stamped_filename: false
-      fps: 30
+      fps: 5.0
     </rosparam>
   </node>
   <node name="go_to_kitchen_object_detection_video_recorder" pkg="image_view" type="video_recorder">

From 1bd9fbc6f0dff8d5f309f47fe5ea2fb61494412a Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo.5511@gmail.com>
Date: Fri, 1 Nov 2019 03:15:34 +0900
Subject: [PATCH 008/323] add mail notification in fetch go_to_kitchen demo

---
 .../apps/go_to_kitchen/go_to_kitchen.xml      | 27 ++++++++++++++-----
 1 file changed, 21 insertions(+), 6 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index feeb8b0af6..655d3836a0 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -1,14 +1,29 @@
 <launch>
+  <arg name="video_path" default="/tmp" />
+  <arg name="head_camera_video_title" default="go_to_kitchen_head_camera.avi" />
+  <arg name="object_detection_video_title" default="go_to_kitchen_object_detection.avi" />
+
   <node name="go_to_kitchen" pkg="roseus" type="roseus" required="true" output="screen"
-        args="$(find jsk_fetch_startup)/euslisp/go-to-kitchen.l"/>
+        args="$(find jsk_fetch_startup)/euslisp/go-to-kitchen.l">
+    <rosparam subst_value="true">
+      mail_notification: true
+      file_paths:
+        - $(arg video_path)/$(arg head_camera_video_title)
+        - $(arg video_path)/$(arg object_detection_video_title)
+      file_titles:
+        - $(arg head_camera_video_title)
+        - $(arg object_detection_video_title)
+    </rosparam>
+    <rosparam command="load" file="/etc/ros/jsk_data/jsk_fetch_startup/go_to_kitchen/address.yaml" />
+  </node>
 
   <!-- launch rviz with throttle -->
   <include file="$(find jsk_fetch_startup)/launch/rviz_record.launch" />
 
-  <node name="go_to_kitchen_video_recorder" pkg="image_view" type="video_recorder">
+  <node name="go_to_kitchen_head_camera_video_recorder" pkg="image_view" type="video_recorder">
     <remap from="image" to="/head_camera/rgb/throttled/image_rect_color" />
-    <rosparam>
-      filename: /tmp/go_to_kitchen.avi
+    <rosparam subst_value="true">
+      filename: $(arg video_path)/$(arg head_camera_video_title)
       codec: XVID
       stamped_filename: false
       fps: 5.0
@@ -16,8 +31,8 @@
   </node>
   <node name="go_to_kitchen_object_detection_video_recorder" pkg="image_view" type="video_recorder">
     <remap from="image" to="/edgetpu_object_detector/output/image" />
-    <rosparam>
-      filename: /tmp/go_to_kitchen_object_detection.avi
+    <rosparam subst_value="true">
+      filename: $(arg video_path)/$(arg object_detection_video_title)
       codec: XVID
       stamped_filename: false
       fps: 7.5

From 552e19f8ac4790c06ed6d4aa9b8096b347f43a67 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Sat, 9 Nov 2019 04:56:18 +0900
Subject: [PATCH 009/323] update jsk_fetch.rosinstall

---
 jsk_fetch_robot/jsk_fetch.rosinstall.indigo | 18 ++++++++++++++----
 1 file changed, 14 insertions(+), 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
index bae0cdd09b..77a2f1eb04 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
@@ -22,11 +22,11 @@
     uri: https://github.com/jsk-ros-pkg/jsk_robot.git
     version: master
 # to pass build of jsk_robot
-# remove after 2.2.10 is released
+# remove after 2.2.11 is released
 - git:
     local-name: jsk-ros-pkg/jsk_common
     uri: https://github.com/jsk-ros-pkg/jsk_common.git
-    version: 2.2.10
+    version: 799fd309c1519801fcb3a37c9094814004d78594
 # to avoid volume 0 problem
 # remove after 0.3.14 (https://github.com/jsk-ros-pkg/jsk_pr2eus/commit/41183fe3401d742bbec0edd13b67cb909a6968bd) is released
 - git:
@@ -39,7 +39,7 @@
 - git:
     local-name: jsk-ros-pkg/jsk_demos
     uri: https://github.com/jsk-ros-pkg/jsk_demos.git
-    version: 810acc7
+    version: 7c429715d0adf12c5dd34459ceb4b0a5b11dec6c
 # jsk_topic_tools requires nodelet gte 1.9.11
 # remove after 1.9.11 is released by apt
 - git:
@@ -64,7 +64,7 @@
 - git:
     local-name: jsk-ros-pkg/jsk_3rdparty
     uri: https://github.com/jsk-ros-pkg/jsk_3rdparty.git
-    version: 82e897dcbdcd6aa0cbd126fa122d4dbdc9df67c9
+    version: f2b2bd8ac30a8539a6e099dfe7f1e2830ca12430
 # Use joy/joy_remap.py
 - git:
     local-name: ros-drivers/joystick_drivers
@@ -103,3 +103,13 @@
     local-name: fetchrobotics/fetch_open_auto_dock
     uri: https://github.com/fetchrobotics/fetch_open_auto_dock.git
     version: 0.1.2
+# indigo is already EOL and visualization_msgs is never released
+- tar:
+    local-name: ros/common_msgs/visualization_msgs
+    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
+# catkin_virtualenv is required in jsk_3rdparty
+- git:
+    local-name: locusrobotics/catkin_virtualenv
+    uri: https://github.com/locusrobotics/catkin_virtualenv.git
+    version: 0.5.0

From 9f329929509a53690e7d8a508e8d0761e4693605 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 13 Feb 2020 13:38:03 +0100
Subject: [PATCH 010/323] add rosbag record for go_to_kitchen demo

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index 655d3836a0..c9263c7d76 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -2,6 +2,7 @@
   <arg name="video_path" default="/tmp" />
   <arg name="head_camera_video_title" default="go_to_kitchen_head_camera.avi" />
   <arg name="object_detection_video_title" default="go_to_kitchen_object_detection.avi" />
+  <arg name="rosbag_title" default="go_to_kitchen_rosbag.bag" />
 
   <node name="go_to_kitchen" pkg="roseus" type="roseus" required="true" output="screen"
         args="$(find jsk_fetch_startup)/euslisp/go-to-kitchen.l">
@@ -10,9 +11,11 @@
       file_paths:
         - $(arg video_path)/$(arg head_camera_video_title)
         - $(arg video_path)/$(arg object_detection_video_title)
+        - $(arg video_path)/$(arg rosbag_title)
       file_titles:
         - $(arg head_camera_video_title)
         - $(arg object_detection_video_title)
+        - $(arg rosbag_title)
     </rosparam>
     <rosparam command="load" file="/etc/ros/jsk_data/jsk_fetch_startup/go_to_kitchen/address.yaml" />
   </node>
@@ -38,4 +41,8 @@
       fps: 7.5
     </rosparam>
   </node>
+
+  <node name="go_to_kitchen_rosbag_recorder" pkg="rosbag" type="record"
+        args="-q -O $(arg video_path)/$(arg rosbag_title)
+              /tf /joint_states /odom /odom_combined /cmd_vel" />
 </launch>

From de796a5ee1a5f42f12c8c61884e9cb81a68861f9 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Sat, 22 Feb 2020 00:37:30 +0900
Subject: [PATCH 011/323] update jsk_fetch.rosinstall

---
 jsk_fetch_robot/jsk_fetch.rosinstall.indigo | 20 +++++++++++++-------
 1 file changed, 13 insertions(+), 7 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
index 77a2f1eb04..2df8976db5 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
@@ -5,11 +5,12 @@
     local-name: PR2/app_manager
     uri: https://github.com/PR2/app_manager.git
     version: 1.1.0
-# For fetch to use twitter
+# serious bug in 1.12.21
+# need to build from source because of nodelet version
 - git:
-    local-name: furushchev/image_pipeline
-    uri: https://github.com/furushchev/image_pipeline.git
-    version: develop
+    local-name: ros-perception/image_pipeline
+    uri: https://github.com/ros-perception/image_pipeline.git
+    version: 1.12.23
 # To send lifelog data to musca
 - git:
     local-name: strands-project/mongodb_store
@@ -40,6 +41,11 @@
     local-name: jsk-ros-pkg/jsk_demos
     uri: https://github.com/jsk-ros-pkg/jsk_demos.git
     version: 7c429715d0adf12c5dd34459ceb4b0a5b11dec6c
+# need to build from source because of nodelet version
+- git:
+    local-name: jsk-ros-pkg/jsk_recognition
+    uri: https://github.com/jsk-ros-pkg/jsk_recognition.git
+    version: acb7e7dc5b549f8663dec403abdb80cbac36edf1
 # jsk_topic_tools requires nodelet gte 1.9.11
 # remove after 1.9.11 is released by apt
 - git:
@@ -58,13 +64,13 @@
     local-name: ros-perception/slam_gmapping
     uri: https://github.com/ros-perception/slam_gmapping.git
     version: 1.3.10
-# indigo is already EOL and 2.1.13 is never released.
+# indigo is already EOL and 2.1.15 is never released.
 # set the same version as https://github.com/jsk-ros-pkg/jsk_robot/blob/master/.travis.rosinstall.indigo#L7-L11
-# change to 2.1.14 when it is released.
+# change to 2.1.15 when it is released.
 - git:
     local-name: jsk-ros-pkg/jsk_3rdparty
     uri: https://github.com/jsk-ros-pkg/jsk_3rdparty.git
-    version: f2b2bd8ac30a8539a6e099dfe7f1e2830ca12430
+    version: ffbd7b0592d7dd2f830f185636a1dd1695d8cb44
 # Use joy/joy_remap.py
 - git:
     local-name: ros-drivers/joystick_drivers

From dc02578f476721765b2ea6f71a0d8c93d6af7709 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 28 Apr 2020 21:01:29 +0900
Subject: [PATCH 012/323] update jsk_fetch.rosinstall

---
 jsk_fetch_robot/jsk_fetch.rosinstall.indigo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
index 2df8976db5..339e18d4d7 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
@@ -57,7 +57,7 @@
 - git:
     local-name: ros-drivers/audio_common
     uri: https://github.com/ros-drivers/audio_common.git
-    version: 0.3.3
+    version: master
 # to install nodelet_plugins.xml
 # remove after 1.3.10 is released by apt
 - git:

From 40cea5f8419f1b6925e5b34d20eb4e8f178300de Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 28 Apr 2020 21:01:55 +0900
Subject: [PATCH 013/323] update jsk_fetch_startup rviz config

---
 .../jsk_fetch_startup/config/jsk_startup.rviz | 29 +++++++++++--------
 1 file changed, 17 insertions(+), 12 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
index 7d5b36018d..427ce7d14b 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
@@ -4,8 +4,8 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded: ~
-      Splitter Ratio: 0.4187380373477936
-    Tree Height: 595
+      Splitter Ratio: 0.625293
+    Tree Height: 980
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -65,6 +65,11 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
+        base_camera_mount:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         base_link:
           Alpha: 1
           Show Axes: false
@@ -476,19 +481,19 @@ Visualization Manager:
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7897970676422119
+      Near Clip Distance: 0.01
+      Pitch: 1.4498
       Target Frame: base_link
       Value: Orbit (rviz)
-      Yaw: 5.593582630157471
+      Yaw: 3.06358
     Saved: ~
 Window Geometry:
   Displays:
-    collapsed: false
-  Height: 1052
-  Hide Left Dock: false
+    collapsed: true
+  Height: 1259
+  Hide Left Dock: true
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001f80000037efc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000037e000000c900fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000000000010000010f00000463fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000463000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000053f0000037e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000463fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000463000000dd00fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000000000010000010f00000463fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000463000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002e70000003efc0100000002fb0000000800540069006d00650100000000000002e7000002ab00fffffffb0000000800540069006d00650100000000000004500000000000000000000002e70000046300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -497,6 +502,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1853
-  X: 67
-  Y: 27
+  Width: 743
+  X: 57
+  Y: 21

From 3f1edae887ea66c850d345f976bd06f7803092d5 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 28 Apr 2020 21:20:46 +0900
Subject: [PATCH 014/323] update fps

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index c9263c7d76..09c8ad6f6f 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -38,7 +38,7 @@
       filename: $(arg video_path)/$(arg object_detection_video_title)
       codec: XVID
       stamped_filename: false
-      fps: 7.5
+      fps: 15.0 
     </rosparam>
   </node>
 

From 293d18681748cc911265c014822cf6390295c218 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Wed, 29 Apr 2020 01:29:28 +0900
Subject: [PATCH 015/323] use app_manager_plugin for mail and video recorder

---
 .../apps/go_to_kitchen/go_to_kitchen.xml      | 42 +------------------
 1 file changed, 1 insertion(+), 41 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index 09c8ad6f6f..dd16367cc4 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -1,48 +1,8 @@
 <launch>
-  <arg name="video_path" default="/tmp" />
-  <arg name="head_camera_video_title" default="go_to_kitchen_head_camera.avi" />
-  <arg name="object_detection_video_title" default="go_to_kitchen_object_detection.avi" />
-  <arg name="rosbag_title" default="go_to_kitchen_rosbag.bag" />
-
   <node name="go_to_kitchen" pkg="roseus" type="roseus" required="true" output="screen"
-        args="$(find jsk_fetch_startup)/euslisp/go-to-kitchen.l">
-    <rosparam subst_value="true">
-      mail_notification: true
-      file_paths:
-        - $(arg video_path)/$(arg head_camera_video_title)
-        - $(arg video_path)/$(arg object_detection_video_title)
-        - $(arg video_path)/$(arg rosbag_title)
-      file_titles:
-        - $(arg head_camera_video_title)
-        - $(arg object_detection_video_title)
-        - $(arg rosbag_title)
-    </rosparam>
-    <rosparam command="load" file="/etc/ros/jsk_data/jsk_fetch_startup/go_to_kitchen/address.yaml" />
-  </node>
+        args="$(find jsk_fetch_startup)/euslisp/go-to-kitchen.l" />
 
   <!-- launch rviz with throttle -->
   <include file="$(find jsk_fetch_startup)/launch/rviz_record.launch" />
 
-  <node name="go_to_kitchen_head_camera_video_recorder" pkg="image_view" type="video_recorder">
-    <remap from="image" to="/head_camera/rgb/throttled/image_rect_color" />
-    <rosparam subst_value="true">
-      filename: $(arg video_path)/$(arg head_camera_video_title)
-      codec: XVID
-      stamped_filename: false
-      fps: 5.0
-    </rosparam>
-  </node>
-  <node name="go_to_kitchen_object_detection_video_recorder" pkg="image_view" type="video_recorder">
-    <remap from="image" to="/edgetpu_object_detector/output/image" />
-    <rosparam subst_value="true">
-      filename: $(arg video_path)/$(arg object_detection_video_title)
-      codec: XVID
-      stamped_filename: false
-      fps: 15.0 
-    </rosparam>
-  </node>
-
-  <node name="go_to_kitchen_rosbag_recorder" pkg="rosbag" type="record"
-        args="-q -O $(arg video_path)/$(arg rosbag_title)
-              /tf /joint_states /odom /odom_combined /cmd_vel" />
 </launch>

From c33607084e57a556fede8f2b41d9aa6436f0a0d3 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 21 May 2020 13:28:31 +0900
Subject: [PATCH 016/323] update rviz config

---
 .../jsk_fetch_startup/config/jsk_startup.rviz | 29 ++++++++-----------
 1 file changed, 12 insertions(+), 17 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
index 427ce7d14b..6d56a9b9b8 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
@@ -4,8 +4,8 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded: ~
-      Splitter Ratio: 0.625293
-    Tree Height: 980
+      Splitter Ratio: 0.4187380373477936
+    Tree Height: 755
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -65,11 +65,6 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_camera_mount:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
         base_link:
           Alpha: 1
           Show Axes: false
@@ -481,19 +476,19 @@ Visualization Manager:
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 1.4498
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7897970676422119
       Target Frame: base_link
       Value: Orbit (rviz)
-      Yaw: 3.06358
+      Yaw: 5.593582630157471
     Saved: ~
 Window Geometry:
   Displays:
-    collapsed: true
-  Height: 1259
-  Hide Left Dock: true
+    collapsed: false
+  Height: 1052
+  Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000463fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000463000000dd00fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000000000010000010f00000463fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000463000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002e70000003efc0100000002fb0000000800540069006d00650100000000000002e7000002ab00fffffffb0000000800540069006d00650100000000000004500000000000000000000002e70000046300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001f80000037efc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000037e000000c900fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000000000010000010f00000463fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000463000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000053f0000037e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -502,6 +497,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 743
-  X: 57
-  Y: 21
+  Width: 1853
+  X: 67
+  Y: 0

From ed612f9db69e38a594286eca97d1dc79e92ea5df Mon Sep 17 00:00:00 2001
From: jsk-fetchuser <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 24 Jun 2020 13:40:08 +0900
Subject: [PATCH 017/323] update odom yaw covariance

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py
index 3bca55e739..55c8491825 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py
@@ -17,7 +17,7 @@ def __init__(self):
                            0, 0, 0, 0, 0, 0,
                            0, 0, 0, 0, 0, 0,
                            0, 0, 0, 0, 0, 0,
-                           0, 0, 0, 0, 0, 1e-3]
+                           0, 0, 0, 0, 0, 0.1]
 
     def _cb(self, msg):
         if all([x == 0 for x in msg.pose.covariance]):

From 5d5c7fd9c311b077d34173ede45bdfd68fe47be1 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Wed, 24 Jun 2020 21:26:28 +0900
Subject: [PATCH 018/323] add rwt_image_view launch for fetch

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch           | 6 ++++++
 1 file changed, 6 insertions(+)

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 4a84a439d6..b7c1c990ac 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -111,6 +111,12 @@
     <arg name="basic_yaml" value="/var/lib/robot/roswww_basic_keys.yaml" />
   </include>
 
+  <!-- rwt_image_view -->
+  <include file="$(find jsk_robot_startup)/lifelog/rwt_image_view.launch">
+    <arg name="launch_roswww" value="false" />
+    <arg name="launch_websocket" value="false" />
+  </include>
+
   <!-- downsample / throttle sensor data -->
   <include file="$(find jsk_fetch_startup)/launch/fetch_sensors.xml" >
     <arg name="launch_manager" value="false"/>

From 674c2d0e64cc92d10f42983122845c649b539a00 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Wed, 15 Jul 2020 00:06:39 +0900
Subject: [PATCH 019/323] update odom_corrector.py

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py
index 55c8491825..c4a41c63fa 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py
@@ -17,7 +17,7 @@ def __init__(self):
                            0, 0, 0, 0, 0, 0,
                            0, 0, 0, 0, 0, 0,
                            0, 0, 0, 0, 0, 0,
-                           0, 0, 0, 0, 0, 0.1]
+                           0, 0, 0, 0, 0, 1e-2]
 
     def _cb(self, msg):
         if all([x == 0 for x in msg.pose.covariance]):

From 0a29b7556f94237757f40a3208bfd432d398c3d2 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 4 Aug 2020 17:32:56 +0900
Subject: [PATCH 020/323] update fetch navigation parameters

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py
index c4a41c63fa..3bca55e739 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/odom_corrector.py
@@ -17,7 +17,7 @@ def __init__(self):
                            0, 0, 0, 0, 0, 0,
                            0, 0, 0, 0, 0, 0,
                            0, 0, 0, 0, 0, 0,
-                           0, 0, 0, 0, 0, 1e-2]
+                           0, 0, 0, 0, 0, 1e-3]
 
     def _cb(self, msg):
         if all([x == 0 for x in msg.pose.covariance]):

From 3375d3ea9a4cb932c2beee0d069d3e2539d062bb Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 17 Sep 2020 16:12:16 +0900
Subject: [PATCH 021/323] re-enable object detection video with throttled rgb
 images

---
 .../apps/go_to_kitchen/go_to_kitchen.xml              | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index dd16367cc4..f1f2a94c72 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -5,4 +5,15 @@
   <!-- launch rviz with throttle -->
   <include file="$(find jsk_fetch_startup)/launch/rviz_record.launch" />
 
+  <node name="edgetpu_object_detector_visualization" pkg="jsk_perception"
+        type="draw_rects" output="screen" respawn="true">
+    <remap from="~input" to="/head_camera/rgb/throttled/image_rect_color" />
+    <remap from="~input/rects" to="/edgetpu_object_detector/output/rects" />
+    <remap from="~input/class" to="/edgetpu_object_detector/output/class" />
+    <rosparam>
+      approximate_sync: true
+      queue_size: 100
+      use_classification_result: true
+    </rosparam>
+  </node>
 </launch>

From 2d94fcd472bd3c8d2bc79498a6b4385bde6df6e4 Mon Sep 17 00:00:00 2001
From: jsk-fetchuser <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Sat, 26 Sep 2020 19:41:49 +0900
Subject: [PATCH 022/323] update jsk_fetch.rosinstall

---
 jsk_fetch_robot/jsk_fetch.rosinstall.indigo | 31 +++++++++++----------
 1 file changed, 16 insertions(+), 15 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
index 339e18d4d7..4e4fe5cdf0 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
@@ -4,23 +4,25 @@
 - git:
     local-name: PR2/app_manager
     uri: https://github.com/PR2/app_manager.git
-    version: 1.1.0
-# serious bug in 1.12.21
-# need to build from source because of nodelet version
+    version: kinetic-devel
 - git:
-    local-name: ros-perception/image_pipeline
-    uri: https://github.com/ros-perception/image_pipeline.git
-    version: 1.12.23
-# To send lifelog data to musca
+    local-name: RobotWebTools/rosbridge_suite
+    uri: https://github.com/RobotWebTools/rosbridge_suite.git
+    version: 0.11.9
 - git:
-    local-name: strands-project/mongodb_store
-    uri: https://github.com/strands-project/mongodb_store.git
-    version: 0.4.4
-# to install jsk_robot_startup/lifelog/common_logger.launch
-# remove after current master is released
+    local-name: RoboticMaterials/FA-I-sensor
+    uri: https://github.com/RoboticMaterials/FA-I-sensor.git
 - git:
-    local-name: jsk-ros-pkg/jsk_robot
-    uri: https://github.com/jsk-ros-pkg/jsk_robot.git
+    local-name: fetchrobotics/fetch_ros
+    uri: https://github.com/fetchrobotics/fetch_ros.git
+    version: indigo-devel
+- git:
+    local-name: fetchrobotics/robot_controllers
+    uri: https://github.com/fetchrobotics/robot_controllers.git
+    version: knorth55/fetch15
+- git:
+    local-name: jsk-ros-pkg/jsk_3rdparty
+    uri: https://github.com/jsk-ros-pkg/jsk_3rdparty.git
     version: master
 # to pass build of jsk_robot
 # remove after 2.2.11 is released
@@ -114,7 +116,6 @@
     local-name: ros/common_msgs/visualization_msgs
     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
-# catkin_virtualenv is required in jsk_3rdparty
 - git:
     local-name: locusrobotics/catkin_virtualenv
     uri: https://github.com/locusrobotics/catkin_virtualenv.git

From cc7af97db21957c7f5e1561f9aff0eb0ae5686f6 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 15 Oct 2020 17:35:46 +0900
Subject: [PATCH 023/323] update jsk_fetch.rosinstall

---
 jsk_fetch_robot/jsk_fetch.rosinstall.indigo | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
index 4e4fe5cdf0..3fc61d6285 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
@@ -4,7 +4,7 @@
 - git:
     local-name: PR2/app_manager
     uri: https://github.com/PR2/app_manager.git
-    version: kinetic-devel
+    version: knorth55/fetch15
 - git:
     local-name: RobotWebTools/rosbridge_suite
     uri: https://github.com/RobotWebTools/rosbridge_suite.git
@@ -19,7 +19,7 @@
 - git:
     local-name: fetchrobotics/robot_controllers
     uri: https://github.com/fetchrobotics/robot_controllers.git
-    version: knorth55/fetch15
+    version: indigo-devel
 - git:
     local-name: jsk-ros-pkg/jsk_3rdparty
     uri: https://github.com/jsk-ros-pkg/jsk_3rdparty.git

From c0bab8fc613e32bde23f9a9462ab9a294642ee8b Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Fri, 23 Oct 2020 10:49:38 +0900
Subject: [PATCH 024/323] reduce resolution factor in go_to_kitchen
 classification result

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml       | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index f1f2a94c72..acc3954bb2 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -14,6 +14,7 @@
       approximate_sync: true
       queue_size: 100
       use_classification_result: true
+      resolution_factor: 1.0
     </rosparam>
   </node>
 </launch>

From b37fd322f4270bd966bcaf2f801bc90c7a995f2b Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 30 Oct 2020 02:39:40 +0900
Subject: [PATCH 025/323] update jsk_fetch.rosinstall

---
 jsk_fetch_robot/jsk_fetch.rosinstall.indigo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
index 3fc61d6285..189d65d616 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.indigo
@@ -4,7 +4,7 @@
 - git:
     local-name: PR2/app_manager
     uri: https://github.com/PR2/app_manager.git
-    version: knorth55/fetch15
+    version: kinetic-devel
 - git:
     local-name: RobotWebTools/rosbridge_suite
     uri: https://github.com/RobotWebTools/rosbridge_suite.git

From 161f147cd9196f9e4656ec3afc043152a56079d1 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Wed, 18 Nov 2020 23:00:39 +0900
Subject: [PATCH 026/323] [jsk_fetch_startup] Add RViz panel to publish
 /move_base/cancel

---
 jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
index 6d56a9b9b8..7d5b36018d 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
@@ -5,7 +5,7 @@ Panels:
     Property Tree Widget:
       Expanded: ~
       Splitter Ratio: 0.4187380373477936
-    Tree Height: 755
+    Tree Height: 595
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -499,4 +499,4 @@ Window Geometry:
     collapsed: true
   Width: 1853
   X: 67
-  Y: 0
+  Y: 27

From 214e4e7ebc93ccfd145f2a8352ccc2a4e5f8ae89 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 1 Dec 2020 23:48:57 +0900
Subject: [PATCH 027/323] add warning args in user_speech_notifier plugin

---
 .../jsk_fetch_startup/apps/speak_battery/speak_battery.app       | 1 +
 jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app           | 1 +
 2 files changed, 2 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app b/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app
index 0a48645098..cb4d371e00 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app
@@ -8,6 +8,7 @@ plugins:
     type: app_notifier/user_speech_notifier_plugin
     plugin_args:
       client_name: /sound_play
+      warning: true
 plugin_order:
   start_plugin_order:
     - user_speech_notifier_plugin
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app b/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app
index da0197d1b9..e95306664e 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app
@@ -8,6 +8,7 @@ plugins:
     type: app_notifier/user_speech_notifier_plugin
     plugin_args:
       client_name: /sound_play
+      warning: true
 plugin_order:
   start_plugin_order:
     - user_speech_notifier_plugin

From 518b32f2f3ebe80b567859c5312c577a361a1a13 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Wed, 9 Dec 2020 23:46:46 +0900
Subject: [PATCH 028/323] disable image logging in fetch because of cpu load

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml
index fc02dea6d2..75c150fbed 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml
@@ -20,8 +20,8 @@
 
   <include file="$(find jsk_robot_startup)/lifelog/common_logger.launch">
     <arg name="approximate_sync" value="true"/>
-    <arg name="save_rgb" value="true" />
-    <arg name="save_depth" value="true" />
+    <arg name="save_rgb" value="false" />
+    <arg name="save_depth" value="false" />
     <arg name="save_tf" value="true" />
     <arg name="save_joint_states" value="true" />
     <arg name="save_base_trajectory" value="true" />

From 884fa99cf92cf06c58b1b2cdacae6759c50f7e9c Mon Sep 17 00:00:00 2001
From: obinata <mqcmd196@hotmail.co.jp>
Date: Wed, 2 Dec 2020 15:55:39 +0900
Subject: [PATCH 029/323] add arg for what to launch

---
 .../launch/fetch_bringup.launch               | 40 ++++++++++++-------
 1 file changed, 25 insertions(+), 15 deletions(-)

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 b7c1c990ac..20cc5ab5d7 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -14,6 +14,15 @@
   <arg name="use_keepout" default="true" />
   <arg name="fetch_switchbot" default="true" />
 
+  <arg name="battery_warning" default="true" />
+  <arg name="nav_speak" default="true" />
+  <arg name="fetch_lifelog" default="true" />
+  <arg name="cpu_monitor" default="true" />
+  <arg name="fetch_tweet" default="true" />
+  <arg name="use_safe_teleop" default="true" />
+  <arg name="network_detector" default="true" />
+  <arg name="network_status" default="true" />
+  <arg name="use_speech_recognition" default="true" />
   <param name="robot/type" value="fetch" />
   <param name="robot/name" command='bash -c "hostname | xargs echo -n"' />
 
@@ -21,7 +30,7 @@
 
   <!-- add jsk startups -->
   <node pkg="jsk_fetch_startup" name="battery_warning" type="battery_warning.py"
-        respawn="true" output="screen">
+        respawn="true" output="screen" if="$(arg battery_warning)">
     <rosparam>
       duration: 180
       charge_level_threshold: 80.0
@@ -31,7 +40,7 @@
     </rosparam>
   </node>
 
-  <node pkg="jsk_robot_startup" name="nav_speak" type="nav_speak.py" respawn="true" >
+  <node pkg="jsk_robot_startup" name="nav_speak" type="nav_speak.py" respawn="true" if="$(arg nav_speak)">
     <rosparam>
       lang: japanese
       volume: 0.5
@@ -74,7 +83,7 @@
   </node>
 
   <!-- logging -->
-  <include file="$(find jsk_fetch_startup)/launch/fetch_lifelog.xml">
+  <include file="$(find jsk_fetch_startup)/launch/fetch_lifelog.xml" if="$(fetch_lifelog)">
     <arg name="map_frame" value="$(arg map_frame)" />
     <arg name="vital_check" value="false" />
   </include>
@@ -87,7 +96,7 @@
 
   <!-- publish CPU status to diagnostics -->
   <node name="cpu_monitor" pkg="pr2_computer_monitor" type="cpu_monitor.py"
-        args="--diag-hostname=my_machine" >
+        args="--diag-hostname=my_machine" if="$(arg cpu_monitor)">
     <param name="check_ipmi_tool" value="false" type="bool" />
     <param name="enforce_clock_speed" value="false" type="bool" />
     <param name="num_cores" value="-1" type="int" />
@@ -96,7 +105,7 @@
   </node>
 
   <!-- twitter -->
-  <include file="$(find jsk_fetch_startup)/launch/fetch_tweet.launch" />
+  <include file="$(find jsk_fetch_startup)/launch/fetch_tweet.launch" if="$(arg fetch_tweet)"/>
 
   <!-- switchbot -->
   <include file="$(find switchbot_ros)/launch/switchbot.launch" if="$(arg fetch_switchbot)">
@@ -104,7 +113,7 @@
   </include>
 
   <!-- app manager -->
-  <include file="$(find jsk_robot_startup)/lifelog/app_manager.launch">
+  <include file="$(find jsk_robot_startup)/lifelog/app_manager.launch" if="$(arg fetch_lifelog)">
     <arg name="use_applist" value="false" /> <!-- use plugin -->
     <arg name="respawn" value="false" />
     <arg name="basic" value="true" />
@@ -112,7 +121,7 @@
   </include>
 
   <!-- rwt_image_view -->
-  <include file="$(find jsk_robot_startup)/lifelog/rwt_image_view.launch">
+  <include file="$(find jsk_robot_startup)/lifelog/rwt_image_view.launch" if="$(arg fetch_lifelog)">
     <arg name="launch_roswww" value="false" />
     <arg name="launch_websocket" value="false" />
   </include>
@@ -134,13 +143,14 @@
   <!-- teleop -->
   <include file="$(find jsk_fetch_startup)/launch/fetch_teleop.xml"
            if="$(arg launch_teleop)" >
-      <arg name="odom_topic" value="/odom_combined" />
+    <arg name="use_safe_teleop" value="$(arg use_safe_teleop)" />
+    <arg name="odom_topic" value="/odom_combined" />
   </include>
 
   <!-- network status -->
-  <node pkg="jsk_network_tools" type="network_status.py" name="network_status" />
+  <node pkg="jsk_network_tools" type="network_status.py" name="network_status" if="$(network_status)"/>
   <!-- network detector -->
-  <node pkg="pr2_computer_monitor" type="network_detector" name="network_detector">
+  <node pkg="pr2_computer_monitor" type="network_detector" name="network_detector" if="$(network_detector)">
     <rosparam>
       interface_name: wlan0
     </rosparam>
@@ -148,15 +158,15 @@
 
   <!-- speech recognition -->
   <node name="respeaker_transformer" pkg="tf" type="static_transform_publisher"
-        args="0 0 0.1 0 0 0 head_pan_link respeaker_base 100"/>
+        args="0 0 0.1 0 0 0 head_pan_link respeaker_base 100" if="$(use_speech_recognition)"/>
   <!-- disable sound_play in julius.launch and place it in fetch_bringup.launch -->
   <!-- see: https://github.com/jsk-ros-pkg/jsk_robot/pull/1140 -->
-  <include file="$(find julius_ros)/launch/julius.launch">
+  <include file="$(find julius_ros)/launch/julius.launch" if="$(use_speech_recognition)">
     <arg name="launch_audio_capture" value="false"/>
     <arg name="launch_sound_play" value="false"/>
     <arg name="speech_to_text_topic" value="speech_to_text_julius"/>
   </include>
-  <include file="$(find respeaker_ros)/launch/sample_respeaker.launch">
+  <include file="$(find respeaker_ros)/launch/sample_respeaker.launch" if="$(use_speech_recognition)">
     <arg name="publish_tf" default="false"/>
     <arg name="launch_soundplay" default="false"/>
     <arg name="audio" value="speech_audio"/>
@@ -166,7 +176,7 @@
   <!-- set fetch speak action server names -->
   <!-- this parameter is for speech_to_text node in respeaker_ros -->
   <!-- https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/168 -->
-  <group ns="speech_to_text">
+  <group ns="speech_to_text" if="$(use_speech_recognition)">
     <rosparam>
        tts_action_names:
          - sound_play
@@ -178,7 +188,7 @@
   <!-- https://github.com/jsk-ros-pkg/jsk_3rdparty/tree/master/dialogflow_task_executive -->
   <node name="speech_to_text_selector" pkg="jsk_robot_startup" type="mux_selector.py"
         respawn="true"
-        args="/network/connected 'm.data==False' /speech_to_text_julius">
+        args="/network/connected 'm.data==False' /speech_to_text_julius" if="$(use_speech_recognition)">
     <remap from="mux" to="speech_to_text_mux" />
     <rosparam>
       default_select: speech_to_text_google

From 7c377c0449132ae28dde3dc0c8d5a42d82daa954 Mon Sep 17 00:00:00 2001
From: obinata <mqcmd196@hotmail.co.jp>
Date: Wed, 2 Dec 2020 16:26:17 +0900
Subject: [PATCH 030/323] add more if elements

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch   | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

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 20cc5ab5d7..14cec64a5b 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -16,9 +16,10 @@
 
   <arg name="battery_warning" default="true" />
   <arg name="nav_speak" default="true" />
-  <arg name="fetch_lifelog" default="true" />
-  <arg name="cpu_monitor" default="true" />
   <arg name="fetch_tweet" default="true" />
+  <arg name="app_manager" default="true" />
+  <arg name="rwt_image_view" default="true" />
+  <arg name="fetch_sensors" default="true" />
   <arg name="use_safe_teleop" default="true" />
   <arg name="network_detector" default="true" />
   <arg name="network_status" default="true" />
@@ -96,7 +97,7 @@
 
   <!-- publish CPU status to diagnostics -->
   <node name="cpu_monitor" pkg="pr2_computer_monitor" type="cpu_monitor.py"
-        args="--diag-hostname=my_machine" if="$(arg cpu_monitor)">
+        args="--diag-hostname=my_machine" >
     <param name="check_ipmi_tool" value="false" type="bool" />
     <param name="enforce_clock_speed" value="false" type="bool" />
     <param name="num_cores" value="-1" type="int" />
@@ -113,7 +114,7 @@
   </include>
 
   <!-- app manager -->
-  <include file="$(find jsk_robot_startup)/lifelog/app_manager.launch" if="$(arg fetch_lifelog)">
+  <include file="$(find jsk_robot_startup)/lifelog/app_manager.launch" if="$(arg app_manager)">
     <arg name="use_applist" value="false" /> <!-- use plugin -->
     <arg name="respawn" value="false" />
     <arg name="basic" value="true" />
@@ -121,13 +122,13 @@
   </include>
 
   <!-- rwt_image_view -->
-  <include file="$(find jsk_robot_startup)/lifelog/rwt_image_view.launch" if="$(arg fetch_lifelog)">
+  <include file="$(find jsk_robot_startup)/lifelog/rwt_image_view.launch" if="$(arg rwt_image_view)">
     <arg name="launch_roswww" value="false" />
     <arg name="launch_websocket" value="false" />
   </include>
 
   <!-- downsample / throttle sensor data -->
-  <include file="$(find jsk_fetch_startup)/launch/fetch_sensors.xml" >
+  <include file="$(find jsk_fetch_startup)/launch/fetch_sensors.xml" if="$(arg fetch_sensors)">
     <arg name="launch_manager" value="false"/>
   </include>
 

From 06d76091049650771e7b42b80ccfebcd5620ac97 Mon Sep 17 00:00:00 2001
From: obinata <mqcmd196@hotmail.co.jp>
Date: Wed, 2 Dec 2020 16:30:23 +0900
Subject: [PATCH 031/323] missing arg

---
 .../launch/fetch_bringup.launch                  | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

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 14cec64a5b..ccb5744ab2 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -84,7 +84,7 @@
   </node>
 
   <!-- logging -->
-  <include file="$(find jsk_fetch_startup)/launch/fetch_lifelog.xml" if="$(fetch_lifelog)">
+  <include file="$(find jsk_fetch_startup)/launch/fetch_lifelog.xml" if="$(arg fetch_lifelog)">
     <arg name="map_frame" value="$(arg map_frame)" />
     <arg name="vital_check" value="false" />
   </include>
@@ -149,9 +149,9 @@
   </include>
 
   <!-- network status -->
-  <node pkg="jsk_network_tools" type="network_status.py" name="network_status" if="$(network_status)"/>
+  <node pkg="jsk_network_tools" type="network_status.py" name="network_status" if="$(arg network_status)"/>
   <!-- network detector -->
-  <node pkg="pr2_computer_monitor" type="network_detector" name="network_detector" if="$(network_detector)">
+  <node pkg="pr2_computer_monitor" type="network_detector" name="network_detector" if="$(arg network_detector)">
     <rosparam>
       interface_name: wlan0
     </rosparam>
@@ -159,15 +159,15 @@
 
   <!-- speech recognition -->
   <node name="respeaker_transformer" pkg="tf" type="static_transform_publisher"
-        args="0 0 0.1 0 0 0 head_pan_link respeaker_base 100" if="$(use_speech_recognition)"/>
+        args="0 0 0.1 0 0 0 head_pan_link respeaker_base 100" if="$(arg use_speech_recognition)"/>
   <!-- disable sound_play in julius.launch and place it in fetch_bringup.launch -->
   <!-- see: https://github.com/jsk-ros-pkg/jsk_robot/pull/1140 -->
-  <include file="$(find julius_ros)/launch/julius.launch" if="$(use_speech_recognition)">
+  <include file="$(find julius_ros)/launch/julius.launch" if="$(arg use_speech_recognition)">
     <arg name="launch_audio_capture" value="false"/>
     <arg name="launch_sound_play" value="false"/>
     <arg name="speech_to_text_topic" value="speech_to_text_julius"/>
   </include>
-  <include file="$(find respeaker_ros)/launch/sample_respeaker.launch" if="$(use_speech_recognition)">
+  <include file="$(find respeaker_ros)/launch/sample_respeaker.launch" if="$(arg use_speech_recognition)">
     <arg name="publish_tf" default="false"/>
     <arg name="launch_soundplay" default="false"/>
     <arg name="audio" value="speech_audio"/>
@@ -177,7 +177,7 @@
   <!-- set fetch speak action server names -->
   <!-- this parameter is for speech_to_text node in respeaker_ros -->
   <!-- https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/168 -->
-  <group ns="speech_to_text" if="$(use_speech_recognition)">
+  <group ns="speech_to_text" if="$(arg use_speech_recognition)">
     <rosparam>
        tts_action_names:
          - sound_play
@@ -189,7 +189,7 @@
   <!-- https://github.com/jsk-ros-pkg/jsk_3rdparty/tree/master/dialogflow_task_executive -->
   <node name="speech_to_text_selector" pkg="jsk_robot_startup" type="mux_selector.py"
         respawn="true"
-        args="/network/connected 'm.data==False' /speech_to_text_julius" if="$(use_speech_recognition)">
+        args="/network/connected 'm.data==False' /speech_to_text_julius" if="$(arg use_speech_recognition)">
     <remap from="mux" to="speech_to_text_mux" />
     <rosparam>
       default_select: speech_to_text_google

From 17a834fa1aa62788c8a9c75d294080bcc3e0d8e3 Mon Sep 17 00:00:00 2001
From: jsk-fetchuser <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 2 Dec 2020 19:00:38 +0900
Subject: [PATCH 032/323] add missing args

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 4 ++++
 1 file changed, 4 insertions(+)

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 ccb5744ab2..43e02379e2 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -6,6 +6,7 @@
   <arg name="launch_sound_play" default="true" />
   <arg name="launch_insta360" default="true" />
   <arg name="use_voice_text" default="true" />
+  <arg name="fetch_lifelog" default="true" />
   <arg name="boot_sound" default="false" />
   <arg name="map_frame" default="eng2" />
   <arg name="map_file" default="$(find jsk_maps)/raw_maps/eng2-7f-0.05.yaml"/>
@@ -24,6 +25,9 @@
   <arg name="network_detector" default="true" />
   <arg name="network_status" default="true" />
   <arg name="use_speech_recognition" default="true" />
+  <arg name="imu_corrector" default="true" />
+  <arg name="odom_corrector" default="true" />
+
   <param name="robot/type" value="fetch" />
   <param name="robot/name" command='bash -c "hostname | xargs echo -n"' />
 

From 475432ab5c5c8b7ac15e5ff3cc578e2be97b1b08 Mon Sep 17 00:00:00 2001
From: obinata <mqcmd196@hotmail.co.jp>
Date: Thu, 10 Dec 2020 16:27:21 +0900
Subject: [PATCH 033/323] remove if tag some necessary nodes

---
 .../launch/fetch_bringup.launch               | 81 +++++++++----------
 1 file changed, 40 insertions(+), 41 deletions(-)

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 43e02379e2..ead125dead 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -18,15 +18,12 @@
   <arg name="battery_warning" default="true" />
   <arg name="nav_speak" default="true" />
   <arg name="fetch_tweet" default="true" />
-  <arg name="app_manager" default="true" />
   <arg name="rwt_image_view" default="true" />
   <arg name="fetch_sensors" default="true" />
   <arg name="use_safe_teleop" default="true" />
   <arg name="network_detector" default="true" />
   <arg name="network_status" default="true" />
   <arg name="use_speech_recognition" default="true" />
-  <arg name="imu_corrector" default="true" />
-  <arg name="odom_corrector" default="true" />
 
   <param name="robot/type" value="fetch" />
   <param name="robot/name" command='bash -c "hostname | xargs echo -n"' />
@@ -118,7 +115,7 @@
   </include>
 
   <!-- app manager -->
-  <include file="$(find jsk_robot_startup)/lifelog/app_manager.launch" if="$(arg app_manager)">
+  <include file="$(find jsk_robot_startup)/lifelog/app_manager.launch">
     <arg name="use_applist" value="false" /> <!-- use plugin -->
     <arg name="respawn" value="false" />
     <arg name="basic" value="true" />
@@ -162,44 +159,46 @@
   </node>
 
   <!-- speech recognition -->
-  <node name="respeaker_transformer" pkg="tf" type="static_transform_publisher"
-        args="0 0 0.1 0 0 0 head_pan_link respeaker_base 100" if="$(arg use_speech_recognition)"/>
-  <!-- disable sound_play in julius.launch and place it in fetch_bringup.launch -->
-  <!-- see: https://github.com/jsk-ros-pkg/jsk_robot/pull/1140 -->
-  <include file="$(find julius_ros)/launch/julius.launch" if="$(arg use_speech_recognition)">
-    <arg name="launch_audio_capture" value="false"/>
-    <arg name="launch_sound_play" value="false"/>
-    <arg name="speech_to_text_topic" value="speech_to_text_julius"/>
-  </include>
-  <include file="$(find respeaker_ros)/launch/sample_respeaker.launch" if="$(arg use_speech_recognition)">
-    <arg name="publish_tf" default="false"/>
-    <arg name="launch_soundplay" default="false"/>
-    <arg name="audio" value="speech_audio"/>
-    <arg name="speech_to_text" value="speech_to_text_google"/>
-    <arg name="language" value="ja-JP"/>
-  </include>
-  <!-- set fetch speak action server names -->
-  <!-- this parameter is for speech_to_text node in respeaker_ros -->
-  <!-- https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/168 -->
-  <group ns="speech_to_text" if="$(arg use_speech_recognition)">
-    <rosparam>
-       tts_action_names:
-         - sound_play
-         - robotsound_jp
-    </rosparam>
+  <group if="$(arg use_speech_recognition)">
+    <node name="respeaker_transformer" pkg="tf" type="static_transform_publisher"
+          args="0 0 0.1 0 0 0 head_pan_link respeaker_base 100"/>
+    <!-- disable sound_play in julius.launch and place it in fetch_bringup.launch -->
+    <!-- see: https://github.com/jsk-ros-pkg/jsk_robot/pull/1140 -->
+    <include file="$(find julius_ros)/launch/julius.launch">
+      <arg name="launch_audio_capture" value="false"/>
+      <arg name="launch_sound_play" value="false"/>
+      <arg name="speech_to_text_topic" value="speech_to_text_julius"/>
+    </include>
+    <include file="$(find respeaker_ros)/launch/sample_respeaker.launch">
+      <arg name="publish_tf" default="false"/>
+      <arg name="launch_soundplay" default="false"/>
+      <arg name="audio" value="speech_audio"/>
+      <arg name="speech_to_text" value="speech_to_text_google"/>
+      <arg name="language" value="ja-JP"/>
+    </include>
+    <!-- set fetch speak action server names -->
+    <!-- this parameter is for speech_to_text node in respeaker_ros -->
+    <!-- https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/168 -->
+    <group ns="speech_to_text">
+      <rosparam>
+        tts_action_names:
+        - sound_play
+        - robotsound_jp
+      </rosparam>
+    </group>
+    <!-- select mux for selecting speech_to_text service -->
+    <!-- the mux node is in jsk_3rdparty/dialogflow_task_executive -->
+    <!-- https://github.com/jsk-ros-pkg/jsk_3rdparty/tree/master/dialogflow_task_executive -->
+    <node name="speech_to_text_selector" pkg="jsk_robot_startup" type="mux_selector.py"
+          respawn="true"
+          args="/network/connected 'm.data==False' /speech_to_text_julius">
+      <remap from="mux" to="speech_to_text_mux" />
+      <rosparam>
+        default_select: speech_to_text_google
+        patient: 6
+      </rosparam>
+    </node>
   </group>
-  <!-- select mux for selecting speech_to_text service -->
-  <!-- the mux node is in jsk_3rdparty/dialogflow_task_executive -->
-  <!-- https://github.com/jsk-ros-pkg/jsk_3rdparty/tree/master/dialogflow_task_executive -->
-  <node name="speech_to_text_selector" pkg="jsk_robot_startup" type="mux_selector.py"
-        respawn="true"
-        args="/network/connected 'm.data==False' /speech_to_text_julius" if="$(arg use_speech_recognition)">
-    <remap from="mux" to="speech_to_text_mux" />
-    <rosparam>
-      default_select: speech_to_text_google
-      patient: 6
-    </rosparam>
-  </node>
 
   <group if="$(arg launch_move_base)">
     <!-- jsk_maps -->

From 2b1e3a50422cd2964600dc79aab31e080d40c6ba Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 15 Dec 2020 00:20:14 +0900
Subject: [PATCH 034/323] move robot_localization in fetch.launch

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch | 1 -
 1 file changed, 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
index a09c95a3c8..bb13edc6e8 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
@@ -22,7 +22,6 @@
   <arg name="rgb_camera_info_url" default="file:///etc/ros/$(env ROS_DISTRO)/depth_latest.yaml"/>
   <arg name="depth_camera_info_url" default="file:///etc/ros/$(env ROS_DISTRO)/depth_latest.yaml"/>
 
-
   <!-- Launch realsense cameras -->
   <include file="$(find jsk_fetch_startup)/launch/fetch_realsense_bringup.launch" if="$(arg use_realsense)">
       <arg name="respawn" value="true" />

From fe2d670d36b553348d5b3285487d71560f9d7497 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 15 Jan 2021 22:45:35 +0900
Subject: [PATCH 035/323] fix typo in warning.py

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py
index 6591399caa..decf7e9d1d 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py
@@ -118,8 +118,8 @@ def battery_callback(self, msg):
             time.sleep(5)
 
     def cmd_vel_callback(self, msg):
-        ## warn when cmd_vel is issued while the robot is charning
-        rospy.logdebug("cmd_vel : x:{} y:{} z:{}, battery.is_charning {}".format(msg.linear.x,msg.linear.y,msg.angular.z,self.battery_state_msgs.is_charging))
+        ## warn when cmd_vel is issued while the robot is charging
+        rospy.logdebug("cmd_vel : x:{} y:{} z:{}, battery.is_charging {}".format(msg.linear.x,msg.linear.y,msg.angular.z,self.battery_state_msgs.is_charging))
         breaker_enabled = True
         try:
             breaker_status = filter(lambda n: n.name=='base_breaker', self.robot_state_msgs.breakers)[0]

From 15f9f31ee8088d5dbcd5bd337456bf3374b77099 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 9 Feb 2021 16:56:04 +0900
Subject: [PATCH 036/323] add timeout in go_to_kitchen

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app       | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index 6ac1ff1fd2..2a218c74aa 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -3,6 +3,7 @@ platform: fetch
 launch: jsk_fetch_startup/go_to_kitchen.xml
 interface: jsk_fetch_startup/go_to_kitchen.interface
 icon: jsk_fetch_startup/go_to_kitchen.png
+timeout: 1200
 plugins:
   - name: service_notification_saver_plugin
     type: app_notification_saver/service_notification_saver

From 10c080a22f4601208734aeb791e87185a0870a6d Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 18 Feb 2021 15:52:57 +0900
Subject: [PATCH 037/323] [jsk_fetch_startup] remove use_visual_odom param and
 add odometry multiplexer

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
index bb13edc6e8..a326fc0a96 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
@@ -32,6 +32,8 @@
   <!-- stop using graft: s-kitagawa (2019/10/17) -->
   <!-- <include file="$(find fetch_bringup)/launch/include/graft.launch.xml"/> -->
 
+  <!-- Odometry without visual odom -->
+  <!-- use robot localization ukf -->
   <!-- odometry topic mux -->
   <node
       pkg="topic_tools"

From 2d756282f0d00a14b2fee65a296d0b90138740ab Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 30 Mar 2021 14:31:32 +0900
Subject: [PATCH 038/323] update fetch1075 dock spot

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/correct_position.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/correct_position.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/correct_position.py
index db9c04f6c7..006ee85c3c 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/correct_position.py
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/correct_position.py
@@ -21,7 +21,8 @@ def __init__(self):
         if robot_name == 'fetch15':
             dock_name = '/eng2/7f/room73B2-fetch-dock-front'
         elif robot_name == 'fetch1075':
-            dock_name = '/eng2/7f/room73B2-fetch-dock-entrance'
+            dock_name = '/eng2/7f/room73B2-fetch-dock2-front'
+            # dock_name = '/eng2/7f/room73B2-fetch-dock-entrance'
         for spot in spots.markers:
             if spot.text == dock_name:
                 self.dock_pose = spot.pose

From fae94c71864dea036124d5e03a999e991f7f26d1 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Fri, 2 Apr 2021 14:09:13 +0900
Subject: [PATCH 039/323] [jsk_fetch_startup] add speak_and_wait_recovery

---
 .../fetch15/fetch_move_base_common_params.yaml     | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
index a0a284bfa1..a08c398b92 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
@@ -110,10 +110,14 @@ move_base:
       type: "clear_costmap_recovery/ClearCostmapRecovery"
     - name: "rotate_recovery0"
       type: "rotate_recovery/RotateRecovery"
+    - name: "speak_and_wait0"
+      type: "speak_and_wait_recovery/SpeakAndWaitRecovery"
     - name: "aggressive_reset"
       type: "clear_costmap_recovery/ClearCostmapRecovery"
     - name: "rotate_recovery1"
       type: "rotate_recovery/RotateRecovery"
+    - name: "speak_and_wait1"
+      type: "speak_and_wait_recovery/SpeakAndWaitRecovery"
     - name: "all_reset"
       type: "clear_costmap_recovery/ClearCostmapRecovery"
     - name: "rotate_recovery2"
@@ -125,11 +129,21 @@ move_base:
   rotate_recovery0:
     frequency: 20.0
     sim_granularity: 0.017
+  speak_and_wait0:
+    speak_text: "通れません、道を開けてください"
+    duration_wait: 5.0
+    duration_timeout: 1.0
+    sound_action: /robotsound_jp
   aggressive_reset:
     reset_distance: 1.0 # 0.5
   rotate_recovery1:
     frequency: 20.0
     sim_granularity: 0.017
+  speak_and_wait1:
+    speak_text: "通れません、道を開けてください"
+    duration_wait: 5.0
+    duration_timeout: 1.0
+    sound_action: /robotsound_jp
   all_reset:
     reset_distance: 0.0
   rotate_recovery2:

From dbae114a3c8cfb7b5a032d5daf706b28a3a3efd6 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Sun, 4 Apr 2021 22:01:35 +0900
Subject: [PATCH 040/323] use hiragana in speak_and_wait recovery

---
 .../navigation/fetch15/fetch_move_base_common_params.yaml     | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
index a08c398b92..d91e7e41ae 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
@@ -130,7 +130,7 @@ move_base:
     frequency: 20.0
     sim_granularity: 0.017
   speak_and_wait0:
-    speak_text: "通れません、道を開けてください"
+    speak_text: "とおれません、みちをあけてください"
     duration_wait: 5.0
     duration_timeout: 1.0
     sound_action: /robotsound_jp
@@ -140,7 +140,7 @@ move_base:
     frequency: 20.0
     sim_granularity: 0.017
   speak_and_wait1:
-    speak_text: "通れません、道を開けてください"
+    speak_text: "とおれません、みちをあけてください"
     duration_wait: 5.0
     duration_timeout: 1.0
     sound_action: /robotsound_jp

From 5fe8b601a6799c4ad59de7bc4dfd009a476d2c08 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Sun, 4 Apr 2021 22:13:44 +0900
Subject: [PATCH 041/323] change planner_namespace for move_slow_and_clear

---
 .../navigation/fetch15/fetch_move_base_common_params.yaml       | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
index d91e7e41ae..a6c91d20e5 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
@@ -154,7 +154,7 @@ move_base:
     limited_trans_speed: 0.3
     limited_rot_speed: 0.8
     limited_distance: 0.3
-    planner_namespace: TrajectoryPlannerROS
+    planner_namespace: TebLocalPlannerROS
     max_trans_param_name: max_vel_x
     max_rot_param_name: max_vel_theta
   max_planning_retries: 2

From d98f0b82230fd74d408eef5c87f29e8b2d6dd8a9 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 8 Apr 2021 19:04:43 +0900
Subject: [PATCH 042/323] add jsk-object-detector and jsk-human-pose-estimator
 supervisor conf

---
 .../supervisor_scripts/jsk-human-pose-estimator.conf | 12 ++++++++++++
 .../supervisor_scripts/jsk-object-detector.conf      | 12 ++++++++++++
 2 files changed, 24 insertions(+)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
new file mode 100644
index 0000000000..fc8e36b63f
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
@@ -0,0 +1,12 @@
+[program:jsk-human-pose-estimator]
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait"
+
+stopsignal=TERM
+directory=/home/fetch/ros/coral_ws
+autostart=true
+autorestart=false
+stdout_logfile=/var/log/ros/jsk-human-pose-estimator.log
+stderr_logfile=/var/log/ros/jsk-human-pose-estimator.log
+user=fetch
+environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1
+priority=200
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
new file mode 100644
index 0000000000..91625c3b04
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
@@ -0,0 +1,12 @@
+[program:jsk-object-detector]
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait"
+
+stopsignal=TERM
+directory=/home/fetch/ros/coral_ws
+autostart=true
+autorestart=false
+stdout_logfile=/var/log/ros/jsk-object-detector.log
+stderr_logfile=/var/log/ros/jsk-object-detector.log
+user=fetch
+environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1
+priority=200

From de4493a525c327e7101fa25ba3757074a92d765b Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 8 Apr 2021 19:05:32 +0900
Subject: [PATCH 043/323] update tmuxinator log yaml

---
 jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml
index 5f2e1d51bf..0e0b53ad62 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml
+++ b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml
@@ -37,7 +37,9 @@ windows:
   - jsk-network-monitor: tail -f -n 1000 /var/log/ros/jsk-network-monitor.log
   - jsk-log-wifi: tail -f -n 1000 /var/log/ros/jsk-log-wifi.log
   - jsk-app-scheduler: tail -f -n 1000 /var/log/ros/jsk-app-scheduler.log
-  - jsk-coral: tail -f -n 1000 /var/log/ros/jsk-coral.log
+  # - jsk-coral: tail -f -n 1000 /var/log/ros/jsk-coral.log
+  - jsk-object-detector: tail -f -n 1000 /var/log/ros/jsk-object-detector.log
+  - jsk-human-pose-estimator: tail -f -n 1000 /var/log/ros/jsk-human-pose-estimator.log
   - jsk-dialog: tail -f -n 1000 /var/log/ros/jsk-dialog.log
   - jsk-gdrive: tail -f -n 1000 /var/log/ros/jsk-gdrive.log
   - jsk-shutdown: tail -f -n 1000 /var/log/ros/jsk-shutdown.log

From 85ea4616e06493f366d54932aaebb4b3430a816b Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 12 Apr 2021 19:26:35 +0900
Subject: [PATCH 044/323] [jsk_fetch_startup] update teb local planner's
 parameters to decrease backward motions (#88)

---
 .../navigation/fetch15/fetch_move_base_common_params.yaml       | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
index a6c91d20e5..c2dc1c71aa 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
@@ -86,7 +86,7 @@ move_base:
     weight_acc_lim_x: 1
     weight_acc_lim_theta: 1
     weight_kinematics_nh: 1000
-    weight_kinematics_forward_drive: 1
+    weight_kinematics_forward_drive: 1000
     weight_kinematics_turning_radius: 100
     weight_optimaltime: 1
     weight_obstacle: 50

From c72c2f498fce1fcc57857431c5cdcd7bc74798c2 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Wed, 21 Apr 2021 16:53:09 +0900
Subject: [PATCH 045/323] Add cron install scripts

---
 .../jsk_fetch_startup/config/install_cron.sh      | 15 +++++++++++++++
 .../cron_scripts/cron_fetch.conf                  |  1 +
 .../jsk_fetch_startup/cron_scripts/cron_root.conf |  1 +
 3 files changed, 17 insertions(+)
 create mode 100755 jsk_fetch_robot/jsk_fetch_startup/config/install_cron.sh
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_root.conf

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_cron.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_cron.sh
new file mode 100755
index 0000000000..186b8dc4cc
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_cron.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+
+jsk_fetch_startup=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`"/.. > /dev/null && pwd)
+
+IFS=':' read -r -a prefix_paths <<< "$CMAKE_PREFIX_PATH"
+current_prefix_path="${prefix_paths[0]}"
+
+set -x
+
+cd $jsk_fetch_startup/cron_scripts
+sudo -u fetch crontab cron_fetch.conf
+echo "Set cron jobs for fetch user"
+sudo -u root crontab cron_root.conf
+echo "Set cron jobs for root user"
+set +x
diff --git a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf
new file mode 100644
index 0000000000..2013454792
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf
@@ -0,0 +1 @@
+0 3 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup update_workspace.sh > /home/fetch/ros/melodic/update_workspace.log"
diff --git a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_root.conf b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_root.conf
new file mode 100644
index 0000000000..da33972f7e
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_root.conf
@@ -0,0 +1 @@
+0 4 * * * /sbin/shutdown -r now

From d96dc4efac67a5075987fef878e8cf445170c60b Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Wed, 21 Apr 2021 17:03:13 +0900
Subject: [PATCH 046/323] Redirect both standard output and standard error

---
 jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf
index 2013454792..839bc9e138 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf
@@ -1 +1 @@
-0 3 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup update_workspace.sh > /home/fetch/ros/melodic/update_workspace.log"
+0 3 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup update_workspace.sh &> /home/fetch/ros/melodic/update_workspace.log"

From 74ca0857375ccb1ea7ea239509ba820679647b55 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Wed, 28 Apr 2021 19:23:03 +0900
Subject: [PATCH 047/323] Supress warning frequency of odometry_transformer
 (200hz -> 0.1hz) (#93)

* Supress warning frequency of odometry_transformer (200hz -> 0.1hz)

* Fix typo

* Use rospy.logwarn_throttle
---
 .../jsk_fetch_startup/scripts/odometry_transformer.py          | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/odometry_transformer.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/odometry_transformer.py
index 4871e08891..e85db4d5eb 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/odometry_transformer.py
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/odometry_transformer.py
@@ -67,7 +67,8 @@ def cb_odometry(self, msg):
             math.isnan(msg.twist.twist.angular.x) or
             math.isnan(msg.twist.twist.angular.y) or
             math.isnan(msg.twist.twist.angular.z)):
-            rospy.logwarn('Recieved an odom message with nan values')
+            rospy.logwarn_throttle(
+                10, 'Received an odom message with nan values')
             return
 
         pos_t265_odombased = np.array([

From b9160b62b270e7340abef4e4c19cd85501507dcb Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Fri, 30 Apr 2021 01:09:45 +0900
Subject: [PATCH 048/323] Log dstat output

---
 .../supervisor_scripts/jsk-dstat.conf                 | 11 +++++++++++
 1 file changed, 11 insertions(+)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
new file mode 100644
index 0000000000..7ad426da83
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
@@ -0,0 +1,11 @@
+; Install dstat
+; sudo apt install dstat
+[program:jsk-dstat]
+command=/bin/bash -c "dstat -tcdgilmnprsTy"
+stopsignal=TERM
+autostart=true
+autorestart=false
+stdout_logfile=/var/log/ros/jsk-dstat.log
+stderr_logfile=/var/log/ros/jsk-dstat.log
+user=root
+priority=1

From d43d428b675954e5bb28a2a987935941a987fe90 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Wed, 5 May 2021 11:23:43 +0900
Subject: [PATCH 049/323] Remove duplicated supervisor job

---
 .../supervisor_scripts/jsk-coral.conf                 | 11 -----------
 1 file changed, 11 deletions(-)
 delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-coral.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
deleted file mode 100644
index d7cf1778cf..0000000000
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-coral.conf
+++ /dev/null
@@ -1,11 +0,0 @@
-[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

From 7222887336389b395e84836325249f101c7fece7 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 6 May 2021 22:25:05 +0900
Subject: [PATCH 050/323] Show more CPU info in dstat output

---
 .../jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
index 7ad426da83..b6e61e99c7 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
@@ -1,7 +1,7 @@
 ; Install dstat
 ; sudo apt install dstat
 [program:jsk-dstat]
-command=/bin/bash -c "dstat -tcdgilmnprsTy"
+command=/bin/bash -c "dstat -tl --cpufreq -c -C all --top-cpu-adv -dgimnprsTy"
 stopsignal=TERM
 autostart=true
 autorestart=false

From 57d3a17892ef4c87944b6320ef6d0f661efcf20c Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Wed, 12 May 2021 19:17:49 +0900
Subject: [PATCH 051/323] Check if voice_text is installed or not

---
 .../jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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
index 5292717154..b0553995f0 100644
--- 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
@@ -1,5 +1,5 @@
 [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 hostname:=$(hostname) boot_sound:=true use_voice_text:=false --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && if [ -d /usr/vt ]; then VOICE_TEXT=true; else VOICE_TEXT=false; fi && roslaunch jsk_fetch_startup fetch_bringup.launch boot_sound:=true use_voice_text:=$VOICE_TEXT --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true

From 99b916922a73f3edf5cd84dab8e3ce2af8e3a5d8 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 13 May 2021 14:29:22 +0900
Subject: [PATCH 052/323] Throttle insta360 image to reduce
 dual_fisheye_to_panorama CPU load

---
 .../jsk_fetch_startup/launch/fetch_insta360_melodic.launch       | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch
index c94523f778..c8af2a9b22 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch
@@ -8,6 +8,7 @@
     <!-- $ v4l2-ctl -d /dev/insta360 -\-list-formats-ext -->
     <arg name="height" value="736" />
     <arg name="width" value="1472" />
+    <arg name="throttle" value="true" />
     <!-- for melodic -->
     <arg name="use_usb_cam" value="false" />
   </include>

From 09afb908490d6fefdfb140ab8522360082ee811b Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 18 May 2021 21:31:31 +0900
Subject: [PATCH 053/323] add tweet_image_server for non-euslisp users

---
 .../jsk_robot_startup/lifelog/tweet.launch             | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch b/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch
index b22b0d066c..827bef6832 100644
--- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch
@@ -27,12 +27,21 @@
         output="$(arg output)" respawn="true" >
   </node>
 
+  <node name="tweet_image_server" pkg="rostwitter" type="tweet_image_server.py"
+        machine="$(arg machine)"
+        output="$(arg output)" respawn="true" >
+    <rosparam subst_value="true">
+      account_info: $(arg account_info)
+    </rosparam>
+  </node>
+
   <node name="tweet_image_mux" pkg="topic_tools" type="mux"
         args="/tweet_image $(arg image_topics)"
         machine="$(arg machine)">
     <remap from="mux" to="tweet_image_mux" />
     <param name="lazy" value="true" />
   </node>
+
   <!--
   <node name="tweet_image_saver" pkg="image_view" type="image_saver"
         machine="$(arg machine)">
@@ -42,6 +51,7 @@
     <param name="image_transport" value="raw" />
   </node>
   -->
+
   <node name="active_user" pkg="roseus"
         type="roseus" args="$(find jsk_robot_startup)/lifelog/active_user.l"
         machine="$(arg machine)"

From 52f75d2f56acdbb93f810c1b75b80a3b2787d202 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 18 May 2021 22:31:33 +0900
Subject: [PATCH 054/323] add tweet notifier in go_to_kitchen and time_signal

---
 .../apps/go_to_kitchen/go_to_kitchen.app                  | 8 ++++++++
 .../jsk_fetch_startup/apps/time_signal/time_signal.app    | 8 ++++++++
 2 files changed, 16 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index 2a218c74aa..388cc965b9 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -101,6 +101,12 @@ plugins:
         - go_to_kitchen_rosbag.bag
       upload_parents_path: fetch_go_to_kitchen
       upload_server_name: /gdrive_server
+  - name: tweet_notifier_plugin
+    type: app_notifier/tweet_notifier_plugin
+    plugin_args:
+      client_name: /tweet_image_server/tweet
+      image: true
+      image_topic_name: /edgetpu_object_detector/output/image
   - name: speech_notifier_plugin
     type: app_notifier/speech_notifier_plugin
     plugin_args:
@@ -140,6 +146,7 @@ plugin_order:
     - rosbag_recorder_plugin
     - result_recorder_plugin
     - gdrive_uploader_plugin
+    - tweet_notifier_plugin
     - speech_notifier_plugin
     - mail_notifier_plugin
     - shutdown_plugin
@@ -154,6 +161,7 @@ plugin_order:
     - rosbag_recorder_plugin
     - result_recorder_plugin
     - gdrive_uploader_plugin
+    - tweet_notifier_plugin
     - speech_notifier_plugin
     - mail_notifier_plugin
     - shutdown_plugin
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app
index d1c5e17227..d30b535da4 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app
@@ -5,6 +5,12 @@ interface: jsk_fetch_startup/time_signal.interface
 icon: jsk_fetch_startup/time_signal.png
 timeout: 10
 plugins:
+  - name: tweet_notifier_plugin
+    type: app_notifier/tweet_notifier_plugin
+    plugin_args:
+      client_name: /tweet_image_server/tweet
+      image: true
+      image_topic_name: /edgetpu_object_detector/output/image
   - name: user_speech_notifier_plugin
     type: app_notifier/user_speech_notifier_plugin
     plugin_args:
@@ -12,6 +18,8 @@ plugins:
       warning: false
 plugin_order:
   start_plugin_order:
+    - tweet_notifier_plugin
     - user_speech_notifier_plugin
   stop_plugin_order:
+    - tweet_notifier_plugin
     - user_speech_notifier_plugin

From 5bcebb176a28ec13da86df98e1bb694a6124e706 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 18 May 2021 23:07:08 +0900
Subject: [PATCH 055/323] set warning param for tweet notifier plugin

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app       | 1 +
 .../jsk_fetch_startup/apps/time_signal/time_signal.app           | 1 +
 2 files changed, 2 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index 388cc965b9..af06c00267 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -107,6 +107,7 @@ plugins:
       client_name: /tweet_image_server/tweet
       image: true
       image_topic_name: /edgetpu_object_detector/output/image
+      warning: false
   - name: speech_notifier_plugin
     type: app_notifier/speech_notifier_plugin
     plugin_args:
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app
index d30b535da4..23b6e46481 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app
@@ -11,6 +11,7 @@ plugins:
       client_name: /tweet_image_server/tweet
       image: true
       image_topic_name: /edgetpu_object_detector/output/image
+      warning: false
   - name: user_speech_notifier_plugin
     type: app_notifier/user_speech_notifier_plugin
     plugin_args:

From c85f73451ed07c7c077449b23813a646880e2ca1 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 20 May 2021 22:39:15 +0900
Subject: [PATCH 056/323] Save dstat output in csv format

---
 .../jsk_fetch_startup/config/install_supervisor.sh |  3 +++
 .../jsk_fetch_startup/scripts/dstat.bash           | 14 ++++++++++++++
 .../supervisor_scripts/jsk-dstat.conf              |  2 +-
 3 files changed, 18 insertions(+), 1 deletion(-)
 create mode 100755 jsk_fetch_robot/jsk_fetch_startup/scripts/dstat.bash

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
index 9f77c428b9..095517cdb7 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
@@ -15,4 +15,7 @@ for file in $(ls ./*.conf); do
     echo "copied $file to /etc/supervisor/conf.d"
 done
 
+# Enable jsk_dstat job to save the csv log under /var/log
+ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk_dstat.csv
+
 set +x
diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/dstat.bash b/jsk_fetch_robot/jsk_fetch_startup/scripts/dstat.bash
new file mode 100755
index 0000000000..440237145e
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/dstat.bash
@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+# Keep only the last 1000 lines of csv log before executing dstat
+CSV_FILE=/home/fetch/Documents/jsk_dstat.csv
+
+if [ -e $CSV_FILE ]; then
+    cp -f $CSV_FILE $CSV_FILE.bk
+    tail -n 1000 $CSV_FILE.bk > $CSV_FILE
+    rm -f $CSV_FILE.bk
+else
+    touch $CSV_FILE
+fi
+
+dstat -tl --cpufreq -c -C all --top-cpu-adv -dgimnprsTy --output $CSV_FILE
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
index b6e61e99c7..4fcf56a3e3 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
@@ -1,7 +1,7 @@
 ; Install dstat
 ; sudo apt install dstat
 [program:jsk-dstat]
-command=/bin/bash -c "dstat -tl --cpufreq -c -C all --top-cpu-adv -dgimnprsTy"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup dstat.bash"
 stopsignal=TERM
 autostart=true
 autorestart=false

From f33d62bfdc17924513091bf34c317ee50f276409 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Sun, 23 May 2021 23:35:15 +0900
Subject: [PATCH 057/323] update jsk-gdrive.conf

---
 .../jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf        | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
index a79cc1deb3..dc30c03ea9 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
@@ -1,5 +1,5 @@
 [program:jsk-gdrive]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch gdrive_ros gdrive_server.launch --wait --screen"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true

From 43c2552aeb8dd88d76dd48206ebf65e6988f39c9 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 25 May 2021 21:56:45 +0900
Subject: [PATCH 058/323] Show jsk_dstat.log in 'tmuxinator log'

---
 jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml
index 0e0b53ad62..3a6121e041 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml
+++ b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml
@@ -44,3 +44,4 @@ windows:
   - jsk-gdrive: tail -f -n 1000 /var/log/ros/jsk-gdrive.log
   - jsk-shutdown: tail -f -n 1000 /var/log/ros/jsk-shutdown.log
   - jsk-rfcomm-bind: tail -f -n 1000 /var/log/ros/jsk-rfcomm-bind.log
+  - jsk-dstat: tail -f -n 1000 /var/log/ros/jsk-dstat.log

From b408532ebdd36f598acc8282f18abc880de3c99a Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Wed, 2 Jun 2021 20:49:28 +0900
Subject: [PATCH 059/323] Fix typo

---
 jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
index 095517cdb7..81434844df 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
@@ -16,6 +16,6 @@ for file in $(ls ./*.conf); do
 done
 
 # Enable jsk_dstat job to save the csv log under /var/log
-ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk_dstat.csv
+ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv
 
 set +x

From 75d864eebf0f87f2a5bb2ab8584776c9fc3db7e8 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Thu, 3 Jun 2021 18:54:13 +0900
Subject: [PATCH 060/323] enable dialogflow webhook on fetch default

---
 .../jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf        | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
index 581d4d8f87..8e8aa85903 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
@@ -1,5 +1,5 @@
 [program:jsk-dialog]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch dialogflow_task_executive dialogflow_task_executive.launch run_app_manager:=false --wait --screen"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch dialogflow_task_executive dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true --wait --screen "
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true

From 3d4fc1effb0eaa857a41b17a347945bbfac33f7d Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 3 Jun 2021 12:59:24 +0900
Subject: [PATCH 061/323] Add supervisor job for edgetpu-panorama recognition

---
 .../jsk-human-pose-estimator.conf                   |  1 +
 .../supervisor_scripts/jsk-object-detector.conf     |  1 +
 .../jsk-panorama-human-pose-estimator.conf          | 13 +++++++++++++
 .../jsk-panorama-object-detector.conf               | 13 +++++++++++++
 4 files changed, 28 insertions(+)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
index fc8e36b63f..8021ee6ce4 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
@@ -3,6 +3,7 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/cor
 
 stopsignal=TERM
 directory=/home/fetch/ros/coral_ws
+; You can set "autostart=true" if "autostart=false" in jsk-panorama-human-pose-estimator.conf
 autostart=true
 autorestart=false
 stdout_logfile=/var/log/ros/jsk-human-pose-estimator.log
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
index 91625c3b04..2e8e147a9e 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
@@ -3,6 +3,7 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/cor
 
 stopsignal=TERM
 directory=/home/fetch/ros/coral_ws
+; You can set "autostart=true" if "autostart=false" in jsk-panorama-object-detector.conf
 autostart=true
 autorestart=false
 stdout_logfile=/var/log/ros/jsk-object-detector.log
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
new file mode 100644
index 0000000000..48b3abb4c5
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
@@ -0,0 +1,13 @@
+[program:jsk-panorama-human-pose-estimator]
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch namespace:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/output device_id:=0 --screen --wait"
+
+stopsignal=TERM
+directory=/home/fetch/ros/coral_ws
+; You can set "autostart=true" if "autostart=false" in jsk-human-pose-estimator.conf
+autostart=false
+autorestart=false
+stdout_logfile=/var/log/ros/jsk-panorama-human-pose-estimator.log
+stderr_logfile=/var/log/ros/jsk-panorama-human-pose-estimator.log
+user=fetch
+environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1
+priority=200
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
new file mode 100644
index 0000000000..5c68ad54a8
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
@@ -0,0 +1,13 @@
+[program:jsk-panorama-object-detector]
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch namespace:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait"
+
+stopsignal=TERM
+directory=/home/fetch/ros/coral_ws
+; You can set "autostart=true" if "autostart=false" in jsk-object-detector.conf
+autostart=false
+autorestart=false
+stdout_logfile=/var/log/ros/jsk-panorama-object-detector.log
+stderr_logfile=/var/log/ros/jsk-panorama-object-detector.log
+user=fetch
+environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1
+priority=200

From a3aba3b79f76990f9768ae2eeac0e614188993e0 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 3 Jun 2021 14:00:44 +0900
Subject: [PATCH 062/323] Add tmuxinator config for edgetpu_panorama jobs

---
 jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml
index 3a6121e041..7b4cc539a8 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml
+++ b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml
@@ -39,7 +39,9 @@ windows:
   - jsk-app-scheduler: tail -f -n 1000 /var/log/ros/jsk-app-scheduler.log
   # - jsk-coral: tail -f -n 1000 /var/log/ros/jsk-coral.log
   - jsk-object-detector: tail -f -n 1000 /var/log/ros/jsk-object-detector.log
+  - jsk-panorama-object-detector: tail -f -n 1000 /var/log/ros/jsk-panorama-object-detector.log
   - jsk-human-pose-estimator: tail -f -n 1000 /var/log/ros/jsk-human-pose-estimator.log
+  - jsk-panorama-human-pose-estimator: tail -f -n 1000 /var/log/ros/jsk-panorama-human-pose-estimator.log
   - jsk-dialog: tail -f -n 1000 /var/log/ros/jsk-dialog.log
   - jsk-gdrive: tail -f -n 1000 /var/log/ros/jsk-gdrive.log
   - jsk-shutdown: tail -f -n 1000 /var/log/ros/jsk-shutdown.log

From 17e46f1a9ef76c7576b45f56af5acd094b8a47bf Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 3 Jun 2021 14:27:48 +0900
Subject: [PATCH 063/323] Input quater panorama images to edgetpu node

---
 .../supervisor_scripts/jsk-panorama-human-pose-estimator.conf   | 2 +-
 .../supervisor_scripts/jsk-panorama-object-detector.conf        | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
index 48b3abb4c5..a8a897c9ae 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
@@ -1,5 +1,5 @@
 [program:jsk-panorama-human-pose-estimator]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch namespace:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/output device_id:=0 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch namespace:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
 
 stopsignal=TERM
 directory=/home/fetch/ros/coral_ws
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
index 5c68ad54a8..01209aefbf 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
@@ -1,5 +1,5 @@
 [program:jsk-panorama-object-detector]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch namespace:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/output 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 device_id:=1 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch namespace:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output 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 device_id:=1 --screen --wait"
 
 stopsignal=TERM
 directory=/home/fetch/ros/coral_ws

From 06844e6bc799dc809fd6d99bb7fd80ebd5c611ac Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 3 Jun 2021 14:31:03 +0900
Subject: [PATCH 064/323] Record edgetpu panorama image visualized by
 coral_usb_ros instead of jsk_perception

---
 .../apps/go_to_kitchen/go_to_kitchen.app             |  2 +-
 .../apps/go_to_kitchen/go_to_kitchen.xml             | 12 ------------
 2 files changed, 1 insertion(+), 13 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index af06c00267..61b7edeb0e 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -29,7 +29,7 @@ plugins:
     launch_args:
       video_path: /tmp
       video_title: go_to_kitchen_object_detection.avi
-      video_topic_name: /edgetpu_object_detector_visualization/output
+      video_topic_name: /edgetpu_object_detector/output/image
       video_fps: 5.0
   - name: panorama_video_recorder_plugin
     type: app_recorder/video_recorder_plugin
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index acc3954bb2..dd16367cc4 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -5,16 +5,4 @@
   <!-- launch rviz with throttle -->
   <include file="$(find jsk_fetch_startup)/launch/rviz_record.launch" />
 
-  <node name="edgetpu_object_detector_visualization" pkg="jsk_perception"
-        type="draw_rects" output="screen" respawn="true">
-    <remap from="~input" to="/head_camera/rgb/throttled/image_rect_color" />
-    <remap from="~input/rects" to="/edgetpu_object_detector/output/rects" />
-    <remap from="~input/class" to="/edgetpu_object_detector/output/class" />
-    <rosparam>
-      approximate_sync: true
-      queue_size: 100
-      use_classification_result: true
-      resolution_factor: 1.0
-    </rosparam>
-  </node>
 </launch>

From c41300079f69ef3cebe22167dcb69358716aea68 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 3 Jun 2021 14:50:00 +0900
Subject: [PATCH 065/323] Change object detector score threshold in
 go-to-kitchen

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml    | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index dd16367cc4..60851f21aa 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -5,4 +5,8 @@
   <!-- launch rviz with throttle -->
   <include file="$(find jsk_fetch_startup)/launch/rviz_record.launch" />
 
+  <node name="go_to_kitchen_object_detector_score_thresh" pkg="dynamic_reconfigure" type="dynparam"
+        args="set_from_parameters edgetpu_object_detector">
+    <param name="score_thresh" type="double" value="0.80" /> <!-- default: 0.6 -->
+  </node>
 </launch>

From c915826fd7241d1ca595da1f6a708e270cdae185 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 3 Jun 2021 19:58:25 +0900
Subject: [PATCH 066/323] Fix launch arg name based on coral_usb_ros update

---
 .../supervisor_scripts/jsk-panorama-human-pose-estimator.conf   | 2 +-
 .../supervisor_scripts/jsk-panorama-object-detector.conf        | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
index a8a897c9ae..48b5fc4dc3 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
@@ -1,5 +1,5 @@
 [program:jsk-panorama-human-pose-estimator]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch namespace:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
 
 stopsignal=TERM
 directory=/home/fetch/ros/coral_ws
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
index 01209aefbf..434ab2fe48 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
@@ -1,5 +1,5 @@
 [program:jsk-panorama-object-detector]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch namespace:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output 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 device_id:=1 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output 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 device_id:=1 --screen --wait"
 
 stopsignal=TERM
 directory=/home/fetch/ros/coral_ws

From 0901a532995bd4b8f04afa4db1c6ac55bac31f2f Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 3 Jun 2021 20:48:22 +0900
Subject: [PATCH 067/323] Use audio_video_recorder_plugin to record
 edgetpu_object_detector output

---
 .../apps/go_to_kitchen/go_to_kitchen.app             | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index 61b7edeb0e..7d350da4aa 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -25,12 +25,20 @@ plugins:
       video_framerate: 30
       video_encoding: RGB
   - name: object_detection_video_recorder_plugin
-    type: app_recorder/video_recorder_plugin
+    type: app_recorder/audio_video_recorder_plugin
     launch_args:
       video_path: /tmp
       video_title: go_to_kitchen_object_detection.avi
+      audio_topic_name: /audio
+      audio_channels: 1
+      audio_sample_rate: 16000
+      audio_format: wave
+      audio_sample_format: S16LE
       video_topic_name: /edgetpu_object_detector/output/image
-      video_fps: 5.0
+      video_height: 480
+      video_width: 640
+      video_framerate: 10
+      video_encoding: RGB
   - name: panorama_video_recorder_plugin
     type: app_recorder/video_recorder_plugin
     launch_args:

From 2fa40ef606baa875a4b5945ca64fe02e80029291 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 3 Jun 2021 22:49:34 +0900
Subject: [PATCH 068/323] Update go-to-kitchen demo

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index 60851f21aa..21669aef68 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -7,6 +7,6 @@
 
   <node name="go_to_kitchen_object_detector_score_thresh" pkg="dynamic_reconfigure" type="dynparam"
         args="set_from_parameters edgetpu_object_detector">
-    <param name="score_thresh" type="double" value="0.80" /> <!-- default: 0.6 -->
+    <param name="score_thresh" type="double" value="0.60" /> <!-- default: 0.6 -->
   </node>
 </launch>

From 050b0508c55f3fcc5f841306afc5858d4cf99802 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 11 Jun 2021 12:08:15 +0900
Subject: [PATCH 069/323] set longer timeout for time signal

---
 .../jsk_fetch_startup/apps/time_signal/time_signal.app          | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app
index 23b6e46481..07c42622d4 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app
@@ -3,7 +3,7 @@ platform: fetch
 launch: jsk_fetch_startup/time_signal.xml
 interface: jsk_fetch_startup/time_signal.interface
 icon: jsk_fetch_startup/time_signal.png
-timeout: 10
+timeout: 120
 plugins:
   - name: tweet_notifier_plugin
     type: app_notifier/tweet_notifier_plugin

From eebbffa287869483824bcf20deb369035c99ea29 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 17 Jun 2021 19:04:00 +0900
Subject: [PATCH 070/323] Turn on/off switchbots from switchbot_ros API

---
 jsk_fetch_robot/jsk_fetch_startup/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/package.xml b/jsk_fetch_robot/jsk_fetch_startup/package.xml
index a89d0c4dea..7b40053990 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/package.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/package.xml
@@ -29,6 +29,7 @@
   <run_depend>pr2_computer_monitor</run_depend>
   <run_depend>robot_pose_publisher</run_depend>
   <run_depend>rviz</run_depend>
+  <run_depend>switchbot_ros</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>touchegg</run_depend>
   <run_depend>sound_play</run_depend>

From e79cac2a566a246954a2194921efeb6591482d07 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Sat, 19 Jun 2021 19:57:38 +0900
Subject: [PATCH 071/323] record rviz video in kitchen demo

---
 .../apps/go_to_kitchen/go_to_kitchen.app              | 11 +++++++++++
 .../apps/go_to_kitchen/go_to_kitchen.xml              |  7 +++++++
 2 files changed, 18 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index 7d350da4aa..47ee7dd780 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -46,6 +46,13 @@ plugins:
       video_title: go_to_kitchen_panorama.avi
       video_topic_name: /dual_fisheye_to_panorama/output
       video_fps: 1.0
+  - name: rviz_video_recorder_plugin
+    type: app_recorder/video_recorder_plugin
+    launch_args:
+      video_path: /tmp
+      video_title: go_to_kitchen_rviz.avi
+      video_topic_name: /rviz/image
+      video_fps: 30.0
   - name: respeaker_audio_recorder_plugin
     type: app_recorder/audio_recorder_plugin
     launch_args:
@@ -98,6 +105,7 @@ plugins:
         - /tmp/go_to_kitchen_head_camera.avi
         - /tmp/go_to_kitchen_object_detection.avi
         - /tmp/go_to_kitchen_panorama.avi
+        - /tmp/go_to_kitchen_rviz.avi
         - /tmp/go_to_kitchen_audio.wav
         - /tmp/go_to_kitchen_rosbag.bag
       upload_file_titles:
@@ -105,6 +113,7 @@ plugins:
         - go_to_kitchen_head_camera.avi
         - go_to_kitchen_object_detection.avi
         - go_to_kitchen_panorama.avi
+        - go_to_kitchen_rviz.avi
         - go_to_kitchen_audio.wav
         - go_to_kitchen_rosbag.bag
       upload_parents_path: fetch_go_to_kitchen
@@ -151,6 +160,7 @@ plugin_order:
     - head_camera_video_recorder_plugin
     - object_detection_video_recorder_plugin
     - panorama_video_recorder_plugin
+    - rviz_video_recorder_plugin
     - respeaker_audio_recorder_plugin
     - rosbag_recorder_plugin
     - result_recorder_plugin
@@ -166,6 +176,7 @@ plugin_order:
     - head_camera_video_recorder_plugin
     - object_detection_video_recorder_plugin
     - panorama_video_recorder_plugin
+    - rviz_video_recorder_plugin
     - respeaker_audio_recorder_plugin
     - rosbag_recorder_plugin
     - result_recorder_plugin
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index 21669aef68..21c0673ed6 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -9,4 +9,11 @@
         args="set_from_parameters edgetpu_object_detector">
     <param name="score_thresh" type="double" value="0.60" /> <!-- default: 0.6 -->
   </node>
+
+  <node name="$(anon rviz)" pkg="rviz" type="rviz"
+        args="-d $(find jsk_fetch_startup)/config/jsk_startup_record.rviz">
+    <env name="DISPLAY" value=":0" />
+    <env name="HOME" value="/home/fetch" />
+  </node>
+
 </launch>

From aa49ac24d3a63ec0c6a5fd32eb7d77bd81e511b1 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 24 Jun 2021 12:48:47 +0900
Subject: [PATCH 072/323] set proper global_costmap cost_factor

---
 .../navigation/fetch15/fetch_move_base_common_params.yaml      | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
index c2dc1c71aa..9da82ce6e2 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
@@ -22,6 +22,9 @@ move_base:
   # base_local_planner: base_local_planner/TrajectoryPlannerROS
   GlobalPlanner:
     allow_unknown: true
+    neural_cost: 50
+    lethal_cost: 253
+    cost_factor: 0.8
     default_tolerance: 0.0
     orientation_mode: 1
     visualize_potential: false

From 784ba2313e6ae0e38bf03365a9ad197e712cb7ea Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 15 Jul 2021 18:05:41 +0900
Subject: [PATCH 073/323] Use fetchrobotics's move_base param by default

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch     | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

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 ead125dead..7814c8da96 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -3,6 +3,7 @@
   <arg name="launch_moveit" default="true" />
   <arg name="launch_teleop" default="true" />
   <arg name="launch_move_base" default="true" />
+  <arg name="custom_move_base_config" default="false" />
   <arg name="launch_sound_play" default="true" />
   <arg name="launch_insta360" default="true" />
   <arg name="use_voice_text" default="true" />
@@ -249,10 +250,12 @@
     <rosparam command="load"
               file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_amcl_$(env ROS_DISTRO)_params.yaml" />
     <!-- load move_base params -->
-    <rosparam command="load"
-              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_move_base_common_params.yaml" />
-    <rosparam command="load"
-              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_move_base_$(env ROS_DISTRO)_params.yaml" />
+    <group if="$(arg custom_move_base_config)">
+      <rosparam command="load"
+		file="$(find jsk_fetch_startup)/launch/navigation/fetch_move_base_common_params.yaml" />
+      <rosparam command="load"
+		file="$(find jsk_fetch_startup)/launch/navigation/fetch_move_base_$(env ROS_DISTRO)_params.yaml" />
+    </group>
   </group>
 
   <!-- slam for build a map -->

From f493c17855a1293d31dac9981223df331dddd0a9 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 15 Jul 2021 19:08:04 +0900
Subject: [PATCH 074/323] Seperate fetch15 move_base param and fetch1075
 move_base param

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch     | 11 ++++-------
 .../supervisor_scripts/jsk-fetch-startup.conf         |  2 +-
 2 files changed, 5 insertions(+), 8 deletions(-)

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 7814c8da96..ead125dead 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -3,7 +3,6 @@
   <arg name="launch_moveit" default="true" />
   <arg name="launch_teleop" default="true" />
   <arg name="launch_move_base" default="true" />
-  <arg name="custom_move_base_config" default="false" />
   <arg name="launch_sound_play" default="true" />
   <arg name="launch_insta360" default="true" />
   <arg name="use_voice_text" default="true" />
@@ -250,12 +249,10 @@
     <rosparam command="load"
               file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_amcl_$(env ROS_DISTRO)_params.yaml" />
     <!-- load move_base params -->
-    <group if="$(arg custom_move_base_config)">
-      <rosparam command="load"
-		file="$(find jsk_fetch_startup)/launch/navigation/fetch_move_base_common_params.yaml" />
-      <rosparam command="load"
-		file="$(find jsk_fetch_startup)/launch/navigation/fetch_move_base_$(env ROS_DISTRO)_params.yaml" />
-    </group>
+    <rosparam command="load"
+              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_move_base_common_params.yaml" />
+    <rosparam command="load"
+              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_move_base_$(env ROS_DISTRO)_params.yaml" />
   </group>
 
   <!-- slam for build a map -->
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
index b0553995f0..8d5fe6f077 100644
--- 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
@@ -1,5 +1,5 @@
 [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 && if [ -d /usr/vt ]; then VOICE_TEXT=true; else VOICE_TEXT=false; fi && roslaunch jsk_fetch_startup fetch_bringup.launch boot_sound:=true use_voice_text:=$VOICE_TEXT --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && if [ -d /usr/vt ]; then VOICE_TEXT=true; else VOICE_TEXT=false; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true use_voice_text:=$VOICE_TEXT --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true

From 5b1ade839fcfdc4326d23e27d2d6b64b52f866cb Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Sat, 17 Jul 2021 01:46:31 +0900
Subject: [PATCH 075/323] Restore recovery behavior params for fetch1075

---
 .../fetch_move_base_common_params.yaml        | 36 +++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml
index e69de29bb2..b7eabb9a39 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml
@@ -0,0 +1,36 @@
+move_base:
+  recovery_behavior_enabled: true
+  recovery_behaviors:
+    - name: "conservative_reset"
+      type: "clear_costmap_recovery/ClearCostmapRecovery"
+    - name: "rotate_recovery0"
+      type: "rotate_recovery/RotateRecovery"
+    - name: "speak_and_wait0"
+      type: "speak_and_wait_recovery/SpeakAndWaitRecovery"
+    - name: "aggressive_reset"
+      type: "clear_costmap_recovery/ClearCostmapRecovery"
+    - name: "rotate_recovery1"
+      type: "rotate_recovery/RotateRecovery"
+    - name: "speak_and_wait1"
+      type: "speak_and_wait_recovery/SpeakAndWaitRecovery"
+    - name: "all_reset"
+      type: "clear_costmap_recovery/ClearCostmapRecovery"
+    - name: "rotate_recovery2"
+      type: "rotate_recovery/RotateRecovery"
+    - name: "move_slow_and_clear"
+      type: "move_slow_and_clear/MoveSlowAndClear"
+  speak_and_wait0:
+    speak_text: "とおれません、みちをあけてください"
+    duration_wait: 5.0
+    duration_timeout: 1.0
+    sound_action: /robotsound_jp
+  speak_and_wait1:
+    speak_text: "とおれません、みちをあけてください"
+    duration_wait: 5.0
+    duration_timeout: 1.0
+    sound_action: /robotsound_jp
+  move_slow_and_clear:
+    planner_namespace: TrajectoryPlannerROS
+    max_trans_param_name: max_vel_x
+    max_rot_param_name: max_vel_theta
+  max_planning_retries: 2

From 825c36771eea110baf56f146bea50c8e48287339 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 29 Jul 2021 14:47:04 +0900
Subject: [PATCH 076/323] record smach data in rosbag

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app     | 3 +++
 jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch  | 3 +++
 2 files changed, 6 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index 47ee7dd780..e10836f0f9 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -90,6 +90,9 @@ plugins:
         - /head_camera/depth_registered/throttled/camera_info
         - /head_camera/rgb/throttled/image_rect_color/compressed
         - /head_camera/depth_registered/throttled/image_rect/compressedDepth
+        - /server_name/smach/container_init
+        - /server_name/smach/container_status
+        - /server_name/smach/container_structure
         - /audio
         - /rviz/throttled/image/compressed
   - name: result_recorder_plugin
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch
index 43b5a923ce..12dd846fd3 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch
@@ -35,6 +35,9 @@
           /head_camera/depth_registered/throttled/camera_info
           /head_camera/rgb/throttled/image_rect_color/compressed
           /head_camera/depth_registered/throttled/image_rect/compressedDepth
+          /server_name/smach/container_init
+          /server_name/smach/container_status
+          /server_name/smach/container_structure
           /audio
           $(arg other_topics)
           $(arg regex_flag)

From 59bf353770dbfdd5589ecd64b8b8b7a85b031375 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Fri, 30 Jul 2021 09:10:07 +0900
Subject: [PATCH 077/323] Add Head L515 and update realsense launch files
 (#132)

* [jsk_fetch_startup] add RS_SERIALNO_* args

* [jsk_fetch_startup] add L515 at head

* [jsk_fetch_startup] set serial number of realsense to be environment variables

* [jsk_fetch_startup] change SERIALNO to SERIAL_NO

* [jsk_fetch_startup] launch realsense only when serial number is specified

* [jsk_fetch_startup] add config.bash for robot.conf and update robot.conf to source it if it exists in /var/lib/robot

* [jsk_fetch_startup] update L515 config

* [jsk_fetch_startup] update xacro for l515

* [jsk_fetch_accessories] add head_l515

* [jsk_fetch_startup] update head_l515 parameters

* [jsk_fetch_startup] fix l515 urdf parameter

* [jsk_fetch_startup] update rviz config for l515
---
 .../head_l515/fetch_head_l515_mount.step      | 3571 +++++++++++++++++
 .../head_l515/fetch_head_l515_mount.stl       |  Bin 0 -> 551384 bytes
 .../fetch_head_l515_mount_simplified.stl      |  Bin 0 -> 4884 bytes
 .../jsk_fetch_startup/config/config.bash      |    7 +
 .../config/install_supervisor.sh              |    5 +
 .../jsk_fetch_startup/config/jsk_startup.rviz |   89 +-
 .../jsk_fetch_startup/launch/fetch.launch     |   10 +
 .../launch/fetch_realsense_bringup.launch     |   35 +-
 .../robots/head_l515.urdf.xacro               |   37 +
 .../robots/jsk_fetch.urdf.xacro               |    4 +
 .../supervisor_scripts/robot.conf             |    2 +-
 11 files changed, 3738 insertions(+), 22 deletions(-)
 create mode 100755 jsk_fetch_robot/jsk_fetch_accessories/head_l515/fetch_head_l515_mount.step
 create mode 100755 jsk_fetch_robot/jsk_fetch_accessories/head_l515/fetch_head_l515_mount.stl
 create mode 100755 jsk_fetch_robot/jsk_fetch_accessories/head_l515/fetch_head_l515_mount_simplified.stl
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/config.bash
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro

diff --git a/jsk_fetch_robot/jsk_fetch_accessories/head_l515/fetch_head_l515_mount.step b/jsk_fetch_robot/jsk_fetch_accessories/head_l515/fetch_head_l515_mount.step
new file mode 100755
index 0000000000..534ba78990
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_accessories/head_l515/fetch_head_l515_mount.step
@@ -0,0 +1,3571 @@
+ISO-10303-21;
+HEADER;
+FILE_DESCRIPTION (( 'STEP AP214' ),
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literal 0
HcmV?d00001

diff --git a/jsk_fetch_robot/jsk_fetch_accessories/head_l515/fetch_head_l515_mount_simplified.stl b/jsk_fetch_robot/jsk_fetch_accessories/head_l515/fetch_head_l515_mount_simplified.stl
new file mode 100755
index 0000000000000000000000000000000000000000..62ef2ca512c23d4e37d6cc087d9f5293611ce4f5
GIT binary patch
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HcmV?d00001

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
new file mode 100644
index 0000000000..ea364d3b12
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -0,0 +1,7 @@
+# This file is bash configuration for robot.conf
+# This file must be at /var/lib/robot/config.bash
+
+export RS_SERIAL_NO_T265=""
+export RS_SERIAL_NO_D435_FRONTRIGHT=""
+export RS_SERIAL_NO_D435_FRONTLEFT=""
+export RS_SERIAL_NO_L515_HEAD=""
diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
index 81434844df..9448bd5b83 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
@@ -18,4 +18,9 @@ done
 # Enable jsk_dstat job to save the csv log under /var/log
 ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv
 
+# copy config.bash to /var/lib/robo if not exists
+if [ ! -e /var/lib/robot/config.bash ]; then
+    sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash
+fi
+
 set +x
diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
index 7d5b36018d..6cb1fffa48 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
@@ -5,7 +5,7 @@ Panels:
     Property Tree Widget:
       Expanded: ~
       Splitter Ratio: 0.4187380373477936
-    Tree Height: 595
+    Tree Height: 1319
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -27,7 +27,7 @@ Panels:
     SyncSource: BaseScan
   - Class: jsk_rviz_plugin/CancelAction
     Name: CancelAction
-    Topic: /move_base
+    Topic: ""
     topics:
       - /move_base
 Preferences:
@@ -65,6 +65,11 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
+        base_camera_mount:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         base_link:
           Alpha: 1
           Show Axes: false
@@ -80,6 +85,14 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        d435_front_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        d435_front_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         elbow_flex_link:
           Alpha: 1
           Show Axes: false
@@ -100,6 +113,11 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        head_box_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         head_camera_depth_frame:
           Alpha: 1
           Show Axes: false
@@ -120,6 +138,11 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+        head_l515_mount_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         head_pan_link:
           Alpha: 1
           Show Axes: false
@@ -130,6 +153,10 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        l515_head_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         l_gripper_finger_link:
           Alpha: 1
           Show Axes: false
@@ -229,7 +256,7 @@ Visualization Manager:
       Head Length: 0.20000000298023224
       Length: 0.30000001192092896
       Line Style: Billboards
-      Line Width: 0.3
+      Line Width: 0.30000001192092896
       Name: NavigationPath
       Offset:
         X: 0
@@ -252,7 +279,7 @@ Visualization Manager:
       Head Length: 0.20000000298023224
       Length: 0.30000001192092896
       Line Style: Billboards
-      Line Width: 0.1
+      Line Width: 0.10000000149011612
       Name: GlobalPath
       Offset:
         X: 0
@@ -432,6 +459,36 @@ Visualization Manager:
       top: 10
       transport hint: raw
       width: 320
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: HeadL515PointCloud
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /l515_head/depth/color/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -462,33 +519,35 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 10
+      Distance: 10.471776962280273
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
+        X: -0.00829183217138052
+        Y: 0.022624600678682327
+        Z: -0.003759089857339859
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7897970676422119
+      Pitch: 0.5747973322868347
       Target Frame: base_link
       Value: Orbit (rviz)
-      Yaw: 5.593582630157471
+      Yaw: 1.745403528213501
     Saved: ~
 Window Geometry:
+  CancelAction:
+    collapsed: true
   Displays:
-    collapsed: false
-  Height: 1052
-  Hide Left Dock: false
+    collapsed: true
+  Height: 1865
+  Hide Left Dock: true
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001f80000037efc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000037e000000c900fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000000000010000010f00000463fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000463000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000053f0000037e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001f8000006abfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d000005b2000000c900fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000fb0000001800430061006e00630065006c0041006300740069006f006e00000005f5000000f30000007f00ffffff000000010000010f00000463fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000463000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003f50000003efc0100000002fb0000000800540069006d00650100000000000003f5000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f5000006ab00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -497,6 +556,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1853
+  Width: 1013
   X: 67
   Y: 27
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
index a326fc0a96..627bfbf7f1 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
@@ -7,6 +7,12 @@
   <arg name="use_realsense" default="true" />
   <arg name="use_fetch_description" default="false" />
 
+  <!-- realsense serial numbers -->
+  <arg name="RS_SERIAL_NO_T265" default="$(optenv RS_SERIAL_NO_T265)" />
+  <arg name="RS_SERIAL_NO_D435_FRONTRIGHT" default="$(optenv RS_SERIAL_NO_D435_FRONTRIGHT)" />
+  <arg name="RS_SERIAL_NO_D435_FRONTLEFT" default="$(optenv RS_SERIAL_NO_D435_FRONTLEFT)" />
+  <arg name="RS_SERIAL_NO_L515_HEAD" default="$(optenv RS_SERIAL_NO_L515_HEAD)" />
+
   <!-- GDB Debug Option -->
   <arg name="debug" default="false"/>
   <arg unless="$(arg debug)" name="launch_prefix" value=""/>
@@ -25,6 +31,10 @@
   <!-- Launch realsense cameras -->
   <include file="$(find jsk_fetch_startup)/launch/fetch_realsense_bringup.launch" if="$(arg use_realsense)">
       <arg name="respawn" value="true" />
+      <arg name="RS_SERIAL_NO_T265" value="$(arg RS_SERIAL_NO_T265)" />
+      <arg name="RS_SERIAL_NO_D435_FRONTRIGHT" value="$(arg RS_SERIAL_NO_D435_FRONTRIGHT)" />
+      <arg name="RS_SERIAL_NO_D435_FRONTLEFT" value="$(arg RS_SERIAL_NO_D435_FRONTLEFT)" />
+      <arg name="RS_SERIAL_NO_L515_HEAD" value="$(arg RS_SERIAL_NO_L515_HEAD)" />
   </include>
 
   <!-- Odometry -->
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
index c28fde2de9..424c8f2322 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
@@ -2,8 +2,13 @@
 
   <arg name="respawn" default="true" />
 
+  <arg name="RS_SERIAL_NO_T265" default="" />
+  <arg name="RS_SERIAL_NO_D435_FRONTRIGHT" default="" />
+  <arg name="RS_SERIAL_NO_D435_FRONTLEFT" default="" />
+  <arg name="RS_SERIAL_NO_L515_HEAD" default="" />
+
   <!-- t265 -->
-  <group ns="t265">
+  <group ns="t265" if="$(eval arg('RS_SERIAL_NO_T265') != '')">
     <rosparam>
       /tracking_module/enable_mapping: false
       /tracking_module/enable_relocalization: false
@@ -13,7 +18,7 @@
     </rosparam>
     <include file="$(find jsk_fetch_startup)/launch/devices/realsense_nodelet.launch.xml">
       <arg name="tf_prefix"                value="t265"/>
-      <arg name="serial_no"                value=""/>
+      <arg name="serial_no"                value="$(arg RS_SERIAL_NO_T265)"/>
       <arg name="usb_port_id"              value=""/>
       <arg name="device_type"              value="t265"/>
       <arg name="json_file_path"           value=""/>
@@ -44,10 +49,10 @@
   </group>
 
   <!-- d435 -->
-  <group ns="d435_front_right">
+  <group ns="d435_front_right" if="$(eval arg('RS_SERIAL_NO_D435_FRONTRIGHT') != '')">
     <include file="$(find jsk_fetch_startup)/launch/devices/realsense_nodelet.launch.xml">
       <arg name="device_type"           value="d435"/>
-      <arg name="serial_no"             value=""/>
+      <arg name="serial_no"             value="$(arg RS_SERIAL_NO_D435_FRONTRIGHT)"/>
       <arg name="tf_prefix"             value="d435_front_right"/>
       <arg name="initial_reset"         value="true"/>
       <arg name="align_depth"           value="true"/>
@@ -61,10 +66,10 @@
       <arg name="respawn"              value="$(arg respawn)"/>
     </include>
   </group>
-  <group ns="d435_front_left">
+  <group ns="d435_front_left" if="$(eval arg('RS_SERIAL_NO_D435_FRONTLEFT') != '')">
     <include file="$(find jsk_fetch_startup)/launch/devices/realsense_nodelet.launch.xml">
       <arg name="device_type"           value="d435"/>
-      <arg name="serial_no"             value=""/>
+      <arg name="serial_no"             value="$(arg RS_SERIAL_NO_D435_FRONTLEFT)"/>
       <arg name="tf_prefix"             value="d435_front_left"/>
       <arg name="initial_reset"         value="true"/>
       <arg name="align_depth"           value="true"/>
@@ -78,5 +83,23 @@
       <arg name="respawn"              value="$(arg respawn)"/>
     </include>
   </group>
+  <group ns="l515_head" if="$(eval arg('RS_SERIAL_NO_L515_HEAD') != '')">
+    <include file="$(find jsk_fetch_startup)/launch/devices/realsense_nodelet.launch.xml">
+      <arg name="device_type"           value="l515"/>
+      <arg name="serial_no"             value="$(arg RS_SERIAL_NO_L515_HEAD)"/>
+      <arg name="tf_prefix"             value="l515_head"/>
+      <arg name="initial_reset"         value="true"/>
+      <arg name="align_depth"           value="true"/>
+      <arg name="filters"               value="pointcloud"/>
+      <arg name="color_width"           value="1920"/>
+      <arg name="color_height"          value="1080"/>
+      <arg name="depth_width"           value="640"/>
+      <arg name="depth_height"          value="480"/>
+      <arg name="clip_distance"         value="-2"/>
+      <arg name="enable_pointcloud"     value="true"/>
+      <arg name="enable_infra"          value="true"/>
+      <arg name="respawn"              value="$(arg respawn)"/>
+    </include>
+  </group>
 
 </launch>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro
new file mode 100644
index 0000000000..8361f9dc20
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro
@@ -0,0 +1,37 @@
+<?xml version="1.0" ?>
+<robot name="head_l515" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="head_l515_mount_link" >
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://jsk_fetch_accessories/head_l515/fetch_head_l515_mount.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+      <material name="">
+        <color rgba="0.356 0.361 0.376 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="package://jsk_fetch_accessories/head_l515/fetch_head_l515_mount_simplified.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="head_l515_mount_virtual_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0255 0 0.055" />
+    <parent link="head_tilt_link" />
+    <child link="head_l515_mount_link" />
+  </joint>
+
+  <link name="l515_head_link"/>
+  <joint name="head_l515_virtual_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0 0.01485" />
+    <parent link="head_l515_mount_link" />
+    <child link="l515_head_link" />
+  </joint>
+</robot>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro
index a3caf26abf..460086a8da 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro
+++ b/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro
@@ -3,6 +3,7 @@
   <xacro:arg name="ros_distro" default="melodic" />
   <xacro:arg name="base_camera_mount" default="true" />
   <xacro:arg name="head_box" default="true" />
+  <xacro:arg name="head_l515" default="true" />
   <xacro:arg name="use_fetch_description" default="false" />
 
   <xacro:if value="$(arg use_fetch_description)">
@@ -17,4 +18,7 @@
   <xacro:if value="$(arg head_box)">
     <xacro:include filename="$(find jsk_fetch_startup)/robots/head_box.urdf.xacro" />
   </xacro:if>
+  <xacro:if value="$(arg head_l515)">
+    <xacro:include filename="$(find jsk_fetch_startup)/robots/head_l515.urdf.xacro" />
+  </xacro:if>
 </robot>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
index d265c59b0d..0862a3af71 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
@@ -1,5 +1,5 @@
 [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"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && 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

From ce4284fdcc0eb95a8d2ab2e55a2091806be14c0c Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 3 Aug 2021 17:49:11 +0900
Subject: [PATCH 078/323] Add app to upload notification json

---
 jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed b/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed
index e47207b282..79f90d51b6 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed
@@ -29,3 +29,5 @@ apps:
     display: light on
   - app: jsk_fetch_startup/light_off
     display: light off
+  - app: jsk_fetch_startup/upload_notification
+    display: Upload notification

From 5bc34e5c8fccf6d8ba4c47961269423632b33a33 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 13 Aug 2021 17:19:51 +0900
Subject: [PATCH 079/323] add use_head_l515 arg in fetch.launch

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
index 627bfbf7f1..af0fb0a0fe 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
@@ -4,6 +4,7 @@
   <arg name="use_base_camera_mount" default="true" />
   <arg name="use_head_box" default="true" />
   <arg name="launch_diagnostics_agg" default="false" />
+  <arg name="use_head_l515" default="true" />
   <arg name="use_realsense" default="true" />
   <arg name="use_fetch_description" default="false" />
 
@@ -132,7 +133,8 @@
   <param name="robot_description"
          command="$(find xacro)/xacro $(find jsk_fetch_startup)/robots/jsk_fetch.urdf.xacro
                   ros_distro:=$(env ROS_DISTRO) use_fetch_description:=$(arg use_fetch_description)
-                  base_camera_mount:=$(arg use_base_camera_mount) head_box:=$(arg use_head_box)" />
+                  base_camera_mount:=$(arg use_base_camera_mount) head_box:=$(arg use_head_box)
+                  head_l515:=$(arg use_head_l515)" />
 
   <!-- Drivers for Base -->
   <node name="robot_driver" launch-prefix="$(arg launch_prefix)" pkg="fetch_drivers" type="robot_driver" output="screen">

From 5c89f43a70804aea72efaa72bf80f4dfa5395001 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 13 Aug 2021 17:35:48 +0900
Subject: [PATCH 080/323] move moveit in fetch.launch

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch | 11 +++++++++++
 .../jsk_fetch_startup/launch/fetch_bringup.launch     | 10 ----------
 2 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
index af0fb0a0fe..1537ced562 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
@@ -1,6 +1,8 @@
 <launch>
   <!-- add arg launch_teleop: yamaguchi & s-kitagawa (2019/04/19) -->
   <arg name="launch_teleop" default="true" />
+  <arg name="launch_moveit" default="true" />
+
   <arg name="use_base_camera_mount" default="true" />
   <arg name="use_head_box" default="true" />
   <arg name="launch_diagnostics_agg" default="false" />
@@ -179,6 +181,15 @@
     <arg name="flags" value="-a -b -g -t"/>
   </include>
 
+  <!-- include fetch moveit -->
+  <group if="$(arg launch_moveit)">
+    <include file="$(find fetch_moveit_config)/launch/move_group.launch" />
+    <!-- overwrite fetch.srdf -->
+    <!-- The semantic description that corresponds to the URDF -->
+    <param name="robot_description_semantic"
+	   command="rosrun xacro xacro --inorder $(find jsk_fetch_startup)/launch/moveit/fetch.srdf.xacro" />
+  </group>
+
   <!-- Diagnostics Aggregator -->
   <include if="$(arg launch_diagnostics_agg)"
            file="$(find fetch_bringup)/launch/include/aggregator.launch.xml"/>
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 ead125dead..eec16f9c94 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -1,6 +1,5 @@
 <launch>
   <arg name="hostname" default="fetch15" />
-  <arg name="launch_moveit" default="true" />
   <arg name="launch_teleop" default="true" />
   <arg name="launch_move_base" default="true" />
   <arg name="launch_sound_play" default="true" />
@@ -133,15 +132,6 @@
     <arg name="launch_manager" value="false"/>
   </include>
 
-  <!-- include fetch moveit -->
-  <group if="$(arg launch_moveit)">
-    <include file="$(find fetch_moveit_config)/launch/move_group.launch" />
-    <!-- overwrite fetch.srdf -->
-    <!-- The semantic description that corresponds to the URDF -->
-    <param name="robot_description_semantic"
-           command="rosrun xacro xacro --inorder $(find jsk_fetch_startup)/launch/moveit/fetch.srdf.xacro" />
-  </group>
-
   <!-- teleop -->
   <include file="$(find jsk_fetch_startup)/launch/fetch_teleop.xml"
            if="$(arg launch_teleop)" >

From bb2cdedcc0068d59b303f2ce023ecc676d8d1b7b Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 13 Aug 2021 17:36:26 +0900
Subject: [PATCH 081/323] add head_l515.srdf.xacro for moveit

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch       | 2 +-
 .../jsk_fetch_startup/launch/moveit/fetch.srdf.xacro        | 5 +++++
 .../jsk_fetch_startup/robots/head_l515.srdf.xacro           | 6 ++++++
 3 files changed, 12 insertions(+), 1 deletion(-)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.srdf.xacro

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
index 1537ced562..72826157ec 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
@@ -187,7 +187,7 @@
     <!-- overwrite fetch.srdf -->
     <!-- The semantic description that corresponds to the URDF -->
     <param name="robot_description_semantic"
-	   command="rosrun xacro xacro --inorder $(find jsk_fetch_startup)/launch/moveit/fetch.srdf.xacro" />
+	   command="rosrun xacro xacro --inorder $(find jsk_fetch_startup)/launch/moveit/fetch.srdf.xacro head_l515:=$(arg use_head_l515)" />
   </group>
 
   <!-- Diagnostics Aggregator -->
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/moveit/fetch.srdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/launch/moveit/fetch.srdf.xacro
index 3a3fe90d40..3371641386 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/moveit/fetch.srdf.xacro
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/moveit/fetch.srdf.xacro
@@ -1,7 +1,12 @@
 <?xml version="1.0" ?>
 <robot name="fetch" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:arg name="head_l515" default="true" />
+
     <!-- VIRTUAL JOINT: virtual joint from map to base_link -->
     <!-- this is necessary to add collision objects based on map frame -->
     <virtual_joint name="world_joint" type="planar" parent_frame="map" child_link="base_link" />
     <xacro:include filename="$(find fetch_moveit_config)/config/fetch.srdf" />
+    <xacro:if value="$(arg head_l515)">
+      <xacro:include filename="$(find jsk_fetch_startup)/robots/head_l515.srdf.xacro" />
+    </xacro:if>
 </robot>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.srdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.srdf.xacro
new file mode 100644
index 0000000000..fdc9de6879
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.srdf.xacro
@@ -0,0 +1,6 @@
+<?xml version="1.0" ?>
+<robot name="head_l515">
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+  <disable_collisions link1="head_tilt_link" link2="head_l515_mount_link" reason="Never" />
+  <disable_collisions link1="head_tilt_link" link2="l515_head_link" reason="Never" />
+</robot>

From c51b52f3e714acd63efdc116c1671d1a4d03103f Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Fri, 13 Aug 2021 14:34:17 +0900
Subject: [PATCH 082/323] [jsk_fetch_startup] add rotate_in_place to dock func

---
 .../jsk_fetch_startup/euslisp/navigation-utils.l   | 14 ++++++--------
 1 file changed, 6 insertions(+), 8 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index d50137984c..4ca2c12635 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -115,7 +115,7 @@
   (simple-dock))
 
 
-(defun undock ()
+(defun undock (&key (rotate_in_place nil))
   (unless *undock-action*
     (setq *undock-action*
           (instance ros::simple-action-client :init
@@ -124,7 +124,8 @@
     (ros::ros-error "/undock action server is not started")
     (return-from undock nil))
   (send *undock-action* :send-goal
-        (instance fetch_auto_dock_msgs::UndockActionGoal :init))
+        (instance fetch_auto_dock_msgs::UndockActionGoal :init
+                  :goal (instance fetch_auto_dock_msgs::UndockGoal :rotate_in_place rotate_in_place)))
   (unless (send *undock-action* :wait-for-result :timeout 60)
     (ros::ros-error "No result returned from /undock action server")
     (return-from undock nil))
@@ -167,10 +168,7 @@ Args:
             (return-from go-to-spot-undock t))
           (if (equal battery-charging-state :charging)
             (progn
-              (setq undock-success (auto-undock :n-trial 3))
-              ;; rotate after undock
-              (if (and undock-success undock-rotate)
-                (send *ri* :go-pos-unsafe 0 0 180)))
+              (setq undock-success (auto-undock :n-trial 3 :rotate_in_place undock-rotate)))
             (return-from go-to-spot-undock t))
           (if (not undock-success)
             (progn
@@ -200,14 +198,14 @@ Args:
     success))
 
 
-(defun auto-undock (&key (n-trial 1))
+(defun auto-undock (&key (n-trial 1) (rotate_in_place nil))
   (let ((success nil))
     (unless (boundp '*ri*)
       (require :fetch-interface "package://fetcheus/fetch-interface.l")
       (fetch-init))
     (dotimes (i n-trial)
       (ros::ros-info "trying to do undock.")
-      (setq success (undock))
+      (setq success (undock :rotate_in_place rotate_in_place))
       (when success (return-from auto-undock success)))
     (if (not success)
       (let ((enable-request (instance power_msgs::BreakerCommandRequest :init :enable t))

From 00280d798083b9f0a56f33ac51583ca1087cb8c9 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 16 Aug 2021 18:53:20 +0900
Subject: [PATCH 083/323] [jsk_fetch_startup] rename arg name rotate_in_place
 to rotate-in-place

---
 .../jsk_fetch_startup/euslisp/navigation-utils.l       | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 4ca2c12635..41f3b1ebd9 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -115,7 +115,7 @@
   (simple-dock))
 
 
-(defun undock (&key (rotate_in_place nil))
+(defun undock (&key (rotate-in-place nil))
   (unless *undock-action*
     (setq *undock-action*
           (instance ros::simple-action-client :init
@@ -125,7 +125,7 @@
     (return-from undock nil))
   (send *undock-action* :send-goal
         (instance fetch_auto_dock_msgs::UndockActionGoal :init
-                  :goal (instance fetch_auto_dock_msgs::UndockGoal :rotate_in_place rotate_in_place)))
+                  :goal (instance fetch_auto_dock_msgs::UndockGoal :rotate_in_place rotate-in-place)))
   (unless (send *undock-action* :wait-for-result :timeout 60)
     (ros::ros-error "No result returned from /undock action server")
     (return-from undock nil))
@@ -168,7 +168,7 @@ Args:
             (return-from go-to-spot-undock t))
           (if (equal battery-charging-state :charging)
             (progn
-              (setq undock-success (auto-undock :n-trial 3 :rotate_in_place undock-rotate)))
+              (setq undock-success (auto-undock :n-trial 3 :rotate-in-place undock-rotate)))
             (return-from go-to-spot-undock t))
           (if (not undock-success)
             (progn
@@ -198,14 +198,14 @@ Args:
     success))
 
 
-(defun auto-undock (&key (n-trial 1) (rotate_in_place nil))
+(defun auto-undock (&key (n-trial 1) (rotate-in-place nil))
   (let ((success nil))
     (unless (boundp '*ri*)
       (require :fetch-interface "package://fetcheus/fetch-interface.l")
       (fetch-init))
     (dotimes (i n-trial)
       (ros::ros-info "trying to do undock.")
-      (setq success (undock :rotate_in_place rotate_in_place))
+      (setq success (undock :rotate-in-place rotate-in-place))
       (when success (return-from auto-undock success)))
     (if (not success)
       (let ((enable-request (instance power_msgs::BreakerCommandRequest :init :enable t))

From fcef0278d1055223ac0d03234792878a8928a504 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Wed, 29 Sep 2021 18:05:01 +0900
Subject: [PATCH 084/323] use master branch of  jsk_common in
 jsk_fetch.rosinstall.melodic

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 22b0bb9cb6..8a7ef27db9 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -26,12 +26,11 @@
     local-name: jsk-ros-pkg/jsk_3rdparty
     uri: https://github.com/knorth55/jsk_3rdparty.git
     version: fetch15
-# we need to use the development branch (fetch15 branch in knorth55's fork)
-# until it is merged to master
+# Waiting 2.2.12 release
 - git:
     local-name: jsk-ros-pkg/jsk_common
-    uri: https://github.com/knorth55/jsk_common.git
-    version: fetch15
+    uri: https://github.com/jsk-ros-pkg/jsk_common.git
+    version: master 
 # we need to use the development branch (fetch15 branch in knorth55's fork)
 # until it is merged to master
 - git:

From 749da6ac349a9bcc94c34e424ac4c12e73043d00 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 16 Aug 2021 22:40:33 +0900
Subject: [PATCH 085/323] [jsk_fetch_startup] add jsk_fetch_spot_power_plug
 demo apps

---
 .../apps/fetch_apps.installed                 |  4 +
 .../plug_spot_power_connector.app             | 74 +++++++++++++++++++
 .../plug_spot_power_connector.interface       |  2 +
 .../plug_spot_power_connector.xml             |  3 +
 .../unplug_spot_power_connector.app           | 74 +++++++++++++++++++
 .../unplug_spot_power_connector.interface     |  2 +
 .../unplug_spot_power_connector.xml           |  3 +
 7 files changed, 162 insertions(+)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.interface
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.xml
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.interface
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.xml

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed b/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed
index 79f90d51b6..c1bad9ee46 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed
@@ -31,3 +31,7 @@ apps:
     display: light off
   - app: jsk_fetch_startup/upload_notification
     display: Upload notification
+  - app: jsk_fetch_startup/plug_spot_power_connector
+    display: Plug Spot Power Connector
+  - app: jsk_fetch_startup/unplug_spot_power_connector
+    display: Unplug Spot Power Connector
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app
new file mode 100644
index 0000000000..bb7fee363a
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app
@@ -0,0 +1,74 @@
+display: Plug Spot Power Connector
+platform: fetch
+launch: jsk_fetch_startup/plug_spot_power_connector.xml
+interface: jsk_fetch_startup/plug_spot_power_connector.interface
+plugins:
+  - name: service_notification_saver_plugin
+    type: app_notification_saver/service_notification_saver
+  - name: head_camera_video_recorder_plugin
+    type: app_recorder/audio_video_recorder_plugin
+    launch_args:
+      video_path: /tmp
+      video_title: plug_spot_power_connector.avi
+      audio_topic_name: /audio
+      audio_channels: 1
+      audio_sample_rate: 16000
+      audio_format: wave
+      audio_sample_format: S16LE
+      video_topic_name: /head_camera/rgb/image_rect_color
+      video_height: 480
+      video_width: 640
+      video_framerate: 30
+      video_encoding: RGB
+  - name: panorama_video_recorder_plugin
+    type: app_recorder/video_recorder_plugin
+    launch_args:
+      video_path: /tmp
+      video_title: plug_spot_power_connector_panorama.avi
+      video_topic_name: /dual_fisheye_to_panorama/output
+      video_fps: 1.0
+  - name: result_recorder_plugin
+    type: app_recorder/result_recorder_plugin
+    plugin_args:
+      result_path: /tmp
+      result_title: plug_spot_power_connector_result.yaml
+  - name: gdrive_uploader_plugin
+    type: app_uploader/gdrive_uploader_plugin
+    plugin_args:
+      upload_file_paths:
+        - /tmp/plug_spot_power_connector_result.yaml
+        - /tmp/plug_spot_power_connector_head_camera.avi
+        - /tmp/plug_spot_power_connector_panorama.avi
+      upload_file_titles:
+        - plug_spot_power_connector_result.yaml
+        - plug_spot_power_connector_head_camera.avi
+        - plug_spot_power_connector_panorama.avi
+      upload_parents_path: fetch_plug_spot_power_connector
+      upload_server_name: /gdrive_server
+  - name: speech_notifier_plugin
+    type: app_notifier/speech_notifier_plugin
+    plugin_args:
+      client_name: /sound_play
+  - name: mail_notifier_plugin
+    type: app_notifier/mail_notifier_plugin
+    plugin_args:
+      mail_title: Fetch Plug Spot Power Connector Demo
+      use_timestamp_title: true
+    plugin_arg_yaml: /var/lib/robot/fetch_mail_notifier_plugin.yaml
+plugin_order:
+  start_plugin_order:
+    - service_notification_saver_plugin
+    - head_camera_video_recorder_plugin
+    - panorama_video_recorder_plugin
+    - result_recorder_plugin
+    - gdrive_uploader_plugin
+    - speech_notifier_plugin
+    - mail_notifier_plugin
+  stop_plugin_order:
+    - service_notification_saver_plugin
+    - head_camera_video_recorder_plugin
+    - panorama_video_recorder_plugin
+    - result_recorder_plugin
+    - gdrive_uploader_plugin
+    - speech_notifier_plugin
+    - mail_notifier_plugin
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.interface b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.interface
new file mode 100644
index 0000000000..044105d644
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.interface
@@ -0,0 +1,2 @@
+published_topics: {}
+subscribed_topics: {}
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.xml
new file mode 100644
index 0000000000..ad05e91977
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.xml
@@ -0,0 +1,3 @@
+<launch>
+    <include file="$(find jsk_fetch_plug_power_spot)/launch/plug.launch"/>
+</launch>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app
new file mode 100644
index 0000000000..7419a0ecea
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app
@@ -0,0 +1,74 @@
+display: Unplug Spot Power Connector
+platform: fetch
+launch: jsk_fetch_startup/unplug_spot_power_connector.xml
+interface: jsk_fetch_startup/unplug_spot_power_connector.interface
+plugins:
+  - name: service_notification_saver_plugin
+    type: app_notification_saver/service_notification_saver
+  - name: head_camera_video_recorder_plugin
+    type: app_recorder/audio_video_recorder_plugin
+    launch_args:
+      video_path: /tmp
+      video_title: unplug_spot_power_connector.avi
+      audio_topic_name: /audio
+      audio_channels: 1
+      audio_sample_rate: 16000
+      audio_format: wave
+      audio_sample_format: S16LE
+      video_topic_name: /head_camera/rgb/image_rect_color
+      video_height: 480
+      video_width: 640
+      video_framerate: 30
+      video_encoding: RGB
+  - name: panorama_video_recorder_plugin
+    type: app_recorder/video_recorder_plugin
+    launch_args:
+      video_path: /tmp
+      video_title: unplug_spot_power_connector_panorama.avi
+      video_topic_name: /dual_fisheye_to_panorama/output
+      video_fps: 1.0
+  - name: result_recorder_plugin
+    type: app_recorder/result_recorder_plugin
+    plugin_args:
+      result_path: /tmp
+      result_title: unplug_spot_power_connector_result.yaml
+  - name: gdrive_uploader_plugin
+    type: app_uploader/gdrive_uploader_plugin
+    plugin_args:
+      upload_file_paths:
+        - /tmp/unplug_spot_power_connector_result.yaml
+        - /tmp/unplug_spot_power_connector_head_camera.avi
+        - /tmp/unplug_spot_power_connector_panorama.avi
+      upload_file_titles:
+        - unplug_spot_power_connector_result.yaml
+        - unplug_spot_power_connector_head_camera.avi
+        - unplug_spot_power_connector_panorama.avi
+      upload_parents_path: fetch_unplug_spot_power_connector
+      upload_server_name: /gdrive_server
+  - name: speech_notifier_plugin
+    type: app_notifier/speech_notifier_plugin
+    plugin_args:
+      client_name: /sound_play
+  - name: mail_notifier_plugin
+    type: app_notifier/mail_notifier_plugin
+    plugin_args:
+      mail_title: Fetch Plug Spot Power Connector Demo
+      use_timestamp_title: true
+    plugin_arg_yaml: /var/lib/robot/fetch_mail_notifier_plugin.yaml
+plugin_order:
+  start_plugin_order:
+    - service_notification_saver_plugin
+    - head_camera_video_recorder_plugin
+    - panorama_video_recorder_plugin
+    - result_recorder_plugin
+    - gdrive_uploader_plugin
+    - speech_notifier_plugin
+    - mail_notifier_plugin
+  stop_plugin_order:
+    - service_notification_saver_plugin
+    - head_camera_video_recorder_plugin
+    - panorama_video_recorder_plugin
+    - result_recorder_plugin
+    - gdrive_uploader_plugin
+    - speech_notifier_plugin
+    - mail_notifier_plugin
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.interface b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.interface
new file mode 100644
index 0000000000..044105d644
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.interface
@@ -0,0 +1,2 @@
+published_topics: {}
+subscribed_topics: {}
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.xml
new file mode 100644
index 0000000000..d61fc63f62
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.xml
@@ -0,0 +1,3 @@
+<launch>
+    <include file="$(find jsk_fetch_plug_power_spot)/launch/unplug.launch"/>
+</launch>

From 9a2bab0ce7ca8135c3ab1ab9c278d6ec6025bfe7 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 17 Aug 2021 09:51:48 +0900
Subject: [PATCH 086/323] [jsk_fetch_startup] fix app plugin

---
 .../plug_spot_power_connector.app                         | 8 ++++----
 .../unplug_spot_power_connector.app                       | 8 ++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app
index bb7fee363a..ba7af32b8a 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app
@@ -9,15 +9,15 @@ plugins:
     type: app_recorder/audio_video_recorder_plugin
     launch_args:
       video_path: /tmp
-      video_title: plug_spot_power_connector.avi
+      video_title: plug_spot_power_connector_head_camera.avi
       audio_topic_name: /audio
       audio_channels: 1
       audio_sample_rate: 16000
       audio_format: wave
       audio_sample_format: S16LE
-      video_topic_name: /head_camera/rgb/image_rect_color
-      video_height: 480
-      video_width: 640
+      video_topic_name: /tag_detections_image
+      video_height: 1080
+      video_width: 1920
       video_framerate: 30
       video_encoding: RGB
   - name: panorama_video_recorder_plugin
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app
index 7419a0ecea..ff90fb0eb9 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app
@@ -9,15 +9,15 @@ plugins:
     type: app_recorder/audio_video_recorder_plugin
     launch_args:
       video_path: /tmp
-      video_title: unplug_spot_power_connector.avi
+      video_title: unplug_spot_power_connector_head_camera.avi
       audio_topic_name: /audio
       audio_channels: 1
       audio_sample_rate: 16000
       audio_format: wave
       audio_sample_format: S16LE
-      video_topic_name: /head_camera/rgb/image_rect_color
-      video_height: 480
-      video_width: 640
+      video_topic_name: /tag_detections_image
+      video_height: 1080
+      video_width: 1920
       video_framerate: 30
       video_encoding: RGB
   - name: panorama_video_recorder_plugin

From e74929b672b81645a01f6e2b85d6fcb9a114cc23 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 17 Aug 2021 09:54:52 +0900
Subject: [PATCH 087/323] [jsk_fetch_startup] fix mail title for Unplug demo

---
 .../unplug_spot_power_connector/unplug_spot_power_connector.app | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app
index ff90fb0eb9..c41c6f6d88 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app
@@ -52,7 +52,7 @@ plugins:
   - name: mail_notifier_plugin
     type: app_notifier/mail_notifier_plugin
     plugin_args:
-      mail_title: Fetch Plug Spot Power Connector Demo
+      mail_title: Fetch Unplug Spot Power Connector Demo
       use_timestamp_title: true
     plugin_arg_yaml: /var/lib/robot/fetch_mail_notifier_plugin.yaml
 plugin_order:

From dbd16ba13a52b0438dfcadaaa9c51580c2b304c3 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 17 Aug 2021 10:06:26 +0900
Subject: [PATCH 088/323] [jsk_fetch_startup] fix video topic for plug and
 unplug demo

---
 .../plug_spot_power_connector/plug_spot_power_connector.app     | 2 +-
 .../unplug_spot_power_connector/unplug_spot_power_connector.app | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app
index ba7af32b8a..0d74b1ad21 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app
@@ -15,7 +15,7 @@ plugins:
       audio_sample_rate: 16000
       audio_format: wave
       audio_sample_format: S16LE
-      video_topic_name: /tag_detections_image
+      video_topic_name: /l515_head/color/image_raw
       video_height: 1080
       video_width: 1920
       video_framerate: 30
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app
index c41c6f6d88..1786eebb33 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app
@@ -15,7 +15,7 @@ plugins:
       audio_sample_rate: 16000
       audio_format: wave
       audio_sample_format: S16LE
-      video_topic_name: /tag_detections_image
+      video_topic_name: /l515_head/color/image_raw
       video_height: 1080
       video_width: 1920
       video_framerate: 30

From 6e02301fa879100ecd22db7e95c36015a0441038 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 19 Oct 2021 13:15:39 +0900
Subject: [PATCH 089/323] [jsk_fetch_startup] add icons to plug and unplug app

---
 .../plug_spot_power_connector.app             |   1 +
 .../plug_spot_power_connector.png             | Bin 0 -> 1017109 bytes
 .../unplug_spot_power_connector.app           |   1 +
 .../unplug_spot_power_connector.png           | Bin 0 -> 1017627 bytes
 4 files changed, 2 insertions(+)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.png
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.png

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app
index 0d74b1ad21..10982ad16c 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.app
@@ -2,6 +2,7 @@ display: Plug Spot Power Connector
 platform: fetch
 launch: jsk_fetch_startup/plug_spot_power_connector.xml
 interface: jsk_fetch_startup/plug_spot_power_connector.interface
+icon: jsk_fetch_startup/plug_spot_power_connector.png
 plugins:
   - name: service_notification_saver_plugin
     type: app_notification_saver/service_notification_saver
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.png b/jsk_fetch_robot/jsk_fetch_startup/apps/plug_spot_power_connector/plug_spot_power_connector.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1b1329d2fb8c9539a34bf003836451586ef87fb
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diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app
index 1786eebb33..680166f454 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.app
@@ -2,6 +2,7 @@ display: Unplug Spot Power Connector
 platform: fetch
 launch: jsk_fetch_startup/unplug_spot_power_connector.xml
 interface: jsk_fetch_startup/unplug_spot_power_connector.interface
+icon: jsk_fetch_startup/unplug_spot_power_connector.png
 plugins:
   - name: service_notification_saver_plugin
     type: app_notification_saver/service_notification_saver
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.png b/jsk_fetch_robot/jsk_fetch_startup/apps/unplug_spot_power_connector/unplug_spot_power_connector.png
new file mode 100644
index 0000000000000000000000000000000000000000..3098183bc33c8ff5a16514dcfa9fd422055f157c
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From 7f2a1da13606284fcf1734b7c8a43f74c18218bf Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 19 Oct 2021 16:08:09 +0900
Subject: [PATCH 090/323] [jsk_fetch_startup] update move_base params for
 fetch15

---
 .../fetch_move_base_common_params.yaml        | 110 +-----------------
 1 file changed, 1 insertion(+), 109 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
index 9da82ce6e2..0d3130cdcb 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
@@ -1,112 +1,4 @@
 move_base:
-  controller_frequency: 20.0
-  global_costmap:
-    inflater:
-      inflation_radius: 1.0 # 0.7
-      cost_scaling_factor: 10.0 # 10.0
-    obstacles:
-      min_obstacle_height: 0.05
-    footprint_padding: 0.05
-    publish_frequency: 1.0
-  local_costmap:
-    inflater:
-      inflation_radius: 1.0 # 0.7
-      cost_scaling_factor: 10.0 # 25.0 default 10, increasing factor decrease the cost value
-    obstacles:
-      min_obstacle_height: 0.05
-    # default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide)
-    footprint_padding: 0.05
-    update_frequency: 5.0
-  base_global_planner: global_planner/GlobalPlanner
-  base_local_planner: teb_local_planner/TebLocalPlannerROS
-  # base_local_planner: base_local_planner/TrajectoryPlannerROS
-  GlobalPlanner:
-    allow_unknown: true
-    neural_cost: 50
-    lethal_cost: 253
-    cost_factor: 0.8
-    default_tolerance: 0.0
-    orientation_mode: 1
-    visualize_potential: false
-    publish_potential: false
-  TrajectoryPlannerROS:
-    yaw_goal_tolerance: 0.1
-    xy_goal_tolerance: 0.17
-    max_vel_x: 0.5
-    min_vel_x: 0.1
-    min_in_place_vel_theta: 0.5
-    escape_vel: 0.0
-    sim_time: 1.5
-    sim_granularity: 0.025
-    angular_sim_granularity: 0.025
-    vx_samples: 10
-    vth_samples: 40
-    meter_scoring: true
-    pdist_scale: 4.0
-    gdist_scale: 2.5
-    occdist_scale: 0.00625
-    dwa: true
-  TebLocalPlannerROS:
-    odom_topic: /odom_combined
-    map_frame: /odom
-    # Trajectory
-    teb_autosize: True
-    dt_ref: 0.3
-    dt_hysteresis: 0.1
-    global_plan_overwrite_orientation: True
-    max_global_plan_lookahead_dist: 3.0
-    feasibility_check_no_poses: 5
-    # Robot
-    max_vel_x: 0.5
-    max_vel_x_backwards: 0.3
-    max_vel_theta: 1.0
-    acc_lim_x: 1.0
-    acc_lim_theta: 1.0
-    min_turning_radius: 0.2
-    footprint_model:
-      type: "circular"
-      radius: 0.3
-    # GoalTolerance
-    xy_goal_tolerance: 0.2
-    yaw_goal_tolerance: 0.1
-    free_goal_vel: False
-    # Obstacles
-    min_obstacle_dist: 0.1
-    include_costmap_obstacles: True
-    costmap_obstacles_behind_robot_dist: 1.0
-    obstacle_poses_afected: 30
-    costmap_converter_plugin: ""
-    costmap_converter_spin_thread: True
-    costmap_converter_rate: 5
-    # Optimization
-    no_inner_iterations: 5
-    no_outer_iterations: 4
-    optimization_activate: True
-    optimization_verbose: False
-    penalty_epsilon: 0.1
-    weight_max_vel_x: 2
-    weight_max_vel_theta: 1
-    weight_acc_lim_x: 1
-    weight_acc_lim_theta: 1
-    weight_kinematics_nh: 1000
-    weight_kinematics_forward_drive: 1000
-    weight_kinematics_turning_radius: 100
-    weight_optimaltime: 1
-    weight_obstacle: 50
-    weight_dynamic_obstacle: 10 # not in use yet
-    alternative_time_cost: False # not in use yet
-    # Homotopy Class Planner
-    enable_homotopy_class_planning: True
-    enable_multithreading: True
-    simple_exploration: False
-    max_number_classes: 4
-    roadmap_graph_no_samples: 15
-    roadmap_graph_area_width: 5
-    h_signature_prescaler: 0.5
-    h_signature_threshold: 0.1
-    obstacle_keypoint_offset: 0.1
-    obstacle_heading_threshold: 0.45
-    visualize_hc_graph: False
   recovery_behavior_enabled: true
   recovery_behaviors:
     - name: "conservative_reset"
@@ -157,7 +49,7 @@ move_base:
     limited_trans_speed: 0.3
     limited_rot_speed: 0.8
     limited_distance: 0.3
-    planner_namespace: TebLocalPlannerROS
+    planner_namespace: TrajectoryPlannerROS
     max_trans_param_name: max_vel_x
     max_rot_param_name: max_vel_theta
   max_planning_retries: 2

From 0ecfb46ebec73c2974c9d6b90ea0d4684debfbea Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 19 Oct 2021 16:57:43 +0900
Subject: [PATCH 091/323] [jsk_fetch_robot][jsk_fetch_startup] support
 development version of fetch_open_auto_dock

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic       |  7 +++++--
 .../jsk_fetch_startup/launch/fetch_auto_dock.xml   | 14 ++++++++++++++
 .../jsk_fetch_startup/launch/fetch_teleop.xml      |  5 +++--
 3 files changed, 22 insertions(+), 4 deletions(-)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_auto_dock.xml

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 8a7ef27db9..f5e5145693 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -122,10 +122,13 @@
     local-name: IntelRealSense/realsense-ros
     uri: https://github.com/IntelRealSense/realsense-ros.git
     version: 2.3.0
+# Until PRs below merged, we need to use develop branch
+#   - https://github.com/fetchrobotics/fetch_open_auto_dock/pull/9
+#   - https://github.com/fetchrobotics/fetch_open_auto_dock/pull/8
 - git:
     local-name: fetchrobotics/fetch_open_auto_dock
-    uri: https://github.com/fetchrobotics/fetch_open_auto_dock.git
-    version: melodic-devel
+    uri: https://github.com/sktometometo/fetch_open_auto_dock.git
+    version: fetchdev
 # Use https://github.com/ros-planning/navigation/pull/839 based on 7f22997e6804d9d7249b8a1d789bf27343b26f75
 - git:
     local-name: ros-planning/navigation
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_auto_dock.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_auto_dock.xml
new file mode 100644
index 0000000000..be7b25f86c
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_auto_dock.xml
@@ -0,0 +1,14 @@
+<launch>
+  <!--
+    Mainly copied from auto_dock.launch in fetch_open_auto_dock
+    https://github.com/fetchrobotics/fetch_open_auto_dock/blob/melodic-devel/launch/auto_dock.launch
+  -->
+  <node name="auto_dock" pkg="fetch_open_auto_dock" type="auto_dock" output="screen" >
+      <rosparam>
+          duration_timeout_undock: 10.0
+          duration_timeout_preorientation: 20.0
+      </rosparam>
+  </node>
+  <node name="dock_on_button" pkg="fetch_open_auto_dock" type="dock_on_button.py" />
+  <node name="undock_on_button" pkg="fetch_open_auto_dock" type="undock_on_button.py" />
+</launch>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml
index a9711dae9f..0b342d0db1 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml
@@ -94,6 +94,7 @@
   <node pkg="jsk_robot_startup" type="unsafe_warning.l" name="unsafe_warning" respawn="true" />
 
   <!-- auto dock -->
-  <include file="$(find fetch_open_auto_dock)/launch/auto_dock.launch"
-	   if="$(arg enable_auto_dock)"/>
+  <include
+      file="$(find jsk_fetch_startup)/launch/fetch_auto_dock.xml"
+      if="$(arg enable_auto_dock)"/>
 </launch>

From 36d91cdb9a26a143dc5eb881ff33371ed2d9e081 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 12 Nov 2021 01:05:29 +0900
Subject: [PATCH 092/323] update jsk_fetch.rosinstall.melodic

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index f5e5145693..f07ab8054d 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -98,12 +98,11 @@
     local-name: strands-project/mongodb_store
     uri: https://github.com/708yamaguchi/mongodb_store.git
     version: fetch15
-# we need to use the development branch (fetch15 branch in knorth55's fork)
-# until it is merged to master
+# we need to use the develop branch for basic authentication
 - git:
     local-name: tork-a/roswww
-    uri: https://github.com/knorth55/roswww.git
-    version: fetch15
+    uri: https://github.com/tork-a/roswww.git
+    version: develop
 - git:
     local-name: tork-a/visualization_rwt
     uri: https://github.com/tork-a/visualization_rwt.git

From 9c5f8b91ca16ef7dfc9d8a162ff28b97af5c191d Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Fri, 19 Nov 2021 09:31:20 +0900
Subject: [PATCH 093/323] show hint of trashbins

---
 .../jsk_fetch_startup/CMakeLists.txt          | 17 +++-
 .../launch/trashbin_occupancy_detector.launch | 82 ++++++++++++++++++
 .../src/trashbin_occupancy_detector.cpp       | 86 +++++++++++++++++++
 3 files changed, 183 insertions(+), 2 deletions(-)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp

diff --git a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt
index be9259dac6..b65f51e87e 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt
+++ b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt
@@ -10,7 +10,10 @@ endif()
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin)
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+)
+find_package(Boost REQUIRED COMPONENTS)
 
 ###################################
 ## catkin specific configuration ##
@@ -20,6 +23,17 @@ catkin_package()
 catkin_add_env_hooks(99.jsk_fetch_startup SHELLS bash zsh sh
   DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
 
+#############
+## Install ##
+#############
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+add_executable(trashbin_occupancy_detector src/trashbin_occupancy_detector.cpp)
+target_link_libraries(trashbin_occupancy_detector
+  ${catkin_LIBRARIES}
+)
+
 #############
 ## Install ##
 #############
@@ -54,7 +68,6 @@ endmacro(configure_icon_files)
 configure_icon_files(blue fetch15)
 configure_icon_files(red fetch1075)
 
-
 #############
 ## Testing ##
 #############
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
new file mode 100644
index 0000000000..2c8b72f2cb
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
@@ -0,0 +1,82 @@
+<launch>
+  <arg name="INPUT" default="points"/>
+  <arg name="CENTROID_FRAME" default="target"/>
+  <arg name="DEFAULT_NAMESPACE" default="/head_camera/depth_registered"/>
+  <arg name="FILTER_NAME_SUFFIX" default=""/>
+  <arg name="OUTPUT" default="trashbin_handle/hsi_output$(arg FILTER_NAME_SUFFIX)"/>
+
+  <!-- NODELET PARAMS -->
+  <arg name="create_manager" default="true" />
+  <arg name="manager" default="trashbin_handle_detect_manager$(arg FILTER_NAME_SUFFIX)" />
+  <!-- END NODELET PARAMS -->
+  
+  <!-- HSI COLOR FILTER PARAMS -->
+  <!-- detecting the green handle of trashbin -->
+  <arg name="h_max" default="100" />
+  <arg name="h_min" default="60" />
+  <arg name="s_max" default="255" />
+  <arg name="s_min" default="16" />
+  <arg name="i_max" default="255" />
+  <arg name="i_min" default="36" />
+  <!-- END HSI COLOR FILTER PARAMS -->
+  
+  <!-- GET TRASHBIN HANDLE BY HSI COLOR FILTER -->
+  <group ns="$(arg DEFAULT_NAMESPACE)">
+    <node if="$(arg create_manager)"
+          pkg="nodelet" type="nodelet" name="$(arg manager)"
+          args="manager" output="screen"/>
+
+    <node pkg="nodelet" type="nodelet" name="hsi_filter$(arg FILTER_NAME_SUFFIX)"
+          args="load jsk_pcl/HSIColorFilter $(arg manager)" output="screen">
+      <remap from="~input" to="$(arg INPUT)" />
+      <remap from="~output" to="$(arg OUTPUT)" />
+      <rosparam>
+        use_indices: false
+      </rosparam>
+      <param name="h_limit_max" value="$(arg h_max)" />
+      <param name="h_limit_min" value="$(arg h_min)" />
+      <param name="s_limit_max" value="$(arg s_max)" />
+      <param name="s_limit_min" value="$(arg s_min)" />
+      <param name="i_limit_max" value="$(arg i_max)" />
+      <param name="i_limit_min" value="$(arg i_min)" />
+    </node>
+    <node pkg="nodelet" type="nodelet" name="euclidean_clustering$(arg FILTER_NAME_SUFFIX)"
+          args="load jsk_pcl/EuclideanClustering $(arg manager)" output="screen">
+      <remap from="~input" to="$(arg OUTPUT)" />
+      <rosparam>
+        tolerance: 0.02
+        min_size: 100
+      </rosparam>
+    </node>
+    <node pkg="nodelet" type="nodelet"
+          name="cluster_decomposer$(arg FILTER_NAME_SUFFIX)"
+          args="load jsk_pcl/ClusterPointIndicesDecomposer $(arg manager)"
+          output="screen" clear_params="true">
+      <remap from="~input" to="$(arg OUTPUT)" />
+      <remap from="~target" to="euclidean_clustering$(arg FILTER_NAME_SUFFIX)/output" />
+      <!-- <remap from="~debug_output" to="debug_output$(arg FILTER_NAME_SUFFIX)" /> -->
+      <remap from="~boxes" to="trashbin_handle/boxes$(arg FILTER_NAME_SUFFIX)" />
+      <rosparam>
+        align_boxes: true
+        align_boxes_with_plane: false
+        target_frame_id: base_link
+        use_pca: true
+        force_to_flip_z_axis: false
+      </rosparam>
+    </node>
+    <!-- END GET TRASHBIN HANDLE BY HSI COLOR FILTER -->
+  </group>
+  <!-- START OCCUPANCY DETECTOR -->
+  <node pkg="jsk_fetch_startup" type="trashbin_occupancy_detector"
+        name="trashbin_occupancy_detector"
+        output="screen">
+    <remap from="~trashbin_handle/boxes" to=""/>
+    <rosparam>
+      trashbin_l: 0.38
+      trashbin_w: 0.27
+      trashbin_h: 0.51
+    </rosparam>
+  </node>
+  
+  
+</launch>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp
new file mode 100644
index 0000000000..1f453e9f88
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp
@@ -0,0 +1,86 @@
+#include <opencv/cv.hpp>
+#include <boost/shared_ptr.hpp>
+
+#include <ros/ros.h>
+#include <ros/console.h>
+#include <cv_bridge/cv_bridge.h>
+
+#include <sensor_msgs/PointCloud2.h>
+#include <jsk_recognition_msgs/BoundingBoxArray.h>
+#include <jsk_recognition_msgs/BoundingBox.h>
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/Quaternion.h>
+
+class TrashbinOccupancyDetector{
+private:
+  double _trashbinL, _trashbinW, _trashbinH; // trashbin size param
+  ros::Subscriber _trashbinHandleSub;
+  ros::Publisher _virtualTrashbinContainerPub;
+  geometry_msgs::Quaternion defaultOrientation;
+  
+public:
+  // constructor
+  TrashbinOccupancyDetector(ros::NodeHandle &_nh){
+    _nh.getParam("trashbin_l", this->_trashbinL);
+    _nh.getParam("trashbin_w", this->_trashbinW);
+    _nh.getParam("trashbin_h", this->_trashbinH);
+    this->_trashbinHandleSub = _nh.subscribe("trashbin_handle/boxes", 10, &TrashbinOccupancyDetector::CheckOccupancyCB, this);
+    this->_virtualTrashbinContainerPub = _nh.advertise<jsk_recognition_msgs::BoundingBoxArray>("trashbin_handle/trashbin", 10);
+    // init default orientation const
+    this->defaultOrientation.w = 1.0;
+    this->defaultOrientation.x = 0.0;
+    this->defaultOrientation.y = 0.0;
+    this->defaultOrientation.z = 0.0;
+  };  
+  // destructor
+  ~TrashbinOccupancyDetector(){
+  };
+
+  // draw virtual trashbin container and publish for debugging
+  void DrawVirtualTrashbinContainer(const jsk_recognition_msgs::BoundingBoxArray& handleCandidates){
+    // Expected get non empty array
+    boost::shared_ptr<jsk_recognition_msgs::BoundingBoxArray> handles, trashbins;
+    boost::shared_ptr<jsk_recognition_msgs::BoundingBox> handle, trashbin;
+    boost::shared_ptr<geometry_msgs::Point> handleCenterPosition, trashbinCenterPosition;
+
+    *handles = handleCandidates; // TODO: Do not use all boundingboxes, use most likely trashbins
+
+    for(int i=0; i<handles->boxes.size(); i++){
+      *handle = handles->boxes.at(i);
+      // decide trashbin center position
+      *handleCenterPosition = handle->pose.position;
+      trashbinCenterPosition->x = handleCenterPosition->x + this->_trashbinL/2.0;
+      trashbinCenterPosition->y = handleCenterPosition->y;
+      trashbinCenterPosition->z = handleCenterPosition->z - this->_trashbinH/2.0;
+      // make BoundingBox trashbin
+      trashbin->header = handle->header;
+      trashbin->pose.position = *trashbinCenterPosition;
+      trashbin->pose.orientation = this->defaultOrientation;
+      trashbin->dimensions.x = this->_trashbinL;
+      trashbin->dimensions.y = this->_trashbinW;
+      trashbin->dimensions.z = this->_trashbinH;
+      trashbin->label = i;
+      // push to array
+      trashbins->boxes.push_back(*trashbin);
+    }
+    trashbins->header = handles->header;
+    this->_virtualTrashbinContainerPub.publish(*trashbins);
+  };
+
+  // main callback
+  void CheckOccupancyCB(const jsk_recognition_msgs::BoundingBoxArray& msg){
+    if (msg.boxes.empty()) {
+      ROS_DEBUG("No handle candidates");
+    } else {
+      ROS_DEBUG_STREAM(msg.boxes.size() << " handle candidates" << std::endl);
+      this->DrawVirtualTrashbinContainer(msg);
+    };    
+  };
+};
+
+int main(int argc, char **argv){
+  ros::init(argc, argv, "trashbin_occupancy_detector");
+  ros::NodeHandle pnh("~");
+  TrashbinOccupancyDetector node = TrashbinOccupancyDetector(pnh);
+  return 0;
+}

From 70cc991cfb3a7b3a2ab4b79cdd885cdd01887159 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Fri, 19 Nov 2021 11:18:46 +0900
Subject: [PATCH 094/323] publish trashbin candidates

---
 .../launch/trashbin_occupancy_detector.launch | 58 +++++++++----------
 .../src/trashbin_occupancy_detector.cpp       | 21 +++----
 2 files changed, 38 insertions(+), 41 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
index 2c8b72f2cb..579fdf7453 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
@@ -1,7 +1,7 @@
 <launch>
-  <arg name="INPUT" default="points"/>
+  <arg name="INPUT" default="/head_camera/depth_registered/points"/>
   <arg name="CENTROID_FRAME" default="target"/>
-  <arg name="DEFAULT_NAMESPACE" default="/head_camera/depth_registered"/>
+  <arg name="DEFAULT_NAMESPACE" default="/trashbin_occupancy_detector"/>
   <arg name="FILTER_NAME_SUFFIX" default=""/>
   <arg name="OUTPUT" default="trashbin_handle/hsi_output$(arg FILTER_NAME_SUFFIX)"/>
 
@@ -21,25 +21,24 @@
   <!-- END HSI COLOR FILTER PARAMS -->
   
   <!-- GET TRASHBIN HANDLE BY HSI COLOR FILTER -->
+  <node pkg="nodelet" type="nodelet" name="trashbin_handle_hsi_filter$(arg FILTER_NAME_SUFFIX)"
+        args="load jsk_pcl/HSIColorFilter $(arg DEFAULT_NAMESPACE)/$(arg manager)" output="screen">
+    <remap from="~input" to="$(arg INPUT)" />
+    <remap from="~output" to="$(arg DEFAULT_NAMESPACE)/$(arg OUTPUT)" />
+    <rosparam>
+      use_indices: false
+    </rosparam>
+    <param name="h_limit_max" value="$(arg h_max)" />
+    <param name="h_limit_min" value="$(arg h_min)" />
+    <param name="s_limit_max" value="$(arg s_max)" />
+    <param name="s_limit_min" value="$(arg s_min)" />
+    <param name="i_limit_max" value="$(arg i_max)" />
+    <param name="i_limit_min" value="$(arg i_min)" />
+  </node>
   <group ns="$(arg DEFAULT_NAMESPACE)">
     <node if="$(arg create_manager)"
           pkg="nodelet" type="nodelet" name="$(arg manager)"
           args="manager" output="screen"/>
-
-    <node pkg="nodelet" type="nodelet" name="hsi_filter$(arg FILTER_NAME_SUFFIX)"
-          args="load jsk_pcl/HSIColorFilter $(arg manager)" output="screen">
-      <remap from="~input" to="$(arg INPUT)" />
-      <remap from="~output" to="$(arg OUTPUT)" />
-      <rosparam>
-        use_indices: false
-      </rosparam>
-      <param name="h_limit_max" value="$(arg h_max)" />
-      <param name="h_limit_min" value="$(arg h_min)" />
-      <param name="s_limit_max" value="$(arg s_max)" />
-      <param name="s_limit_min" value="$(arg s_min)" />
-      <param name="i_limit_max" value="$(arg i_max)" />
-      <param name="i_limit_min" value="$(arg i_min)" />
-    </node>
     <node pkg="nodelet" type="nodelet" name="euclidean_clustering$(arg FILTER_NAME_SUFFIX)"
           args="load jsk_pcl/EuclideanClustering $(arg manager)" output="screen">
       <remap from="~input" to="$(arg OUTPUT)" />
@@ -54,7 +53,6 @@
           output="screen" clear_params="true">
       <remap from="~input" to="$(arg OUTPUT)" />
       <remap from="~target" to="euclidean_clustering$(arg FILTER_NAME_SUFFIX)/output" />
-      <!-- <remap from="~debug_output" to="debug_output$(arg FILTER_NAME_SUFFIX)" /> -->
       <remap from="~boxes" to="trashbin_handle/boxes$(arg FILTER_NAME_SUFFIX)" />
       <rosparam>
         align_boxes: true
@@ -65,18 +63,16 @@
       </rosparam>
     </node>
     <!-- END GET TRASHBIN HANDLE BY HSI COLOR FILTER -->
-  </group>
-  <!-- START OCCUPANCY DETECTOR -->
-  <node pkg="jsk_fetch_startup" type="trashbin_occupancy_detector"
-        name="trashbin_occupancy_detector"
+    <!-- START OCCUPANCY DETECTOR -->
+    <node pkg="jsk_fetch_startup" type="trashbin_occupancy_detector"
+        name="trashbin_occupancy_detector_server"
         output="screen">
-    <remap from="~trashbin_handle/boxes" to=""/>
-    <rosparam>
-      trashbin_l: 0.38
-      trashbin_w: 0.27
-      trashbin_h: 0.51
-    </rosparam>
-  </node>
-  
-  
+      <rosparam>
+        trashbin_l: 0.34
+        trashbin_w: 0.24
+        trashbin_h: 0.49
+      </rosparam>
+    </node>
+    <!-- END OCCUPANCY DETECTOR -->
+  </group>
 </launch>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp
index 1f453e9f88..0f8d93bddb 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp
+++ b/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp
@@ -20,12 +20,12 @@ class TrashbinOccupancyDetector{
   
 public:
   // constructor
-  TrashbinOccupancyDetector(ros::NodeHandle &_nh){
-    _nh.getParam("trashbin_l", this->_trashbinL);
-    _nh.getParam("trashbin_w", this->_trashbinW);
-    _nh.getParam("trashbin_h", this->_trashbinH);
+  TrashbinOccupancyDetector(ros::NodeHandle &_nh, ros::NodeHandle &_pnh){
+    _pnh.getParam("trashbin_l", this->_trashbinL);
+    _pnh.getParam("trashbin_w", this->_trashbinW);
+    _pnh.getParam("trashbin_h", this->_trashbinH);
     this->_trashbinHandleSub = _nh.subscribe("trashbin_handle/boxes", 10, &TrashbinOccupancyDetector::CheckOccupancyCB, this);
-    this->_virtualTrashbinContainerPub = _nh.advertise<jsk_recognition_msgs::BoundingBoxArray>("trashbin_handle/trashbin", 10);
+    this->_virtualTrashbinContainerPub = _nh.advertise<jsk_recognition_msgs::BoundingBoxArray>("trashbin/boxes", 10);
     // init default orientation const
     this->defaultOrientation.w = 1.0;
     this->defaultOrientation.x = 0.0;
@@ -39,9 +39,9 @@ class TrashbinOccupancyDetector{
   // draw virtual trashbin container and publish for debugging
   void DrawVirtualTrashbinContainer(const jsk_recognition_msgs::BoundingBoxArray& handleCandidates){
     // Expected get non empty array
-    boost::shared_ptr<jsk_recognition_msgs::BoundingBoxArray> handles, trashbins;
-    boost::shared_ptr<jsk_recognition_msgs::BoundingBox> handle, trashbin;
-    boost::shared_ptr<geometry_msgs::Point> handleCenterPosition, trashbinCenterPosition;
+    boost::shared_ptr<jsk_recognition_msgs::BoundingBoxArray> handles(new jsk_recognition_msgs::BoundingBoxArray), trashbins(new jsk_recognition_msgs::BoundingBoxArray);
+    boost::shared_ptr<jsk_recognition_msgs::BoundingBox> handle(new jsk_recognition_msgs::BoundingBox), trashbin(new jsk_recognition_msgs::BoundingBox);
+    boost::shared_ptr<geometry_msgs::Point> handleCenterPosition(new geometry_msgs::Point), trashbinCenterPosition(new geometry_msgs::Point);
 
     *handles = handleCandidates; // TODO: Do not use all boundingboxes, use most likely trashbins
 
@@ -80,7 +80,8 @@ class TrashbinOccupancyDetector{
 
 int main(int argc, char **argv){
   ros::init(argc, argv, "trashbin_occupancy_detector");
+  ros::NodeHandle nh;
   ros::NodeHandle pnh("~");
-  TrashbinOccupancyDetector node = TrashbinOccupancyDetector(pnh);
-  return 0;
+  TrashbinOccupancyDetector node = TrashbinOccupancyDetector(nh, pnh);
+  ros::spin();
 }

From b0c7a5d4f737818fd476915326af8a8bd4cf1c96 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 7 Dec 2021 16:11:46 +0900
Subject: [PATCH 095/323] Automatically bind rfcomm devices when booting fetch

---
 jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml
index 7b4cc539a8..99a36f2a0e 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml
+++ b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml
@@ -47,3 +47,4 @@ windows:
   - jsk-shutdown: tail -f -n 1000 /var/log/ros/jsk-shutdown.log
   - jsk-rfcomm-bind: tail -f -n 1000 /var/log/ros/jsk-rfcomm-bind.log
   - jsk-dstat: tail -f -n 1000 /var/log/ros/jsk-dstat.log
+  - jsk-rfcomm-bind: tail -f -n 1000 /var/log/ros/jsk-rfcomm-bind.log

From ebe50961a2ac09aa926e77142542be2e8bd229aa Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Tue, 7 Dec 2021 16:16:00 +0900
Subject: [PATCH 096/323] use cropbox and detect whether pointclouds over the
 height of the container

---
 .../jsk_fetch_startup/CMakeLists.txt          |  31 ++++-
 .../jsk_fetch_startup/data/burnable.png       | Bin 0 -> 17972 bytes
 .../jsk_fetch_startup/data/icmark.png         | Bin 0 -> 115170 bytes
 .../jsk_fetch_startup/data/plastic.png        | Bin 0 -> 20095 bytes
 .../launch/trashbin_occupancy_detector.launch | 100 ++++++++++++--
 jsk_fetch_robot/jsk_fetch_startup/package.xml |   2 +
 .../src/container_occupancy_detector.cpp      | 126 ++++++++++++++++++
 ...ector.cpp => trashbins_pose_estimator.cpp} |  62 ++++-----
 8 files changed, 275 insertions(+), 46 deletions(-)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/data/burnable.png
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/data/icmark.png
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/data/plastic.png
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp
 rename jsk_fetch_robot/jsk_fetch_startup/src/{trashbin_occupancy_detector.cpp => trashbins_pose_estimator.cpp} (53%)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt
index b65f51e87e..9b98af04b1 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt
+++ b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt
@@ -12,8 +12,20 @@ endif()
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   roscpp
+  std_msgs
+  sensor_msgs
+  geometry_msgs
+  tf
+  tf2
+  tf2_geometry_msgs
+  tf2_ros
+  tf2_eigen
+  tf2_msgs
+  pcl_ros
+  pcl_conversions
 )
 find_package(Boost REQUIRED COMPONENTS)
+find_package(PCL 1.8 REQUIRED)
 
 ###################################
 ## catkin specific configuration ##
@@ -23,15 +35,24 @@ catkin_package()
 catkin_add_env_hooks(99.jsk_fetch_startup SHELLS bash zsh sh
   DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
 
-#############
-## Install ##
-#############
+###########
+## Build ##
+###########
 include_directories(
   ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
+)
+add_executable(trashbins_pose_estimator src/trashbins_pose_estimator.cpp)
+target_link_libraries(trashbins_pose_estimator
+  ${catkin_LIBRARIES}
+  ${PCL_LIBRARIES}
 )
-add_executable(trashbin_occupancy_detector src/trashbin_occupancy_detector.cpp)
-target_link_libraries(trashbin_occupancy_detector
+add_executable(container_occupancy_detector src/container_occupancy_detector.cpp)
+target_link_libraries(container_occupancy_detector
   ${catkin_LIBRARIES}
+  ${PCL_LIBRARIES}
+  ${Boost_LIBRARIES}
 )
 
 #############
diff --git a/jsk_fetch_robot/jsk_fetch_startup/data/burnable.png b/jsk_fetch_robot/jsk_fetch_startup/data/burnable.png
new file mode 100644
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HcmV?d00001

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
index 579fdf7453..34e45e4e0b 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
@@ -1,5 +1,7 @@
 <launch>
-  <arg name="INPUT" default="/head_camera/depth_registered/points"/>
+  <arg name="POINTCLOUD_INPUT" default="/head_camera/depth_registered/points"/>
+  <arg name="IMAGE_INPUT" default="/head_camera/rgb/image_rect_color"/>
+  <arg name="IMAGE_CAMERAINFO" default="/head_camera/rgb/camera_info"/>
   <arg name="CENTROID_FRAME" default="target"/>
   <arg name="DEFAULT_NAMESPACE" default="/trashbin_occupancy_detector"/>
   <arg name="FILTER_NAME_SUFFIX" default=""/>
@@ -20,10 +22,10 @@
   <arg name="i_min" default="36" />
   <!-- END HSI COLOR FILTER PARAMS -->
   
-  <!-- GET TRASHBIN HANDLE BY HSI COLOR FILTER -->
+  <!-- EXTRACT TRASHBIN HANDLE POINTCLOUDS BY HSI COLOR FILTER -->
   <node pkg="nodelet" type="nodelet" name="trashbin_handle_hsi_filter$(arg FILTER_NAME_SUFFIX)"
         args="load jsk_pcl/HSIColorFilter $(arg DEFAULT_NAMESPACE)/$(arg manager)" output="screen">
-    <remap from="~input" to="$(arg INPUT)" />
+    <remap from="~input" to="$(arg POINTCLOUD_INPUT)" />
     <remap from="~output" to="$(arg DEFAULT_NAMESPACE)/$(arg OUTPUT)" />
     <rosparam>
       use_indices: false
@@ -35,7 +37,17 @@
     <param name="i_limit_max" value="$(arg i_max)" />
     <param name="i_limit_min" value="$(arg i_min)" />
   </node>
+
+  <!-- EXTRACT TRASHBIN LABEL BY IMAGESIFT -->
+  <node name="image_siftnode" pkg="imagesift" type="imagesift" output="screen">
+    <remap from="image" to="$(arg IMAGE_INPUT)" />
+    <remap from="camera_info" to="$(arg IMAGE_CAMERAINFO)" />
+    <remap from="Feature0D" to="$(arg DEFAULT_NAMESPACE)/Feature0D" />
+    <remap from="ImageFeature0D" to="$(arg DEFAULT_NAMESPACE)/ImageFeature0D" />
+  </node>
+
   <group ns="$(arg DEFAULT_NAMESPACE)">
+    <!-- DETECT TRASHBIN HANDLE -->
     <node if="$(arg create_manager)"
           pkg="nodelet" type="nodelet" name="$(arg manager)"
           args="manager" output="screen"/>
@@ -62,10 +74,54 @@
         force_to_flip_z_axis: false
       </rosparam>
     </node>
-    <!-- END GET TRASHBIN HANDLE BY HSI COLOR FILTER -->
-    <!-- START OCCUPANCY DETECTOR -->
-    <node pkg="jsk_fetch_startup" type="trashbin_occupancy_detector"
-        name="trashbin_occupancy_detector_server"
+    
+    <!-- DETECT TRASHBIN POSITION -->
+    <!-- burnable -->
+    <!-- <node name="burnable_trashbin_label_extractor" pkg="jsk_perception" -->
+	  <!--       type="point_pose_extractor" output="screen" > -->
+    <!--   <!-\- params -\-> -->
+    <!--   <param name="child_frame_name" value="burnable_logo"/> -->
+    <!--   <param name="template_filename" value="$(find jsk_fetch_startup)/data/burnable.png"/> -->
+    <!--   <param name="object_width" value="0.210" /> -->
+    <!--   <param name="object_height" value="0.297" /> -->
+    <!--   <param name="reprojection_threshold" value="10.0" /> -->
+    <!--   <param name="distanceratio_threshold" value="0.60" /> -->
+    <!--   <param name="relative_pose" value="0 0 0 0 0 0 1" /> -->
+    <!--   <param name="error_threshold" value="50.0" /> -->
+    <!--   <param name="publish_tf" value="true" /> -->
+    <!--   <!-\- remap topic names -\-> -->
+    <!--   <remap from="ObjectDetection" to="~ObjectDetection" /> -->
+    <!--   <remap from="ObjectDetection_agg" to="~ObjectDetection_agg" /> -->
+    <!--   <remap from="object_pose" to="~object_pose" /> -->
+    <!--   <remap from="tf" to="~tf" /> -->
+    <!--   <!-\- remap service names -\-> -->
+    <!--   <!-\- <remap from="SetTemplate" to="~SetTemplate" /> -\-> -->
+    <!-- </node> -->
+    <!-- plastic -->
+    <!-- <node name="plastic_trashbin_label_extractor" pkg="jsk_perception" -->
+	  <!--       type="point_pose_extractor" output="screen" > -->
+    <!--   <!-\- params -\-> -->
+    <!--   <param name="child_frame_name" value="plastic_logo"/> -->
+    <!--   <param name="template_filename" value="$(find jsk_fetch_startup)/data/plastic.png"/> -->
+    <!--   <param name="object_width" value="0.210" /> -->
+    <!--   <param name="object_height" value="0.297" /> -->
+    <!--   <param name="reprojection_threshold" value="10.0" /> -->
+    <!--   <param name="distanceratio_threshold" value="0.60" /> -->
+    <!--   <param name="relative_pose" value="0 0 0 0 0 0 1" /> -->
+    <!--   <param name="error_threshold" value="50.0" /> -->
+    <!--   <param name="publish_tf" value="true" /> -->
+    <!--   <!-\- remap topic names -\-> -->
+    <!--   <remap from="ObjectDetection" to="~ObjectDetection" /> -->
+    <!--   <remap from="ObjectDetection_agg" to="~ObjectDetection_agg" /> -->
+    <!--   <remap from="object_pose" to="~object_pose" /> -->
+    <!--   <remap from="tf" to="~tf" /> -->
+    <!--   <!-\- remap service names -\-> -->
+    <!--   <remap from="SetTemplate" to="~SetTemplate" /> -->
+    <!-- </node> -->
+
+    <!-- DETECT TRASHBINS (candidates) WITH TRASHBIN HANDLE INFORMATION -->
+    <node pkg="jsk_fetch_startup" type="trashbins_pose_estimator"
+        name="trashbins_pose_estimation_server"
         output="screen">
       <rosparam>
         trashbin_l: 0.34
@@ -73,6 +129,34 @@
         trashbin_h: 0.49
       </rosparam>
     </node>
-    <!-- END OCCUPANCY DETECTOR -->
   </group>
+
+  <node pkg="jsk_fetch_startup" type="container_occupancy_detector"
+        name="container_occupancy_detector"
+        output="screen" respawn="true">
+  </node>
+
+  <!-- CURRENTLY IT DOESN'T WORK WELL... -->
+  <node name="burnable_trashbin_label_extractor" pkg="jsk_perception"
+	      type="point_pose_extractor" output="screen" >
+    <!-- params -->
+    <param name="child_frame_name" value="burnable_logo"/>
+    <param name="template_filename" value="$(find jsk_fetch_startup)/data/burnable.png"/>
+    <param name="object_width" value="0.210" />
+    <param name="object_height" value="0.297" />
+    <param name="reprojection_threshold" value="10.0" />
+    <param name="distanceratio_threshold" value="0.60" />
+    <param name="relative_pose" value="0 0 0 0 0 0 1" />
+    <param name="error_threshold" value="50.0" />
+    <param name="publish_tf" value="true" />
+    <!-- remap topic names -->
+    <remap from="ImageFeature0D" to="$(arg DEFAULT_NAMESPACE)/ImageFeature0D" />
+    <remap from="ObjectDetection" to="~ObjectDetection" />
+    <remap from="ObjectDetection_agg" to="~ObjectDetection_agg" />
+    <remap from="object_pose" to="~object_pose" />
+    <remap from="tf" to="~tf" />
+    <!-- remap service names -->
+    <remap from="SetTemplate" to="~SetTemplate" />
+  </node>
+  
 </launch>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/package.xml b/jsk_fetch_robot/jsk_fetch_startup/package.xml
index 7b40053990..9031016111 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/package.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/package.xml
@@ -36,6 +36,8 @@
   <run_depend>switchbot_ros</run_depend>
   <run_depend>tf2_ros</run_depend>
   <run_depend>voice_text</run_depend>
+  <run_depend>tf2</run_depend>
+  <run_depend>tf2_geometry_msgs</run_depend>
 
   <!-- for fetch_naviation -->
   <run_depend>amcl</run_depend>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp
new file mode 100644
index 0000000000..a26a02593d
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp
@@ -0,0 +1,126 @@
+#include <limits>
+
+#include <boost/shared_ptr.hpp>
+
+#include <pcl_conversions/pcl_conversions.h>
+#include <pcl/common/common.h>
+#include <pcl/filters/crop_box.h>
+#include <pcl/filters/passthrough.h>
+
+#include <ros/ros.h>
+#include <ros/console.h>
+#include <std_msgs/Float32MultiArray.h>
+#include <sensor_msgs/PointCloud2.h>
+#include <jsk_recognition_msgs/BoundingBoxArray.h>
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/Quaternion.h>
+#include <geometry_msgs/TransformStamped.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_sensor_msgs/tf2_sensor_msgs.h>
+#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/buffer.h>
+#include <tf2/transform_datatypes.h>
+#include <tf2_eigen/tf2_eigen.h>
+
+const float FLOAT_MIN = std::numeric_limits<float>::min();
+const float FLOAT_MAX = std::numeric_limits<float>::max();
+
+class ContainerOccupancyDetector{
+private:
+  ros::Subscriber _containerBoxesSub;
+  ros::Subscriber _pointCloudSub;
+  ros::Publisher _debugPointPub;
+  ros::Publisher _occupancyPub;
+  geometry_msgs::Quaternion defaultOrientation;
+  jsk_recognition_msgs::BoundingBoxArray _containerBoxes;
+  sensor_msgs::PointCloud2 _transformedCloudMsg;
+  tf2_ros::Buffer _tfBuffer;
+  tf2_ros::TransformListener* _tfListener;
+  // geometry_msgs::TransformStamped _transformStamped;
+
+public:
+  // constructor
+  ContainerOccupancyDetector(ros::NodeHandle &_nh, ros::NodeHandle &_pnh){
+    this->_tfListener = new tf2_ros::TransformListener(_tfBuffer);
+    this->_containerBoxesSub = _nh.subscribe("trashbin_occupancy_detector/trashbin/boxes", 10, &ContainerOccupancyDetector::CalculateOccupancyCB, this);
+    this->_pointCloudSub = _nh.subscribe("head_camera/depth_registered/points", 10, &ContainerOccupancyDetector::PointCloudTransformCB, this); // TODO: rename topic name
+    this->_debugPointPub = _nh.advertise<sensor_msgs::PointCloud2>("debug_pointcloud", 10);
+    this->_occupancyPub = _nh.advertise<std_msgs::Float32MultiArray>("container_occupancy", 10);
+    // init default orientation const
+    this->defaultOrientation.w = 1.0;
+    this->defaultOrientation.x = 0.0;
+    this->defaultOrientation.y = 0.0;
+    this->defaultOrientation.z = 0.0;
+    
+  };
+  // destructor
+  ~ContainerOccupancyDetector(){
+    delete this->_tfListener;
+    ROS_INFO("Killing node...");
+  };
+
+  void PointCloudTransformCB(const sensor_msgs::PointCloud2::ConstPtr& msg){
+    geometry_msgs::TransformStamped transformStamped;
+    try {
+      transformStamped = _tfBuffer.lookupTransform("base_link", msg->header.frame_id, msg->header.stamp, ros::Duration(10.0));
+      tf2::doTransform(*msg, this->_transformedCloudMsg, transformStamped);
+      this->_debugPointPub.publish(this->_transformedCloudMsg);
+    } catch(tf2::TransformException &ex) {
+      ROS_WARN("Failed to transform tf");
+      ROS_WARN("%s", ex.what());
+    }
+  };
+
+  void CalculateOccupancyCB(const jsk_recognition_msgs::BoundingBoxArray& msg){
+    const sensor_msgs::PointCloud2 inputCloud = _transformedCloudMsg;
+    pcl::PCLPointCloud2 pclPC2;
+    pcl::PointCloud<pcl::PointXYZ>::Ptr pclCloud(new pcl::PointCloud<pcl::PointXYZ>);
+    std_msgs::Float32MultiArray occupancy;
+    occupancy.data.resize(msg.boxes.size());
+    if (!inputCloud.data.empty()){
+      // convert to PCL cloud
+      pcl_conversions::toPCL(inputCloud, pclPC2);
+      pcl::fromPCLPointCloud2(pclPC2, *pclCloud);
+      for (int i=0; i<msg.boxes.size(); i++){
+        // calculate each bounding boxes
+        // pcl::PassThrough<pcl::PointXYZ> filter;
+        pcl::CropBox<pcl::PointXYZ> boxFilter;
+        pcl::PointCloud<pcl::PointXYZ>::Ptr boxFilteredCloud (new pcl::PointCloud<pcl::PointXYZ>);
+        pcl::PointXYZ minPt, maxPt;
+        boxFilter.setMin(Eigen::Vector4f(
+                           (msg.boxes.at(i).pose.position.x - msg.boxes.at(i).dimensions.x / 2.0),
+                           (msg.boxes.at(i).pose.position.y - msg.boxes.at(i).dimensions.y / 2.0),
+                           FLOAT_MIN,
+                           1.0f));
+        boxFilter.setMax(Eigen::Vector4f(
+                           (msg.boxes.at(i).pose.position.x + msg.boxes.at(i).dimensions.x / 2.0),
+                           (msg.boxes.at(i).pose.position.y + msg.boxes.at(i).dimensions.y / 2.0),
+                           FLOAT_MAX,
+                           1.0f));
+        boxFilter.setInputCloud(pclCloud);
+        boxFilter.filter(*boxFilteredCloud);
+        pcl::getMinMax3D (*boxFilteredCloud, minPt, maxPt);
+        ROS_INFO_STREAM("maxPt.z: " << maxPt.z << std::endl);
+        if(maxPt.z > msg.boxes.at(i).pose.position.z + msg.boxes.at(i).dimensions.z / 2.0){
+          // if some point clouds in boundingbox over bounding height
+          // TODO publish occupancy instead
+          occupancy.data.push_back(1.0);
+        } else {
+          occupancy.data.push_back(0.0);
+        }
+      }
+      this->_occupancyPub.publish(occupancy);
+    } else {
+      ROS_WARN("No input point clouds.");
+    }
+    
+  };
+};
+
+int main(int argc, char **argv){
+  ros::init(argc, argv, "container_occupancy_detector");
+  ros::NodeHandle nh;
+  ros::NodeHandle pnh("~");
+  ContainerOccupancyDetector node(nh, pnh);
+  ros::spin();
+}
diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/trashbins_pose_estimator.cpp
similarity index 53%
rename from jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp
rename to jsk_fetch_robot/jsk_fetch_startup/src/trashbins_pose_estimator.cpp
index 0f8d93bddb..633b40f495 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/src/trashbin_occupancy_detector.cpp
+++ b/jsk_fetch_robot/jsk_fetch_startup/src/trashbins_pose_estimator.cpp
@@ -1,30 +1,30 @@
-#include <opencv/cv.hpp>
 #include <boost/shared_ptr.hpp>
 
 #include <ros/ros.h>
 #include <ros/console.h>
-#include <cv_bridge/cv_bridge.h>
-
-#include <sensor_msgs/PointCloud2.h>
 #include <jsk_recognition_msgs/BoundingBoxArray.h>
 #include <jsk_recognition_msgs/BoundingBox.h>
 #include <geometry_msgs/Point.h>
 #include <geometry_msgs/Quaternion.h>
+#include <geometry_msgs/TransformStamped.h>
 
-class TrashbinOccupancyDetector{
+class TrashbinsPoseEstimator{
 private:
   double _trashbinL, _trashbinW, _trashbinH; // trashbin size param
   ros::Subscriber _trashbinHandleSub;
+  ros::Subscriber _pointCloud;
   ros::Publisher _virtualTrashbinContainerPub;
+  jsk_recognition_msgs::BoundingBoxArray _trashbins; // trashbin object
   geometry_msgs::Quaternion defaultOrientation;
-  
+
 public:
   // constructor
-  TrashbinOccupancyDetector(ros::NodeHandle &_nh, ros::NodeHandle &_pnh){
+  TrashbinsPoseEstimator(ros::NodeHandle &_nh, ros::NodeHandle &_pnh){
     _pnh.getParam("trashbin_l", this->_trashbinL);
     _pnh.getParam("trashbin_w", this->_trashbinW);
     _pnh.getParam("trashbin_h", this->_trashbinH);
-    this->_trashbinHandleSub = _nh.subscribe("trashbin_handle/boxes", 10, &TrashbinOccupancyDetector::CheckOccupancyCB, this);
+    this->_trashbinHandleSub = _nh.subscribe("trashbin_handle/boxes", 10, &TrashbinsPoseEstimator::DrawVirtualTrashbinContainerCB, this);
+    // this->_pointCloud = _nh.subscribe("points", 10, &TrashbinOccupancyDetector::CalculateOccupancyCB, this);
     this->_virtualTrashbinContainerPub = _nh.advertise<jsk_recognition_msgs::BoundingBoxArray>("trashbin/boxes", 10);
     // init default orientation const
     this->defaultOrientation.w = 1.0;
@@ -33,25 +33,30 @@ class TrashbinOccupancyDetector{
     this->defaultOrientation.z = 0.0;
   };  
   // destructor
-  ~TrashbinOccupancyDetector(){
+  ~TrashbinsPoseEstimator(){
+    ROS_INFO("Killing node...");
   };
 
   // draw virtual trashbin container and publish for debugging
-  void DrawVirtualTrashbinContainer(const jsk_recognition_msgs::BoundingBoxArray& handleCandidates){
-    // Expected get non empty array
-    boost::shared_ptr<jsk_recognition_msgs::BoundingBoxArray> handles(new jsk_recognition_msgs::BoundingBoxArray), trashbins(new jsk_recognition_msgs::BoundingBoxArray);
-    boost::shared_ptr<jsk_recognition_msgs::BoundingBox> handle(new jsk_recognition_msgs::BoundingBox), trashbin(new jsk_recognition_msgs::BoundingBox);
-    boost::shared_ptr<geometry_msgs::Point> handleCenterPosition(new geometry_msgs::Point), trashbinCenterPosition(new geometry_msgs::Point);
-
-    *handles = handleCandidates; // TODO: Do not use all boundingboxes, use most likely trashbins
+  void DrawVirtualTrashbinContainerCB(const jsk_recognition_msgs::BoundingBoxArray& msg){
+  boost::shared_ptr<jsk_recognition_msgs::BoundingBoxArray> handles(new jsk_recognition_msgs::BoundingBoxArray), trashbins(new jsk_recognition_msgs::BoundingBoxArray);
+  boost::shared_ptr<jsk_recognition_msgs::BoundingBox> handle(new jsk_recognition_msgs::BoundingBox), trashbin(new jsk_recognition_msgs::BoundingBox);
+  boost::shared_ptr<geometry_msgs::Point> handleCenterPosition(new geometry_msgs::Point), trashbinCenterPosition(new geometry_msgs::Point);
 
-    for(int i=0; i<handles->boxes.size(); i++){
+  if (msg.boxes.empty()) {
+    ROS_DEBUG("No handle candidates");
+  } else {
+    ROS_DEBUG_STREAM(msg.boxes.size() << " handle candidates" << std::endl);
+    *handles = msg;
+    for (int i = 0; i < handles->boxes.size(); i++) {
       *handle = handles->boxes.at(i);
       // decide trashbin center position
       *handleCenterPosition = handle->pose.position;
-      trashbinCenterPosition->x = handleCenterPosition->x + this->_trashbinL/2.0;
+      trashbinCenterPosition->x =
+          handleCenterPosition->x + this->_trashbinL / 2.0;
       trashbinCenterPosition->y = handleCenterPosition->y;
-      trashbinCenterPosition->z = handleCenterPosition->z - this->_trashbinH/2.0;
+      trashbinCenterPosition->z =
+          handleCenterPosition->z - this->_trashbinH / 2.0;
       // make BoundingBox trashbin
       trashbin->header = handle->header;
       trashbin->pose.position = *trashbinCenterPosition;
@@ -60,28 +65,19 @@ class TrashbinOccupancyDetector{
       trashbin->dimensions.y = this->_trashbinW;
       trashbin->dimensions.z = this->_trashbinH;
       trashbin->label = i;
-      // push to array
       trashbins->boxes.push_back(*trashbin);
     }
     trashbins->header = handles->header;
     this->_virtualTrashbinContainerPub.publish(*trashbins);
-  };
-
-  // main callback
-  void CheckOccupancyCB(const jsk_recognition_msgs::BoundingBoxArray& msg){
-    if (msg.boxes.empty()) {
-      ROS_DEBUG("No handle candidates");
-    } else {
-      ROS_DEBUG_STREAM(msg.boxes.size() << " handle candidates" << std::endl);
-      this->DrawVirtualTrashbinContainer(msg);
-    };    
-  };
+    this->_trashbins = *trashbins;
+  }
+  }
 };
 
 int main(int argc, char **argv){
-  ros::init(argc, argv, "trashbin_occupancy_detector");
+  ros::init(argc, argv, "trashbin_pose_estimator");
   ros::NodeHandle nh;
   ros::NodeHandle pnh("~");
-  TrashbinOccupancyDetector node = TrashbinOccupancyDetector(nh, pnh);
+  TrashbinsPoseEstimator node = TrashbinsPoseEstimator(nh, pnh);
   ros::spin();
 }

From a39b82a6b61b243fdb1f092afa09f14f6c5976d4 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Tue, 7 Dec 2021 17:30:13 +0900
Subject: [PATCH 097/323] change output message type, use boundingboxarray

---
 .../src/container_occupancy_detector.cpp      | 58 ++++++++++---------
 1 file changed, 30 insertions(+), 28 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp
index a26a02593d..ac63579adc 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp
+++ b/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp
@@ -9,7 +9,6 @@
 
 #include <ros/ros.h>
 #include <ros/console.h>
-#include <std_msgs/Float32MultiArray.h>
 #include <sensor_msgs/PointCloud2.h>
 #include <jsk_recognition_msgs/BoundingBoxArray.h>
 #include <geometry_msgs/Point.h>
@@ -45,13 +44,12 @@ class ContainerOccupancyDetector{
     this->_containerBoxesSub = _nh.subscribe("trashbin_occupancy_detector/trashbin/boxes", 10, &ContainerOccupancyDetector::CalculateOccupancyCB, this);
     this->_pointCloudSub = _nh.subscribe("head_camera/depth_registered/points", 10, &ContainerOccupancyDetector::PointCloudTransformCB, this); // TODO: rename topic name
     this->_debugPointPub = _nh.advertise<sensor_msgs::PointCloud2>("debug_pointcloud", 10);
-    this->_occupancyPub = _nh.advertise<std_msgs::Float32MultiArray>("container_occupancy", 10);
+    this->_occupancyPub = _nh.advertise<jsk_recognition_msgs::BoundingBoxArray>("container_occupancy", 10);
     // init default orientation const
     this->defaultOrientation.w = 1.0;
     this->defaultOrientation.x = 0.0;
     this->defaultOrientation.y = 0.0;
-    this->defaultOrientation.z = 0.0;
-    
+    this->defaultOrientation.z = 0.0;    
   };
   // destructor
   ~ContainerOccupancyDetector(){
@@ -75,41 +73,45 @@ class ContainerOccupancyDetector{
     const sensor_msgs::PointCloud2 inputCloud = _transformedCloudMsg;
     pcl::PCLPointCloud2 pclPC2;
     pcl::PointCloud<pcl::PointXYZ>::Ptr pclCloud(new pcl::PointCloud<pcl::PointXYZ>);
-    std_msgs::Float32MultiArray occupancy;
-    occupancy.data.resize(msg.boxes.size());
+    jsk_recognition_msgs::BoundingBoxArray boxOccupancy = msg;
     if (!inputCloud.data.empty()){
       // convert to PCL cloud
       pcl_conversions::toPCL(inputCloud, pclPC2);
       pcl::fromPCLPointCloud2(pclPC2, *pclCloud);
-      for (int i=0; i<msg.boxes.size(); i++){
+      for (int i = 0; i < msg.boxes.size(); i++) {
         // calculate each bounding boxes
         // pcl::PassThrough<pcl::PointXYZ> filter;
         pcl::CropBox<pcl::PointXYZ> boxFilter;
-        pcl::PointCloud<pcl::PointXYZ>::Ptr boxFilteredCloud (new pcl::PointCloud<pcl::PointXYZ>);
+        pcl::PointCloud<pcl::PointXYZ>::Ptr boxFilteredCloud(
+            new pcl::PointCloud<pcl::PointXYZ>);
         pcl::PointXYZ minPt, maxPt;
-        boxFilter.setMin(Eigen::Vector4f(
-                           (msg.boxes.at(i).pose.position.x - msg.boxes.at(i).dimensions.x / 2.0),
-                           (msg.boxes.at(i).pose.position.y - msg.boxes.at(i).dimensions.y / 2.0),
-                           FLOAT_MIN,
-                           1.0f));
-        boxFilter.setMax(Eigen::Vector4f(
-                           (msg.boxes.at(i).pose.position.x + msg.boxes.at(i).dimensions.x / 2.0),
-                           (msg.boxes.at(i).pose.position.y + msg.boxes.at(i).dimensions.y / 2.0),
-                           FLOAT_MAX,
-                           1.0f));
+        float occupancy;
+        boxFilter.setMin(Eigen::Vector4f((msg.boxes.at(i).pose.position.x -
+                                          msg.boxes.at(i).dimensions.x / 2.0),
+                                         (msg.boxes.at(i).pose.position.y -
+                                          msg.boxes.at(i).dimensions.y / 2.0),
+                                         FLOAT_MIN, 1.0f));
+        boxFilter.setMax(Eigen::Vector4f((msg.boxes.at(i).pose.position.x +
+                                          msg.boxes.at(i).dimensions.x / 2.0),
+                                         (msg.boxes.at(i).pose.position.y +
+                                          msg.boxes.at(i).dimensions.y / 2.0),
+                                         FLOAT_MAX, 1.0f));
         boxFilter.setInputCloud(pclCloud);
         boxFilter.filter(*boxFilteredCloud);
-        pcl::getMinMax3D (*boxFilteredCloud, minPt, maxPt);
-        ROS_INFO_STREAM("maxPt.z: " << maxPt.z << std::endl);
-        if(maxPt.z > msg.boxes.at(i).pose.position.z + msg.boxes.at(i).dimensions.z / 2.0){
-          // if some point clouds in boundingbox over bounding height
-          // TODO publish occupancy instead
-          occupancy.data.push_back(1.0);
-        } else {
-          occupancy.data.push_back(0.0);
-        }
+        pcl::getMinMax3D(*boxFilteredCloud, minPt, maxPt);
+        ROS_INFO_STREAM(
+            "box_id: " << i << " box_pos: " << msg.boxes.at(i).pose.position
+                       << " box_height: "
+                       << msg.boxes.at(i).pose.position.z +
+                              msg.boxes.at(i).dimensions.z / 2.0
+                       << " maxPt.z: " << maxPt.z); // TODO Move to debug stream
+        occupancy = maxPt.z / (msg.boxes.at(i).pose.position.z +
+                               msg.boxes.at(i).dimensions.z / 2.0);
+        // if some point clouds in boundingbox over bounding height
+        // TODO publish occupancy instead
+        boxOccupancy.boxes.at(i).value = occupancy;
       }
-      this->_occupancyPub.publish(occupancy);
+      this->_occupancyPub.publish(boxOccupancy);
     } else {
       ROS_WARN("No input point clouds.");
     }

From f415b4a332fdcf0d220489020cf7f1fd0bbb8aae Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Tue, 7 Dec 2021 18:31:15 +0900
Subject: [PATCH 098/323] modify name space

---
 .../launch/trashbin_occupancy_detector.launch |  6 ++++++
 .../src/container_occupancy_detector.cpp      | 20 +++++++++----------
 .../src/trashbins_pose_estimator.cpp          |  5 ++---
 3 files changed, 17 insertions(+), 14 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
index 34e45e4e0b..94ab593d4c 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
@@ -128,12 +128,18 @@
         trashbin_w: 0.24
         trashbin_h: 0.49
       </rosparam>
+      <remap from="input" to="trashbin_handle/boxes" />
+      <remap from="output" to="trashbin/boxes" />
     </node>
   </group>
 
   <node pkg="jsk_fetch_startup" type="container_occupancy_detector"
         name="container_occupancy_detector"
         output="screen" respawn="true">
+    <remap from="input_boxes" to="$(arg DEFAULT_NAMESPACE)/trashbin/boxes" />
+    <remap from="input_cloud" to="$(arg POINTCLOUD_INPUT)" />
+    <remap from="debug_cloud" to="$(arg POINTCLOUD_INPUT)/debug/points" />
+    <remap from="output_boxes" to="$(arg DEFAULT_NAMESPACE)/trashbin/occupancy" />
   </node>
 
   <!-- CURRENTLY IT DOESN'T WORK WELL... -->
diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp
index ac63579adc..9203bfe01a 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp
+++ b/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp
@@ -26,25 +26,23 @@ const float FLOAT_MAX = std::numeric_limits<float>::max();
 
 class ContainerOccupancyDetector{
 private:
-  ros::Subscriber _containerBoxesSub;
-  ros::Subscriber _pointCloudSub;
-  ros::Publisher _debugPointPub;
-  ros::Publisher _occupancyPub;
+  std::string _inputBoxes, _inputCloud, _debugCloud, _outputBoxes;
+  ros::Subscriber _containerBoxesSub, _pointCloudSub;
+  ros::Publisher _debugPointPub, _occupancyPub;
   geometry_msgs::Quaternion defaultOrientation;
   jsk_recognition_msgs::BoundingBoxArray _containerBoxes;
   sensor_msgs::PointCloud2 _transformedCloudMsg;
   tf2_ros::Buffer _tfBuffer;
   tf2_ros::TransformListener* _tfListener;
-  // geometry_msgs::TransformStamped _transformStamped;
 
 public:
   // constructor
   ContainerOccupancyDetector(ros::NodeHandle &_nh, ros::NodeHandle &_pnh){
     this->_tfListener = new tf2_ros::TransformListener(_tfBuffer);
-    this->_containerBoxesSub = _nh.subscribe("trashbin_occupancy_detector/trashbin/boxes", 10, &ContainerOccupancyDetector::CalculateOccupancyCB, this);
-    this->_pointCloudSub = _nh.subscribe("head_camera/depth_registered/points", 10, &ContainerOccupancyDetector::PointCloudTransformCB, this); // TODO: rename topic name
-    this->_debugPointPub = _nh.advertise<sensor_msgs::PointCloud2>("debug_pointcloud", 10);
-    this->_occupancyPub = _nh.advertise<jsk_recognition_msgs::BoundingBoxArray>("container_occupancy", 10);
+    this->_containerBoxesSub = _nh.subscribe("input_boxes", 10, &ContainerOccupancyDetector::CalculateOccupancyCB, this);
+    this->_pointCloudSub = _nh.subscribe("input_cloud", 10, &ContainerOccupancyDetector::PointCloudTransformCB, this);
+    this->_debugPointPub = _nh.advertise<sensor_msgs::PointCloud2>("debug_cloud", 10);
+    this->_occupancyPub = _nh.advertise<jsk_recognition_msgs::BoundingBoxArray>("output_boxes", 10);
     // init default orientation const
     this->defaultOrientation.w = 1.0;
     this->defaultOrientation.x = 0.0;
@@ -99,12 +97,12 @@ class ContainerOccupancyDetector{
         boxFilter.setInputCloud(pclCloud);
         boxFilter.filter(*boxFilteredCloud);
         pcl::getMinMax3D(*boxFilteredCloud, minPt, maxPt);
-        ROS_INFO_STREAM(
+        ROS_DEBUG_STREAM(
             "box_id: " << i << " box_pos: " << msg.boxes.at(i).pose.position
                        << " box_height: "
                        << msg.boxes.at(i).pose.position.z +
                               msg.boxes.at(i).dimensions.z / 2.0
-                       << " maxPt.z: " << maxPt.z); // TODO Move to debug stream
+                       << " maxPt.z: " << maxPt.z);
         occupancy = maxPt.z / (msg.boxes.at(i).pose.position.z +
                                msg.boxes.at(i).dimensions.z / 2.0);
         // if some point clouds in boundingbox over bounding height
diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/trashbins_pose_estimator.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/trashbins_pose_estimator.cpp
index 633b40f495..0adecd9ffb 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/src/trashbins_pose_estimator.cpp
+++ b/jsk_fetch_robot/jsk_fetch_startup/src/trashbins_pose_estimator.cpp
@@ -23,9 +23,8 @@ class TrashbinsPoseEstimator{
     _pnh.getParam("trashbin_l", this->_trashbinL);
     _pnh.getParam("trashbin_w", this->_trashbinW);
     _pnh.getParam("trashbin_h", this->_trashbinH);
-    this->_trashbinHandleSub = _nh.subscribe("trashbin_handle/boxes", 10, &TrashbinsPoseEstimator::DrawVirtualTrashbinContainerCB, this);
-    // this->_pointCloud = _nh.subscribe("points", 10, &TrashbinOccupancyDetector::CalculateOccupancyCB, this);
-    this->_virtualTrashbinContainerPub = _nh.advertise<jsk_recognition_msgs::BoundingBoxArray>("trashbin/boxes", 10);
+    this->_trashbinHandleSub = _nh.subscribe("input", 10, &TrashbinsPoseEstimator::DrawVirtualTrashbinContainerCB, this);
+    this->_virtualTrashbinContainerPub = _nh.advertise<jsk_recognition_msgs::BoundingBoxArray>("output", 10);
     // init default orientation const
     this->defaultOrientation.w = 1.0;
     this->defaultOrientation.x = 0.0;

From 3dbbe9547b201ce61840d993ca48584abe966e8a Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Wed, 8 Dec 2021 00:02:05 +0900
Subject: [PATCH 099/323] Publish CO2 concentration in go-to-kitchen app

---
 .../apps/go_to_kitchen/go_to_kitchen.xml             |  9 +++++++++
 .../jsk_fetch_startup/euslisp/navigation-utils.l     | 12 ++++++++++++
 2 files changed, 21 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index 21c0673ed6..f2c79b309f 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -10,6 +10,15 @@
     <param name="score_thresh" type="double" value="0.60" /> <!-- default: 0.6 -->
   </node>
 
+  <!-- Use m5stack_ros -->
+  <!-- See https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/289 -->
+  <node name="rosserial_m5stack" pkg="rosserial_python" type="serial_node.py">
+    <rosparam>
+      port: /dev/rfcomm0 <!-- See /var/lib/robot/rfcomm_devices.yaml -->
+      baud: 115200
+    </rosparam>
+  </node>
+
   <node name="$(anon rviz)" pkg="rviz" type="rviz"
         args="-d $(find jsk_fetch_startup)/config/jsk_startup_record.rviz">
     <env name="DISPLAY" value=":0" />
diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 41f3b1ebd9..8d8d25c46f 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -325,6 +325,17 @@ Args:
                   location
                   (format nil "~A is found" label-names)))))
 
+(defun notify-co2 (&key (location "kitchen"))
+  (let* ((msg (one-shot-subscribe "/eco2" std_msgs::UInt16
+                                  :timeout 3000)))
+    (when msg
+      (ros::ros-info
+       (format nil "Notify app that co2 concentration is measured."))
+      (notify-app "CO2 concentration"
+                  (ros::time-now)
+                  location
+                  (format nil "CO2 concentration is ~A ppm" (send msg :data))))))
+
 (defun inspect-kitchen (&key (tweet t))
   (report-move-to-sink-front-success)
   (if tweet
@@ -333,6 +344,7 @@ Args:
       (tweet-string "I took a photo at 73B2 Kitchen stove." :warning-time 3
                     :with-image "/edgetpu_object_detector/output/image" :speak t)
       (notify-recognition :location "kitchen stove")
+      (notify-co2 :location "kitchen stove")
       (send *ri* :go-pos-unsafe 0 0 -45)
       ;; sink
       (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3

From a0b721835729c7f78d4f50d4a0d0e26193e83705 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Thu, 9 Dec 2021 20:11:56 +0900
Subject: [PATCH 100/323] add TODO

---
 .../launch/trashbin_occupancy_detector.launch          | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
index 94ab593d4c..b249e560b4 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
@@ -123,9 +123,15 @@
     <node pkg="jsk_fetch_startup" type="trashbins_pose_estimator"
         name="trashbins_pose_estimation_server"
         output="screen">
+      <!-- TODO adjust to trashbin in 73B2 -->
+      <!-- <rosparam> -->
+      <!--   trashbin_l: 0.34 -->
+      <!--   trashbin_w: 0.24 -->
+      <!--   trashbin_h: 0.49 -->
+      <!-- </rosparam> -->
       <rosparam>
-        trashbin_l: 0.34
-        trashbin_w: 0.24
+        trashbin_l: 0.3
+        trashbin_w: 0.2
         trashbin_h: 0.49
       </rosparam>
       <remap from="input" to="trashbin_handle/boxes" />

From 88e2990502ada2c7e021d979795651060c63b514 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Fri, 17 Dec 2021 10:40:00 +0900
Subject: [PATCH 101/323] [jsk_fetch_robot] update jsk_recongition branch

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index f07ab8054d..adcca9e1df 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -41,16 +41,17 @@
     local-name: jsk-ros-pkg/jsk_pr2eus
     uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git
     version: master
-# we need to use the development branch (throttle-insta360 branch in 708yamaguchi's fork)
-# Restore jsk-ros-pkg/jsk_recognition master branch if https://github.com/jsk-ros-pkg/jsk_recognition/pull/2596 is merged.
+# we need to use the development branch until PR below are merged.
+#  - https://github.com/jsk-ros-pkg/jsk_recognition/pull/2642
+# Restore jsk-ros-pkg/jsk_recognition master branch when the PRs are merged.
 # - 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_recognition
-    uri: https://github.com/708yamaguchi/jsk_recognition.git
-    version: throttle-insta360
+    uri: https://github.com/sktometometo/jsk_recognition.git
+    version: develop/fetch
 # we need to use the development branch (fetch15 branch in knorth55's fork)
 # until it is merged to master
 - git:

From 001cb758bdabe7df755bbcf47bc9f45526288ca6 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Sun, 19 Dec 2021 17:25:47 +0900
Subject: [PATCH 102/323] [jsk_fetch_startup] Add take-photo function

---
 .../jsk_fetch_startup/euslisp/navigation-utils.l   | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 8d8d25c46f..d2dacee4af 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -9,6 +9,7 @@
 (ros::load-ros-manifest "jsk_robot_startup")
 (ros::load-ros-manifest "jsk_recognition_msgs")
 (ros::load-ros-manifest "power_msgs")
+(ros::load-ros-manifest "sensor_msgs")
 
 (defparameter *dock-action* nil)
 (defparameter *undock-action* nil)
@@ -314,6 +315,18 @@ Args:
   (ros::ros-info "room light is off.")
   (send *ri* :speak-jp "電気が消えています。" :wait t))
 
+(defun take-photo (file-name
+                   &optional (image-topic "/edgetpu_object_detector/output/image"))
+  (let ((img nil))
+    (unix::system (format nil "rm -f /tmp/~A" file-name))
+    (setq img (one-shot-subscribe image-topic sensor_msgs::Image :timeout 1000))
+    (if img
+        (progn
+          (write-image-file (format nil "/tmp/~A" file-name)
+                            (ros::sensor_msgs/Image->image img))
+          (ros::ros-info "taking a photo ~A" file-name))
+        (ros::ros-error "fail saving image"))))
+
 (defun notify-recognition (&key (location "kitchen"))
   (let* ((msg (one-shot-subscribe "/edgetpu_object_detector/output/class"
                                   jsk_recognition_msgs::ClassificationResult))
@@ -379,6 +392,7 @@ Args:
         (send *ri* :wait-interpolation)
         (tweet-string "I took a photo of 73B2 trash can inside." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
+        (take-photo "trashcan_inside.jpg")
         (notify-recognition :location "trash cans inside")
         (send *ri* :go-pos-unsafe -0.2 0 0))
     (progn

From 9e464ab9f5bb377b6feaee06e0a15c2bb8e77156 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Sun, 19 Dec 2021 17:26:18 +0900
Subject: [PATCH 103/323] [jsk_fetch_startup] Add trashcan_inside picture

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app      | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index e10836f0f9..513531b6ba 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -111,6 +111,7 @@ plugins:
         - /tmp/go_to_kitchen_rviz.avi
         - /tmp/go_to_kitchen_audio.wav
         - /tmp/go_to_kitchen_rosbag.bag
+        - /tmp/trashcan_inside.jpg
       upload_file_titles:
         - go_to_kitchen_result.yaml
         - go_to_kitchen_head_camera.avi
@@ -119,6 +120,7 @@ plugins:
         - go_to_kitchen_rviz.avi
         - go_to_kitchen_audio.wav
         - go_to_kitchen_rosbag.bag
+        - trashcan_inside.jpg
       upload_parents_path: fetch_go_to_kitchen
       upload_server_name: /gdrive_server
   - name: tweet_notifier_plugin

From 4534255f05057f389c3b73def0c02c6213b4c9ff Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Sun, 19 Dec 2021 18:06:35 +0900
Subject: [PATCH 104/323] Add trashcan occupancy detection to
 navigation-utils.l

---
 .../euslisp/navigation-utils.l                | 20 +++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index d2dacee4af..c98b112223 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -349,6 +349,25 @@ Args:
                   location
                   (format nil "CO2 concentration is ~A ppm" (send msg :data))))))
 
+(defun notify-trashcan-occupancy (&key (location "kitchen"))
+  (let* ((msg (one-shot-subscribe "/trashbin_occupancy_detect/trashbin/occupancy"
+                                  jsk_recognition_msgs::BoundingBoxArray
+                                  :timeout 3000))
+         (occupancy (send msg :boxes :value))
+         (notify-text nil))
+    (when occupancy
+      (ros::ros-info
+       (format nil "Notify app that the occupancy of trash can is measured."))
+      (if (> occupancy 1.0)
+        (setq notify-text "Trashcan occupancy is full.")
+        (setq notify-text "Trashcan occupancy is not full."))
+      (notify-app "trashcan occupancy"
+                  (ros::time-now)
+                  location
+                  (format nil "~A Trashcan occupancy is ~A%."
+                              notify-text
+                              (* 100 occupancy))))))
+
 (defun inspect-kitchen (&key (tweet t))
   (report-move-to-sink-front-success)
   (if tweet
@@ -394,6 +413,7 @@ Args:
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
         (take-photo "trashcan_inside.jpg")
         (notify-recognition :location "trash cans inside")
+        (notify-trashcan-occupancy :location "trash can")
         (send *ri* :go-pos-unsafe -0.2 0 0))
     (progn
       (notify-recognition :location "trash cans"))))

From 5859cc906c9f29ef3f0e5c513b73a6453e533b3d Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Sun, 19 Dec 2021 18:07:08 +0900
Subject: [PATCH 105/323] Add trashcan occupancy detection to go_to_kitchen.xml

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml     | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index f2c79b309f..229bd5f8b0 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -19,6 +19,9 @@
     </rosparam>
   </node>
 
+  <!-- Trash can occupancy detector -->
+  <include file="$(find jsk_fetch_startup)/launch/trashbin_occupancy_detector.launch" />
+
   <node name="$(anon rviz)" pkg="rviz" type="rviz"
         args="-d $(find jsk_fetch_startup)/config/jsk_startup_record.rviz">
     <env name="DISPLAY" value=":0" />

From c8663d24a97ffce6f4f318bbc88efd5259ecc970 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Tue, 21 Dec 2021 17:33:57 +0900
Subject: [PATCH 106/323] not displaying burnable_trashbin_label_extractor
 window as default

---
 .../jsk_fetch_startup/launch/trashbin_occupancy_detector.launch  | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
index b249e560b4..cdae23dda3 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
@@ -161,6 +161,7 @@
     <param name="relative_pose" value="0 0 0 0 0 0 1" />
     <param name="error_threshold" value="50.0" />
     <param name="publish_tf" value="true" />
+    <param name="viewer_window" value="false" />
     <!-- remap topic names -->
     <remap from="ImageFeature0D" to="$(arg DEFAULT_NAMESPACE)/ImageFeature0D" />
     <remap from="ObjectDetection" to="~ObjectDetection" />

From 893a084fb0086c791b170bebbcccac20c32d8557 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Tue, 21 Dec 2021 17:37:02 +0900
Subject: [PATCH 107/323] fix topic name and topic method

---
 jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index c98b112223..94589e52f4 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -350,10 +350,10 @@ Args:
                   (format nil "CO2 concentration is ~A ppm" (send msg :data))))))
 
 (defun notify-trashcan-occupancy (&key (location "kitchen"))
-  (let* ((msg (one-shot-subscribe "/trashbin_occupancy_detect/trashbin/occupancy"
+  (let* ((msg (one-shot-subscribe "/trashbin_occupancy_detector/trashbin/occupancy"
                                   jsk_recognition_msgs::BoundingBoxArray
                                   :timeout 3000))
-         (occupancy (send msg :boxes :value))
+         (occupancy (send (elt (send msg :boxes) 0) :value))
          (notify-text nil))
     (when occupancy
       (ros::ros-info

From 394dd4f4b521649b07c78c5f5536dc265f052bd0 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Tue, 21 Dec 2021 17:37:25 +0900
Subject: [PATCH 108/323] update notify text

---
 .../jsk_fetch_startup/euslisp/navigation-utils.l          | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 94589e52f4..99c5e847f4 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -359,14 +359,14 @@ Args:
       (ros::ros-info
        (format nil "Notify app that the occupancy of trash can is measured."))
       (if (> occupancy 1.0)
-        (setq notify-text "Trashcan occupancy is full.")
-        (setq notify-text "Trashcan occupancy is not full."))
+        (setq notify-text "Trashcan is full.")
+        (setq notify-text "Trashcan is not full."))
       (notify-app "trashcan occupancy"
                   (ros::time-now)
                   location
-                  (format nil "~A Trashcan occupancy is ~A%."
+                  (format nil "~A Trashcan occupancy is ~A"
                               notify-text
-                              (* 100 occupancy))))))
+                              occupancy)))))
 
 (defun inspect-kitchen (&key (tweet t))
   (report-move-to-sink-front-success)

From 4850488997e374b0ef04fb59777144594321f02c Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 22 Dec 2021 16:33:37 +0900
Subject: [PATCH 109/323] [jsk_fetch_startup] Auto-dock when failing to move to
 sink front

---
 jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 99c5e847f4..3962a90592 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -488,7 +488,7 @@ Args:
             (:move-to-sink-front -> :inspect-kitchen)
             (:move-to-sink-front !-> :report-move-to-sink-front-failure)
             ;;(:inspect-kitchen -> :auto-dock)
-            ;;(:report-move-to-sink-front-failure -> :auto-dock)
+            (:report-move-to-sink-front-failure -> :auto-dock)
             (:inspect-kitchen -> :move-to-trashcan-front)
             (:move-to-trashcan-front -> :inspect-trashcan)
             (:move-to-trashcan-front !-> :report-move-to-trashcan-front-failure)

From 6ebf4fda2b02bce36d32cb73de34ee2a96ee291a Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 22 Dec 2021 17:06:59 +0900
Subject: [PATCH 110/323] [jsk_fetch_startup] Add behavior when auto-dock fails

---
 .../jsk_fetch_startup/euslisp/navigation-utils.l     | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 3962a90592..dd573b3972 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -315,6 +315,12 @@ Args:
   (ros::ros-info "room light is off.")
   (send *ri* :speak-jp "電気が消えています。" :wait t))
 
+
+(defun report-auto-dock-failure ()
+  (ros::ros-error "failed auto-docking")
+  (send *ri* :speak-jp "ドックに失敗しました。" :wait t))
+
+
 (defun take-photo (file-name
                    &optional (image-topic "/edgetpu_object_detector/output/image"))
   (let ((img nil))
@@ -495,6 +501,8 @@ Args:
             (:inspect-trashcan -> :auto-dock)
             (:report-move-to-trashcan-front-failure -> :auto-dock)
             (:auto-dock -> :room-light-off)
+            (:auto-dock !-> :auto-dock-failure)
+            (:auto-dock-failure -> :room-light-off)
             (:room-light-off -> :finish)
             (:finish -> t)
             (:finish !-> nil))
@@ -560,6 +568,10 @@ Args:
                         (success (auto-dock :n-trial n-trial :clear-costmap nil)))
                    (setf (cdr (assoc 'success-auto-dock userdata)) success)
                    success)))
+            (:auto-dock-failure
+              '(lambda (userdata)
+                 (report-auto-dock-failure)
+                 t))
             (:room-light-off
               '(lambda (userdata)
                  (let ((success-auto-dock (cdr (assoc 'success-auto-dock userdata)))

From d81315751959d9eff53c07178d4567ddf828f7d5 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 23 Dec 2021 16:01:19 +0900
Subject: [PATCH 111/323] Update rosinstall to use app_publisher with end
 condition

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index adcca9e1df..d5d15e97f6 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -1,10 +1,12 @@
 # This is rosinstall file for melodic PC inside fetch.
 # $ ln -s $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/$ROS_DISTRO/src/.rosinstall
 
+# Use https://github.com/PR2/app_manager.git kinetic-devel branch
+# after https://github.com/PR2/app_manager/pull/49 is merged
 - git:
     local-name: PR2/app_manager
-    uri: https://github.com/PR2/app_manager.git
-    version: kinetic-devel
+    uri: https://github.com/708yamaguchi/app_manager.git
+    version: fetch15
 - git:
     local-name: RobotWebTools/rosbridge_suite
     uri: https://github.com/RobotWebTools/rosbridge_suite.git
@@ -58,10 +60,12 @@
     local-name: jsk-ros-pkg/jsk_robot
     uri: https://github.com/knorth55/jsk_robot.git
     version: fetch15
+# Use https://github.com/knorth55/app_manager_utils master branch
+# after https://github.com/knorth55/app_manager_utils/pull/40 is merged
 - git:
     local-name: knorth55/app_manager_utils
-    uri: https://github.com/knorth55/app_manager_utils
-    version: master
+    uri: https://github.com/708yamaguchi/app_manager_utils
+    version: fetch15
 - git:
     local-name: locusrobotics/catkin_virtualenv
     uri: https://github.com/locusrobotics/catkin_virtualenv.git

From ee370f618c66099bf2adc50276670da61e15d5e7 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 24 Dec 2021 15:04:58 +0900
Subject: [PATCH 112/323] update jsk_fetch.rosinstall.melodic

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index d5d15e97f6..574d1b0727 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -60,12 +60,10 @@
     local-name: jsk-ros-pkg/jsk_robot
     uri: https://github.com/knorth55/jsk_robot.git
     version: fetch15
-# Use https://github.com/knorth55/app_manager_utils master branch
-# after https://github.com/knorth55/app_manager_utils/pull/40 is merged
 - git:
     local-name: knorth55/app_manager_utils
-    uri: https://github.com/708yamaguchi/app_manager_utils
-    version: fetch15
+    uri: https://github.com/knorth55/app_manager_utils
+    version: master
 - git:
     local-name: locusrobotics/catkin_virtualenv
     uri: https://github.com/locusrobotics/catkin_virtualenv.git

From 1ddd743ac8476551a3bc23a5a36b6e78d2320d0e Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Sat, 25 Dec 2021 22:03:34 +0900
Subject: [PATCH 113/323] [jsk_fetch_startup] Fix the process for no
 recognition result of trashcan occupancy

---
 jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index dd573b3972..1c268f0f73 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -359,9 +359,10 @@ Args:
   (let* ((msg (one-shot-subscribe "/trashbin_occupancy_detector/trashbin/occupancy"
                                   jsk_recognition_msgs::BoundingBoxArray
                                   :timeout 3000))
-         (occupancy (send (elt (send msg :boxes) 0) :value))
+         (occupancy nil)
          (notify-text nil))
-    (when occupancy
+    (when msg
+      (setq occcupancy (send (elt (send msg :boxes) 0) :value))
       (ros::ros-info
        (format nil "Notify app that the occupancy of trash can is measured."))
       (if (> occupancy 1.0)

From 6af55ad19a05f8802114c49e44908f2e68eff8e1 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Sat, 25 Dec 2021 22:39:32 +0900
Subject: [PATCH 114/323] [jsk_fetch_startup] Remove setq in
 notify-trashcan-occupancy

---
 .../jsk_fetch_startup/euslisp/navigation-utils.l     | 12 +++++-------
 1 file changed, 5 insertions(+), 7 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 1c268f0f73..2413364342 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -359,15 +359,13 @@ Args:
   (let* ((msg (one-shot-subscribe "/trashbin_occupancy_detector/trashbin/occupancy"
                                   jsk_recognition_msgs::BoundingBoxArray
                                   :timeout 3000))
-         (occupancy nil)
-         (notify-text nil))
-    (when msg
-      (setq occcupancy (send (elt (send msg :boxes) 0) :value))
+         (occupancy (if msg (send (elt (send msg :boxes) 0) :value)))
+         (notify-text (if occupancy (if (> occupancy 1.0)
+                                      "Trashcan is full."
+                                      "Trashcan is not full."))))
+    (when occupancy
       (ros::ros-info
        (format nil "Notify app that the occupancy of trash can is measured."))
-      (if (> occupancy 1.0)
-        (setq notify-text "Trashcan is full.")
-        (setq notify-text "Trashcan is not full."))
       (notify-app "trashcan occupancy"
                   (ros::time-now)
                   location

From 8096ac3ae52a7ef269ed8161f43cf41eb0af2e13 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Sat, 25 Dec 2021 22:40:03 +0900
Subject: [PATCH 115/323] [jsk_fetch_startup] Add occupancy value to ros-info

---
 jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 2413364342..6054eb779e 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -365,7 +365,7 @@ Args:
                                       "Trashcan is not full."))))
     (when occupancy
       (ros::ros-info
-       (format nil "Notify app that the occupancy of trash can is measured."))
+       (format nil "Notify app that the occupancy of trash can is measured. ~A." occupancy))
       (notify-app "trashcan occupancy"
                   (ros::time-now)
                   location

From 3d68ff7c1d1172d47f007201019a84d76c95c29d Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Fri, 7 Jan 2022 08:17:05 +0900
Subject: [PATCH 116/323] [jsk_fetch_startup] catkin clean libcmt before build
 in daily update_workspace.sh

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index f27e401366..bd90be1d83 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -13,7 +13,7 @@ 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 clean aques_talk collada_urdf_jsk_patch libcmt -y
 catkin init
 catkin config -DCMAKE_BUILD_TYPE=Release
 catkin build

From 190f145a71010bb1dc61c2413ec4551b93520f22 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Mon, 24 Jan 2022 18:33:53 +0900
Subject: [PATCH 117/323] [jsk_fetch_startup] storage warning

---
 .../scripts/storage_warning.sh                | 35 +++++++++++++++++++
 1 file changed, 35 insertions(+)
 create mode 100755 jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh
new file mode 100755
index 0000000000..30d6a7a038
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh
@@ -0,0 +1,35 @@
+#!/usr/bin/env bash
+
+MAIL_BODY=""
+
+# Check storage percentage
+STORAGE_PERCENTAGE=`df -h / | awk 'NR==2 {print $5}' | sed -e 's/\%//g'`
+
+# If storage_percentage greater than 80%
+if [ $STORAGE_PERCENTAGE -gt 80 ]; then
+    MAIL_BODY=$MAIL_BODY"Storage usage is ${STORAGE_PERCENTAGE}. Please remove unnecessary files.\n"
+
+    # In root directory
+    ROOTDIR_STORAGE=`du -h -d 0 /* 2>/dev/null | sort -hr`
+    MAIL_BODY=$MAIL_BODY"In root directory:\n"
+    MAIL_BODY=$MAIL_BODY"${ROOTDIR_STORAGE}\n"
+    
+    # In home directory
+    HOMEDIR_STORAGE=`du -h -d 0 /home/* 2>/dev/null | sort -hr`
+    MAIL_BODY=$MAIL_BODY"In home directory:\n"
+    MAIL_BODY=$MAIL_BODY"${HOMEDIR_STORAGE}\n"
+fi
+
+if [ -n "$MAIL_BODY" ]; then
+   rostopic pub -1 /email jsk_robot_startup/Email "header:
+  seq: 0
+  stamp: {secs: 0, nsecs: 0}
+  frame_id: ''
+subject: 'Storage warning'
+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: ''"
+fi

From ec1e50e188def67d5d0a97b9b19b9dfcc8ac20e5 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Mon, 24 Jan 2022 20:06:13 +0900
Subject: [PATCH 118/323] [jsk_fetch_startup] fix change line bug

---
 .../scripts/storage_warning.sh                | 30 ++++++++++---------
 1 file changed, 16 insertions(+), 14 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh
index 30d6a7a038..76af2e39ed 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh
@@ -1,35 +1,37 @@
 #!/usr/bin/env bash
 
-MAIL_BODY=""
-
 # Check storage percentage
 STORAGE_PERCENTAGE=`df -h / | awk 'NR==2 {print $5}' | sed -e 's/\%//g'`
 
 # If storage_percentage greater than 80%
 if [ $STORAGE_PERCENTAGE -gt 80 ]; then
-    MAIL_BODY=$MAIL_BODY"Storage usage is ${STORAGE_PERCENTAGE}. Please remove unnecessary files.\n"
-
+    SEND_EMAIL=1
     # In root directory
-    ROOTDIR_STORAGE=`du -h -d 0 /* 2>/dev/null | sort -hr`
-    MAIL_BODY=$MAIL_BODY"In root directory:\n"
-    MAIL_BODY=$MAIL_BODY"${ROOTDIR_STORAGE}\n"
-    
+    ROOTDIR_STORAGE=`du -h -d 0 /* 2>/dev/null | sort -hr | awk '{print $2 " " $1}'`
     # In home directory
-    HOMEDIR_STORAGE=`du -h -d 0 /home/* 2>/dev/null | sort -hr`
-    MAIL_BODY=$MAIL_BODY"In home directory:\n"
-    MAIL_BODY=$MAIL_BODY"${HOMEDIR_STORAGE}\n"
+    HOMEDIR_STORAGE=`du -h -d 0 /home/* 2>/dev/null | sort -hr | awk '{print $2 " " $1}'`
 fi
 
-if [ -n "$MAIL_BODY" ]; then
+if [ -n "$SEND_EMAIL" ]; then
    rostopic pub -1 /email jsk_robot_startup/Email "header:
   seq: 0
   stamp: {secs: 0, nsecs: 0}
   frame_id: ''
 subject: 'Storage warning'
-body: '$MAIL_BODY'
+body: 'Storage usage is ${STORAGE_PERCENTAGE}%. Please remove unnecessary files.
+
+
+In root directory:
+
+${ROOTDIR_STORAGE}
+
+
+In home directory:
+
+${HOMEDIR_STORAGE}'
 sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp'
 receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp'
 smtp_server: ''
 smtp_port: ''
-attached_files: ''"
+attached_files: []"
 fi

From 31d0612a2cb31b40edb44849097d9b4129d1a0c4 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Mon, 24 Jan 2022 20:15:32 +0900
Subject: [PATCH 119/323] [jsk_fetch_startup] add storage_warn to cron job

---
 jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf
index 839bc9e138..a4a6893521 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf
@@ -1 +1,2 @@
 0 3 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup update_workspace.sh &> /home/fetch/ros/melodic/update_workspace.log"
+0 3 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup storage_warning.sh &> /home/fetch/ros/melodic/storage_warning.log"

From 1f89693a1c216ea02428e4d6f515c60f320d7084 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Wed, 26 Jan 2022 14:39:07 +0900
Subject: [PATCH 120/323] std output, fix cron schedule

---
 jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf | 2 +-
 jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh   | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf
index a4a6893521..03fadaf878 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_fetch.conf
@@ -1,2 +1,2 @@
 0 3 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup update_workspace.sh &> /home/fetch/ros/melodic/update_workspace.log"
-0 3 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup storage_warning.sh &> /home/fetch/ros/melodic/storage_warning.log"
+0 5 * * * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup storage_warning.sh &> /home/fetch/ros/melodic/storage_warning.log"
diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh
index 76af2e39ed..697a396c71 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh
@@ -34,4 +34,5 @@ receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp'
 smtp_server: ''
 smtp_port: ''
 attached_files: []"
+   echo -e "Storage percentage: $STORAGE_PERCENTAGE\n Root directory: $ROOTDIR_STORAGE\n Home directory: $HOMEDIR_STORAGE\n"
 fi

From 59337b862f278c1dbf0675cbfea0b153ed80c854 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Tue, 1 Feb 2022 14:58:10 +0900
Subject: [PATCH 121/323] [jsk_fetch_startup] echo storage percentage even not
 greater than 80

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh
index 697a396c71..10f059f0b4 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/storage_warning.sh
@@ -10,6 +10,8 @@ if [ $STORAGE_PERCENTAGE -gt 80 ]; then
     ROOTDIR_STORAGE=`du -h -d 0 /* 2>/dev/null | sort -hr | awk '{print $2 " " $1}'`
     # In home directory
     HOMEDIR_STORAGE=`du -h -d 0 /home/* 2>/dev/null | sort -hr | awk '{print $2 " " $1}'`
+else
+    echo -e "No problem with the storace capacity. Storage percentage: $STORAGE_PERCENTAGE"
 fi
 
 if [ -n "$SEND_EMAIL" ]; then

From ec6637005906382669b87cab7acdc71f2f374b54 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Tue, 22 Mar 2022 18:09:59 +0900
Subject: [PATCH 122/323] update fetch rosinstall

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 574d1b0727..4d88c59aff 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -5,7 +5,7 @@
 # after https://github.com/PR2/app_manager/pull/49 is merged
 - git:
     local-name: PR2/app_manager
-    uri: https://github.com/708yamaguchi/app_manager.git
+    uri: https://github.com/knorth55/app_manager.git
     version: fetch15
 - git:
     local-name: RobotWebTools/rosbridge_suite

From 853b9248a6f5e4e09af04d133545a4f709784c3f Mon Sep 17 00:00:00 2001
From: Guilherme Affonso <guilherme.c.affonso@gmail.com>
Date: Mon, 21 Mar 2022 13:19:48 +0900
Subject: [PATCH 123/323] [fetch] Use run instead of launch in single node apps

---
 jsk_fetch_robot/jsk_fetch_startup/apps/auto_dock/auto_dock.app | 2 +-
 .../jsk_fetch_startup/apps/call_k_okada/call_k_okada.app       | 2 +-
 jsk_fetch_robot/jsk_fetch_startup/apps/dock/dock.app           | 2 +-
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app     | 2 +-
 .../jsk_fetch_startup/apps/hello_world/hello_world.app         | 2 +-
 jsk_fetch_robot/jsk_fetch_startup/apps/light_off/light_off.app | 2 +-
 jsk_fetch_robot/jsk_fetch_startup/apps/light_on/light_on.app   | 2 +-
 .../apps/software_runstop/software_runstop.app                 | 3 ++-
 .../jsk_fetch_startup/apps/speak_battery/speak_battery.app     | 2 +-
 .../jsk_fetch_startup/apps/time_signal/time_signal.app         | 2 +-
 jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app         | 2 +-
 jsk_fetch_robot/jsk_fetch_startup/apps/undock/undock.app       | 2 +-
 .../jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app   | 3 ++-
 13 files changed, 15 insertions(+), 13 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/auto_dock/auto_dock.app b/jsk_fetch_robot/jsk_fetch_startup/apps/auto_dock/auto_dock.app
index d628e8e57a..fd09baa3eb 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/auto_dock/auto_dock.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/auto_dock/auto_dock.app
@@ -1,5 +1,5 @@
 display: Fetch auto dock
 platform: fetch
-launch: jsk_fetch_startup/auto_dock.xml
+run: jsk_fetch_startup/auto-dock.l
 interface: jsk_fetch_startup/auto_dock.interface
 icon: jsk_fetch_startup/auto_dock.png
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/call_k_okada/call_k_okada.app b/jsk_fetch_robot/jsk_fetch_startup/apps/call_k_okada/call_k_okada.app
index acfcb25162..4577ac55ae 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/call_k_okada/call_k_okada.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/call_k_okada/call_k_okada.app
@@ -1,5 +1,5 @@
 display: Call k-okada
 platform: fetch
-launch: jsk_fetch_startup/call_k_okada.xml
+run: jsk_fetch_startup/call-k-okada.l
 interface: jsk_fetch_startup/call_k_okada.interface
 icon: jsk_fetch_startup/call_k_okada.png
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/dock/dock.app b/jsk_fetch_robot/jsk_fetch_startup/apps/dock/dock.app
index 916d8fb34c..6c034bd9aa 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/dock/dock.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/dock/dock.app
@@ -1,5 +1,5 @@
 display: Fetch dock
 platform: fetch
-launch: jsk_fetch_startup/dock.xml
+run: jsk_fetch_startup/dock.l
 interface: jsk_fetch_startup/dock.interface
 icon: jsk_fetch_startup/dock.png
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index 513531b6ba..54d92c0801 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -1,6 +1,6 @@
 display: Go to kitchen
 platform: fetch
-launch: jsk_fetch_startup/go_to_kitchen.xml
+run: jsk_fetch_startup/go-to-kitchen.l
 interface: jsk_fetch_startup/go_to_kitchen.interface
 icon: jsk_fetch_startup/go_to_kitchen.png
 timeout: 1200
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/hello_world/hello_world.app b/jsk_fetch_robot/jsk_fetch_startup/apps/hello_world/hello_world.app
index 7b9b90ea81..a2dc73bd13 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/hello_world/hello_world.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/hello_world/hello_world.app
@@ -1,5 +1,5 @@
 display: Fetch hello world
 platform: fetch
-launch: jsk_fetch_startup/hello_world.xml
+run: jsk_robot_startup/boot_sound.py
 interface: jsk_fetch_startup/hello_world.interface
 icon: jsk_fetch_startup/hello_world.png
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/light_off/light_off.app b/jsk_fetch_robot/jsk_fetch_startup/apps/light_off/light_off.app
index daf7f86708..f8aeb69c3c 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/light_off/light_off.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/light_off/light_off.app
@@ -1,6 +1,6 @@
 display: Fetch light off
 platform: fetch
-launch: jsk_fetch_startup/light_off.xml
+run: jsk_fetch_startup/light-off.l
 interface: jsk_fetch_startup/light_off.interface
 icon: jsk_fetch_startup/light_off.png
 plugins:
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/light_on/light_on.app b/jsk_fetch_robot/jsk_fetch_startup/apps/light_on/light_on.app
index ef63123502..eb66297f74 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/light_on/light_on.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/light_on/light_on.app
@@ -1,6 +1,6 @@
 display: Fetch light on
 platform: fetch
-launch: jsk_fetch_startup/light_on.xml
+run: jsk_fetch_startup/light-on.l
 interface: jsk_fetch_startup/light_on.interface
 icon: jsk_fetch_startup/light_on.png
 plugins:
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/software_runstop/software_runstop.app b/jsk_fetch_robot/jsk_fetch_startup/apps/software_runstop/software_runstop.app
index 6c86c77347..ed4a25c745 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/software_runstop/software_runstop.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/software_runstop/software_runstop.app
@@ -1,5 +1,6 @@
 display: Fetch software runstop
 platform: fetch
-launch: jsk_fetch_startup/software_runstop.xml
+run: rostopic/rostopic
+run_args: "pub -1 /enable_software_runstop std_msgs/Bool 'data: true'"
 interface: jsk_fetch_startup/software_runstop.interface
 icon: jsk_fetch_startup/software_runstop.png
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app b/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app
index cb4d371e00..2dc162d470 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.app
@@ -1,6 +1,6 @@
 display: Speak battery
 platform: fetch
-launch: jsk_fetch_startup/speak_battery.xml
+run: jsk_fetch_startup/speak-battery.l
 interface: jsk_fetch_startup/speak_battery.interface
 icon: jsk_fetch_startup/speak_battery.png
 plugins:
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app
index 07c42622d4..6137ee226b 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app
@@ -1,6 +1,6 @@
 display: Speak time signal
 platform: fetch
-launch: jsk_fetch_startup/time_signal.xml
+run: jsk_fetch_startup/time_signal.py
 interface: jsk_fetch_startup/time_signal.interface
 icon: jsk_fetch_startup/time_signal.png
 timeout: 120
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app b/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app
index e95306664e..28d7cc4bf1 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/tweet/tweet.app
@@ -1,6 +1,6 @@
 display: Fetch tweet
 platform: fetch
-launch: jsk_fetch_startup/tweet.xml
+run: jsk_fetch_startup/tweet.l
 interface: jsk_fetch_startup/tweet.interface
 icon: jsk_fetch_startup/tweet.png
 plugins:
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/undock/undock.app b/jsk_fetch_robot/jsk_fetch_startup/apps/undock/undock.app
index da845f0a25..78a4b30891 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/undock/undock.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/undock/undock.app
@@ -1,5 +1,5 @@
 display: Fetch undock
 platform: fetch
-launch: jsk_fetch_startup/undock.xml
+run: jsk_fetch_startup/undock.l
 interface: jsk_fetch_startup/undock.interface
 icon: jsk_fetch_startup/undock.png
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app b/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app
index ded1914d18..210ba6e4bd 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app
@@ -1,6 +1,7 @@
 display: Welcome to jsk
 platform: fetch
-launch: jsk_fetch_startup/welcome_to_jsk.xml
+run: welcome_to_jsk_fetch/welcome-to-jsk.l
+run_args: '"(progn (init) (give-bag))"'
 interface: jsk_fetch_startup/welcome_to_jsk.interface
 icon: jsk_fetch_startup/welcome_to_jsk.png
 plugins:

From 6fd83ea5a0de5147648a307b6e33365a3f231eb7 Mon Sep 17 00:00:00 2001
From: Guilherme Affonso <guilherme.c.affonso@gmail.com>
Date: Wed, 23 Mar 2022 14:21:01 +0900
Subject: [PATCH 124/323] [fetch] Update luminance threshold

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 3 +++
 1 file changed, 3 insertions(+)

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 eec16f9c94..7cd4ecf647 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -253,6 +253,9 @@
 
   <!-- check if room light is on -->
   <node name="check_room_light" pkg="jsk_robot_startup" type="check_room_light.py">
+    <rosparam>
+      luminance_threshold: 40
+    </rosparam>
     <remap from="~input" to="/head_camera/rgb/image_raw" />
   </node>
 

From 3f99003a692928e8ff2784eb2441950415c5d319 Mon Sep 17 00:00:00 2001
From: Guilherme Affonso <guilherme.c.affonso@gmail.com>
Date: Fri, 25 Mar 2022 17:52:13 +0900
Subject: [PATCH 125/323] [fetch] Update luminance threshold (again)

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 7cd4ecf647..1e84e93a61 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -254,7 +254,7 @@
   <!-- check if room light is on -->
   <node name="check_room_light" pkg="jsk_robot_startup" type="check_room_light.py">
     <rosparam>
-      luminance_threshold: 40
+      luminance_threshold: 70
     </rosparam>
     <remap from="~input" to="/head_camera/rgb/image_raw" />
   </node>

From 85ebd20ff6461182cbb8106b9f02494e936c3a3f Mon Sep 17 00:00:00 2001
From: Guilherme Affonso <guilherme.c.affonso@gmail.com>
Date: Tue, 5 Apr 2022 16:03:51 +0900
Subject: [PATCH 126/323] Suppress warnings when using :fast in :angle-vector

---
 jsk_fetch_robot/fetcheus/fetch-interface.l | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l
index f90a4fd1be..cd1c635f12 100644
--- a/jsk_fetch_robot/fetcheus/fetch-interface.l
+++ b/jsk_fetch_robot/fetcheus/fetch-interface.l
@@ -117,8 +117,8 @@ Example usage:
                             (subseq args (+ (position :use-torso args) 2))))))
      (return-from :angle-vector (send* self :angle-vector-raw av tm ctype start-time args)))
    ;;
-   (when (not (numberp tm))
-     (ros::warn ":angle-vector tm is not a number, use :angle-vector av tm args"))
+   (when (and (not (numberp tm)) (not (eql tm :fast)))
+     (ros::warn ":angle-vector tm is not a number, use :angle-vector av tm args~%"))
    (send* self :angle-vector-motion-plan av :ctype ctype :move-arm :rarm :total-time tm
                :start-offset-time (if start-offset-time start-offset-time start-time)
                :clear-velocities clear-velocities :use-torso use-torso args)))

From 3061cad4b8d21d7a40bbce030fcb9498e4fd1e97 Mon Sep 17 00:00:00 2001
From: Guilherme Affonso <guilherme.c.affonso@gmail.com>
Date: Tue, 5 Apr 2022 22:28:59 +0900
Subject: [PATCH 127/323] Add :use-base to fetch-utils :inverse-kinematics

---
 jsk_fetch_robot/fetcheus/fetch-utils.l | 34 ++++++++++++++++++++++----
 1 file changed, 29 insertions(+), 5 deletions(-)

diff --git a/jsk_fetch_robot/fetcheus/fetch-utils.l b/jsk_fetch_robot/fetcheus/fetch-utils.l
index ea4a1d27e2..67932a47fe 100644
--- a/jsk_fetch_robot/fetcheus/fetch-utils.l
+++ b/jsk_fetch_robot/fetcheus/fetch-utils.l
@@ -5,16 +5,40 @@
 
 (defmethod fetch-robot
   (:inverse-kinematics
-   (target-coords &rest args &key link-list move-arm (use-torso t) move-target &allow-other-keys)
+   (target-coords &rest args &key link-list move-arm (use-torso t)
+                  use-base (start-coords (send self :copy-worldcoords))
+                  (base-range (list :min #f(-30 -30 -30)
+                                    :max #f( 30  30  30)))
+                  move-target &allow-other-keys)
    (unless move-arm (setq move-arm :rarm))
    (unless move-target (setq move-target (send self :rarm :end-coords)))
    (unless link-list
      (setq link-list (send self :link-list (send move-target :parent)
                            (unless use-torso (car (send self :rarm))))))
-   (send-super* :inverse-kinematics target-coords
-                :move-target move-target
-                :link-list link-list
-                args))
+   (cond
+     (use-base
+      (let ((diff-pos-rot
+             (concatenate float-vector
+                          (send start-coords :difference-position self)
+                          (send start-coords :difference-rotation self))))
+        (send self :move-to start-coords :world)
+        (with-append-root-joint
+            (ll self link-list
+                :joint-class omniwheel-joint
+                :joint-args base-range)
+          (send (caar ll) :joint :joint-angle
+                (float-vector (elt diff-pos-rot 0)
+                              (elt diff-pos-rot 1)
+                              (rad2deg (elt diff-pos-rot 5))))
+          (send-super* :inverse-kinematics target-coords
+                       :move-target move-target
+                       :link-list ll  ;; link-list
+                       args))))
+     (t
+      (send-super* :inverse-kinematics target-coords
+                   :move-target move-target
+                   :link-list link-list
+                   args))))
   (:go-grasp
     (&key (pos 0)) ;; pos is between 0.0 and 0.1
       (send self :l_gripper_finger_joint :joint-angle (/ (* pos 1000) 2)) ;; m -> mm

From ec0e447f5b6ac6536cf49b5793c2bec5466b9da7 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Thu, 7 Apr 2022 15:00:24 +0900
Subject: [PATCH 128/323] [jsk_fetch_startup] Fix go-to-kitchen launch app

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index 54d92c0801..513531b6ba 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -1,6 +1,6 @@
 display: Go to kitchen
 platform: fetch
-run: jsk_fetch_startup/go-to-kitchen.l
+launch: jsk_fetch_startup/go_to_kitchen.xml
 interface: jsk_fetch_startup/go_to_kitchen.interface
 icon: jsk_fetch_startup/go_to_kitchen.png
 timeout: 1200

From d31b8c08baa2a3c43f48df2c0904b97d510e4993 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 14 Apr 2022 16:34:20 +0900
Subject: [PATCH 129/323] [jsk_fetch_robot] update rosinstall for melodic

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 4d88c59aff..beb4704bfe 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -106,10 +106,18 @@
     local-name: tork-a/roswww
     uri: https://github.com/tork-a/roswww.git
     version: develop
+# we need to use the development branch until PR below are merged.
+#  - https://github.com/tork-a/visualization_rwt/pull/117
+#  - https://github.com/tork-a/visualization_rwt/pull/124
+# Restore original repository when the PRs are merged.
+# - git:
+#     local-name: tork-a/visualization_rwt
+#      uri: https://github.com/tork-a/visualization_rwt.git
+#    version: kinetic-devel
 - git:
     local-name: tork-a/visualization_rwt
-    uri: https://github.com/tork-a/visualization_rwt.git
-    version: kinetic-devel
+    uri: https://github.com/knorth55/visualization_rwt.git
+    version: fetch15
 # robot_pose_publisher is not released on melodic
 - git:
     local-name: GT-RAIL/robot_pose_publisher

From ed33d2617e4fe73f8947d415167b0cf3d1c3f8bd Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 14 Apr 2022 19:22:29 +0900
Subject: [PATCH 130/323] [jsk_fetch_robot] Update README.md

---
 jsk_fetch_robot/README.md | 29 +++++++++++++++++++++--------
 1 file changed, 21 insertions(+), 8 deletions(-)

diff --git a/jsk_fetch_robot/README.md b/jsk_fetch_robot/README.md
index 9aab1b786d..732edbd5a6 100644
--- a/jsk_fetch_robot/README.md
+++ b/jsk_fetch_robot/README.md
@@ -33,21 +33,17 @@
 
 ## How to Run
 
+### Setup Environment (For Remote PC)
 
-### Setup Environment
-
-First, you need to install ros. For ros indigo, please refer to install guide like [here](http://wiki.ros.org/indigo/Installation/Ubuntu)
+First, you need to install ROS. For ROS melodic, please refer to install guide like [here](http://wiki.ros.org/melodic/Installation/Ubuntu).
+Please make sure your ROS Distribution is indigo, kinetic or melodic.
 
 ```bash
 mkdir -p catkin_ws/src
 cd  catkin_ws/src
 wstool init .
 wstool set --git jsk-ros-pkg/jsk_robot https://github.com/jsk-ros-pkg/jsk_robot.git -y
-if [[ $ROS_DISTRO =~ ^(indigo|kinetic|melodic)$ ]]; then
-  wstool merge -t . https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_fetch_robot/jsk_fetch_user.rosinstall.$ROS_DISTRO
-else
-  echo "Your ROS distribution $ROS_DISTRO is not supported."
-fi
+wstool merge -t . https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_fetch_robot/jsk_fetch_user.rosinstall.$ROS_DISTRO
 wstool update -t .
 source /opt/ros/$ROS_DISTRO/setup.bash
 rosdep install -y -r --from-paths . --ignore-src
@@ -56,6 +52,23 @@ catkin build fetcheus jsk_fetch_startup
 source devel/setup.bash
 ```
 
+#### Setup Environment (For Robot Internal PC, only for advanced developer)
+
+```bash
+mkdir -p catkin_ws/src
+cd  catkin_ws/src
+wstool init .
+wstool set --git jsk-ros-pkg/jsk_robot https://github.com/knorth55/jsk_robot.git -v fetch15 -y
+wstool update -t .
+wstool merge -t . jsk-ros-pkg/jsk_robot/jsk_fetch_robot/jsk_fetch.rosinstall.$ROS_DISTRO
+wstool update -t .
+source /opt/ros/$ROS_DISTRO/setup.bash
+rosdep install -y -r --from-paths . --ignore-src
+cd ../
+catkin build
+source devel/setup.bash
+```
+
 ### Connecting to Fetch
 
 You need to install `ros-indigo-jsk-tools` to use `rosset*` tools, otherwise use setenv command

From ca783d7eac3fa203dcd0c9c6505ebc7d8335124d Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Fri, 15 Apr 2022 10:01:15 +0900
Subject: [PATCH 131/323] [jsk_fetch_startup] update README.md

---
 jsk_fetch_robot/jsk_fetch_startup/README.md | 18 ++++++++++++++----
 1 file changed, 14 insertions(+), 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md
index a509050a34..e7baff4793 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/README.md
+++ b/jsk_fetch_robot/jsk_fetch_startup/README.md
@@ -8,12 +8,22 @@ rosrun jsk_fetch_startup install_udev.sh
 ```
 
 #### For realsense
-udev rule have to be manually installed according to [this issue](https://github.com/IntelRealSense/realsense-ros/issues/1426) when using realsense-ros from ROS repository.
+
+Before start this, remove `librealsense2` and `realsense2-ros` from ROS repository and set not to be installed.
+
+```bash
+sudo apt purge ros-melodic-librealsense2* ros-melodic-realsense*
+sudo apt-mark hold ros-melodic-librealsense2 ros-melodic-realsense2-camera
+```
+
+After that, please add Intel repository and install `librealsense2` packages. (see [this page](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages))
 
 ```bash
-wget https://github.com/IntelRealSense/librealsense/raw/master/config/99-realsense-libusb.rules
-sudo mv 99-realsense-libusb.rules /etc/udev/rules.d/
-sudo udevadm control --reload-rules && sudo udevadm trigger
+sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
+sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
+sudo apt install librealsense2=2.45.0-0~realsense0.4551
+sudo apt install librealsense2-dev=2.45.0-0~realsense0.4551
+sudo apt-mark hold librealsense2 librealsense2-dev
 ```
 
 ### supervisor

From 1aa06f2ae1f3fd9f418a92b7c4ffea62b5244733 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Fri, 15 Apr 2022 18:15:21 +0900
Subject: [PATCH 132/323] [jsk_fetch_startup] update workspace script

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index bd90be1d83..a81e23d1c0 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -8,10 +8,14 @@ LOGFILE=$HOME/ros/melodic/update_workspace.txt
 set -x
 # Update workspace
 cd $HOME/ros/melodic/src
+if [ -e $HOME/ros/melodic/src/.rosinstall]; then
+    rm $HOME/ros/melodic/src/.rosinstall
+fi
 ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/melodic/src/.rosinstall
 wstool foreach --git 'git stash'
 wstool update --delete-changed-uris
 WSTOOL_UPDATE_RESULT=$?
+# Build workspace
 cd $HOME/ros/melodic
 catkin clean aques_talk collada_urdf_jsk_patch libcmt -y
 catkin init

From 1a028d2c139495bf4c4689688c8a1f43ab53fc80 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Sat, 16 Apr 2022 20:24:06 +0900
Subject: [PATCH 133/323] [jsk_fetch_startup] remove catkin_virtualenv entry
 from rosinstall

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index beb4704bfe..50dde24154 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -64,10 +64,6 @@
     local-name: knorth55/app_manager_utils
     uri: https://github.com/knorth55/app_manager_utils
     version: master
-- git:
-    local-name: locusrobotics/catkin_virtualenv
-    uri: https://github.com/locusrobotics/catkin_virtualenv.git
-    version: 0.5.0
 - git:
     local-name: mikeferguson/robot_calibration
     uri: https://github.com/mikeferguson/robot_calibration.git

From bf3152909a417e3745b7eb16de27c66721297704 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Sat, 16 Apr 2022 20:32:32 +0900
Subject: [PATCH 134/323] [jsk_fetch_startup] update update_workspace.sh

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index a81e23d1c0..58ed7b710b 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -14,6 +14,8 @@ fi
 ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/melodic/src/.rosinstall
 wstool foreach --git 'git stash'
 wstool update --delete-changed-uris
+wstool foreach --git 'branch-name=$(git rev-parse --abbrev-ref HEAD) && git reset --hard HEAD && git checkout origin/$branch-name && git branch -D $branch-name && git checkout $branch-name' # Forcefully checkout specified branch
+wstool update
 WSTOOL_UPDATE_RESULT=$?
 # Build workspace
 cd $HOME/ros/melodic

From afec1b7c61e2e2efe90d66090675d0691a6b4d0c Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Sat, 16 Apr 2022 20:34:21 +0900
Subject: [PATCH 135/323] [jsk_fetch_startup] remove redundant section

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index 58ed7b710b..4035e45eb6 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -8,9 +8,6 @@ LOGFILE=$HOME/ros/melodic/update_workspace.txt
 set -x
 # Update workspace
 cd $HOME/ros/melodic/src
-if [ -e $HOME/ros/melodic/src/.rosinstall]; then
-    rm $HOME/ros/melodic/src/.rosinstall
-fi
 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

From bdd1bfb8f5702c36c94025817de61323b66b64a6 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Mon, 18 Apr 2022 14:46:32 +0900
Subject: [PATCH 136/323] set lower battery charge warning threshold

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 1e84e93a61..effda8fadd 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -34,7 +34,7 @@
         respawn="true" output="screen" if="$(arg battery_warning)">
     <rosparam>
       duration: 180
-      charge_level_threshold: 80.0
+      charge_level_threshold: 65.0
       shutdown_level_threshold: 60.0
       charge_level_step: 10.0
       volume: 1.0

From bb2d58d90248452fdfc2b94cc804e7bb5c2406d8 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 18 Apr 2022 14:39:53 +0900
Subject: [PATCH 137/323] [jsk_fetch_startup] parameterize workspace path and
 make it as argument

---
 .../scripts/update_workspace.sh               | 35 ++++++++++++++++---
 1 file changed, 30 insertions(+), 5 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index 4035e45eb6..a2d9892cf5 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -1,21 +1,46 @@
 #!/usr/bin/env bash
 
-. $HOME/ros/melodic/devel/setup.bash
+function usage()
+{
+    echo "Usage: $0 [-w workspace_directory] [-h]"
+}
+
+WORKSPACE=$HOME/ros/melodic/
+
+while getopts hw: OPT
+do
+    case $OPT in
+        w)
+            WORKSPACE=$(cd $(dirname $OPTARG) && pwd)/$(basename $OPTARG)
+            ;;
+        h)
+            usage
+            exit 1
+            ;;
+    esac
+done
+
+if [ ! -e $WORKSPACE ]; then
+    echo "No workspace $WORKSPACE"
+    exit 1
+fi
+
+. $WORKSPACE/devel/setup.bash
 # Filename should end with .txt to preview the contents in a web browser
-LOGFILE=$HOME/ros/melodic/update_workspace.txt
+LOGFILE=$WORKSPACE/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
+cd $WORKSPACE/src
+ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall
 wstool foreach --git 'git stash'
 wstool update --delete-changed-uris
 wstool foreach --git 'branch-name=$(git rev-parse --abbrev-ref HEAD) && git reset --hard HEAD && git checkout origin/$branch-name && git branch -D $branch-name && git checkout $branch-name' # Forcefully checkout specified branch
 wstool update
 WSTOOL_UPDATE_RESULT=$?
 # Build workspace
-cd $HOME/ros/melodic
+cd $WORKSPACE
 catkin clean aques_talk collada_urdf_jsk_patch libcmt -y
 catkin init
 catkin config -DCMAKE_BUILD_TYPE=Release

From 187a9f6ac265375401a54c21d03ba1559b731eef Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 18 Apr 2022 15:02:37 +0900
Subject: [PATCH 138/323] [jsk_fetch_startup] update update_workspace.sh

---
 .../jsk_fetch_startup/scripts/update_workspace.sh      | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index a2d9892cf5..5a5041c424 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -32,12 +32,12 @@ LOGFILE=$WORKSPACE/update_workspace.txt
 {
 set -x
 # Update workspace
-cd $WORKSPACE/src
+wstool -t $WORKSPACE/src foreach --git 'git stash'
+wstool -t $WORKSPACE/src update jsk-ros-pkg/jsk_robot
 ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall
-wstool foreach --git 'git stash'
-wstool update --delete-changed-uris
-wstool foreach --git 'branch-name=$(git rev-parse --abbrev-ref HEAD) && git reset --hard HEAD && git checkout origin/$branch-name && git branch -D $branch-name && git checkout $branch-name' # Forcefully checkout specified branch
-wstool update
+wstool -t $WORKSPACE/src update --delete-changed-uris
+wstool -t $WORKSPACE/src foreach --git 'branch-name=$(git rev-parse --abbrev-ref HEAD) && git reset --hard HEAD && git checkout origin/$branch-name && git branch -D $branch-name && git checkout $branch-name' # Forcefully checkout specified branch
+wstool -t $WORKSPACE/src update
 WSTOOL_UPDATE_RESULT=$?
 # Build workspace
 cd $WORKSPACE

From a1fae990bdd0b2fb38301e2bb8de60aa4e161fbb Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 18 Apr 2022 15:08:08 +0900
Subject: [PATCH 139/323] [jsk_fetch_startup] fix

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index 5a5041c424..fe716ed534 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -36,7 +36,7 @@ wstool -t $WORKSPACE/src foreach --git 'git stash'
 wstool -t $WORKSPACE/src update jsk-ros-pkg/jsk_robot
 ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall
 wstool -t $WORKSPACE/src update --delete-changed-uris
-wstool -t $WORKSPACE/src foreach --git 'branch-name=$(git rev-parse --abbrev-ref HEAD) && git reset --hard HEAD && git checkout origin/$branch-name && git branch -D $branch-name && git checkout $branch-name' # Forcefully checkout specified branch
+wstool -t $WORKSPACE/src foreach --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout $branchname' # Forcefully checkout specified branch
 wstool -t $WORKSPACE/src update
 WSTOOL_UPDATE_RESULT=$?
 # Build workspace

From e93f7d07a7bff49b164057d4b4c4de52cdde6ed3 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 19 Apr 2022 09:44:46 +0900
Subject: [PATCH 140/323] [jsk_fetch_startup] update workspace script

---
 .../jsk_fetch_startup/scripts/update_workspace.sh        | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index fe716ed534..c7e9545551 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -5,14 +5,17 @@ function usage()
     echo "Usage: $0 [-w workspace_directory] [-h]"
 }
 
+SEND_MAIL=true
 WORKSPACE=$HOME/ros/melodic/
 
-while getopts hw: OPT
+while getopts hl:w: OPT
 do
     case $OPT in
         w)
             WORKSPACE=$(cd $(dirname $OPTARG) && pwd)/$(basename $OPTARG)
             ;;
+        l)
+            SEND_MAIL=false
         h)
             usage
             exit 1
@@ -55,8 +58,8 @@ 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
+} 2>&1 | tee $LOGFILE
+if [ -n "$MAIL_BODY" ] && "${SEND_MAIL}"; then
    rostopic pub -1 /email jsk_robot_startup/Email "header:
   seq: 0
   stamp: {secs: 0, nsecs: 0}

From bea83f260e24ff6704d39efdbbaea15e36ff778d Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 19 Apr 2022 11:48:27 +0900
Subject: [PATCH 141/323] [jsk_fetch_startup] update workspace script

---
 .../scripts/update_workspace.sh               | 65 ++++++++++++++++---
 1 file changed, 57 insertions(+), 8 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index c7e9545551..9a18b41195 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -2,7 +2,13 @@
 
 function usage()
 {
-    echo "Usage: $0 [-w workspace_directory] [-h]"
+    echo "Usage: $0 [-w workspace_directory] [-h] [-l]
+
+optional arguments:
+    -h                show this help
+    -w WORKSPACE_PATH specify target workspace
+    -l                do not send a mail
+"
 }
 
 SEND_MAIL=true
@@ -16,10 +22,15 @@ do
             ;;
         l)
             SEND_MAIL=false
+            ;;
         h)
             usage
             exit 1
             ;;
+        *)
+            usage
+            exit 1
+            ;;
     esac
 done
 
@@ -35,13 +46,47 @@ LOGFILE=$WORKSPACE/update_workspace.txt
 {
 set -x
 # Update workspace
-wstool -t $WORKSPACE/src foreach --git 'git stash'
-wstool -t $WORKSPACE/src update jsk-ros-pkg/jsk_robot
+wstool foreach -t $WORKSPACE/src --git 'git stash'
+wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot
 ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall
-wstool -t $WORKSPACE/src update --delete-changed-uris
-wstool -t $WORKSPACE/src foreach --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout $branchname' # Forcefully checkout specified branch
-wstool -t $WORKSPACE/src update
+wstool update -t $WORKSPACE/src --delete-changed-uris
+wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout $branchname' # Forcefully checkout specified branch
+wstool update -t $WORKSPACE/src
 WSTOOL_UPDATE_RESULT=$?
+# Rosdep Install
+sudo apt-get update -y
+rosdep update
+rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r \
+    --skip-keys="\
+    baxter_core_msgs
+    baxter_description
+    baxter_moveit_config
+    baxter_tools
+    cobotta_teleop
+    denso_cobotta_descriptions
+    dynamixel_controllers
+    face_recognition
+    gen3_lite_gen3_lite_2f_moveit_config
+    json_prolog
+    kinova_teleop
+    librealsense2
+    linux_hardware
+    magni_nav
+    mjpeg_server
+    nao_bringup
+    nao_description
+    nao_interaction_launchers
+    naoqi_msgs
+    pepper_bringup
+    pepper_description
+    pr2eus_openrave
+    ps4eye
+    python3-pykdl
+    realsense2-camera
+    rqt_pr2_dashboard
+    snap_map_icp
+    "
+ROSDEP_INSTALL_RESULT=$?
 # Build workspace
 cd $WORKSPACE
 catkin clean aques_talk collada_urdf_jsk_patch libcmt -y
@@ -54,13 +99,17 @@ MAIL_BODY=""
 if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then
     MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. "
 fi
+if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then
+    MAIL_BODY=$MAIL_BODY"Please install dependencies manually. "
+fi
 if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
     MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually."
 fi
 set +x
 } 2>&1 | tee $LOGFILE
-if [ -n "$MAIL_BODY" ] && "${SEND_MAIL}"; then
-   rostopic pub -1 /email jsk_robot_startup/Email "header:
+if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" = "true" ]; then
+    echo "Sent a mail"
+    rostopic pub -1 /email jsk_robot_startup/Email "header:
   seq: 0
   stamp: {secs: 0, nsecs: 0}
   frame_id: ''

From 85122dd92c13d39958d73431d0dd162383743667 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 19 Apr 2022 14:14:44 +0900
Subject: [PATCH 142/323] [jsk_fetch_startup] update update-workspace.sh

---
 .../scripts/update_workspace.sh               | 52 ++++++-------------
 1 file changed, 17 insertions(+), 35 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index 9a18b41195..4cfcb89217 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -5,16 +5,16 @@ function usage()
     echo "Usage: $0 [-w workspace_directory] [-h] [-l]
 
 optional arguments:
-    -h                show this help
-    -w WORKSPACE_PATH specify target workspace
-    -l                do not send a mail
+    -h                  show this help
+    -w WORKSPACE_PATH   specify target workspace
+    -l                  do not send a mail
 "
 }
 
 SEND_MAIL=true
 WORKSPACE=$HOME/ros/melodic/
 
-while getopts hl:w: OPT
+while getopts hlw: OPT
 do
     case $OPT in
         w)
@@ -56,43 +56,25 @@ WSTOOL_UPDATE_RESULT=$?
 # Rosdep Install
 sudo apt-get update -y
 rosdep update
-rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r \
-    --skip-keys="\
-    baxter_core_msgs
-    baxter_description
-    baxter_moveit_config
-    baxter_tools
-    cobotta_teleop
-    denso_cobotta_descriptions
-    dynamixel_controllers
-    face_recognition
-    gen3_lite_gen3_lite_2f_moveit_config
-    json_prolog
-    kinova_teleop
-    librealsense2
-    linux_hardware
-    magni_nav
-    mjpeg_server
-    nao_bringup
-    nao_description
-    nao_interaction_launchers
-    naoqi_msgs
-    pepper_bringup
-    pepper_description
-    pr2eus_openrave
-    ps4eye
-    python3-pykdl
-    realsense2-camera
-    rqt_pr2_dashboard
-    snap_map_icp
-    "
+# 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
+rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys \
+"\
+jsk_footstep_controller \
+jsk_footstep_planner \
+librealsense2 \
+realsense2_camera \
+realsense2_description \
+"
 ROSDEP_INSTALL_RESULT=$?
 # Build workspace
 cd $WORKSPACE
 catkin clean aques_talk collada_urdf_jsk_patch libcmt -y
 catkin init
 catkin config -DCMAKE_BUILD_TYPE=Release
-catkin build
+catkin build --continue-on-failure
 CATKIN_BUILD_RESULT=$?
 # Send mail
 MAIL_BODY=""

From 21bbda0a9849c7f256d5a4ebf5984460a98cf3ae Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 19 Apr 2022 16:27:59 +0900
Subject: [PATCH 143/323] [jsk_fetch_startup] fix

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index 4cfcb89217..d0ce39357f 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -89,7 +89,7 @@ if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
 fi
 set +x
 } 2>&1 | tee $LOGFILE
-if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" = "true" ]; then
+if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then
     echo "Sent a mail"
     rostopic pub -1 /email jsk_robot_startup/Email "header:
   seq: 0

From bb9e056303b6f4f93191584bcda7cfee05b8ae9c Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 19 Apr 2022 15:17:30 +0900
Subject: [PATCH 144/323] [jsk_fetch_startup] update jsk fetch models

---
 .../jsk_fetch_startup/robots/head_l515.urdf.xacro | 10 ++++++++--
 .../robots/insta360_stand.urdf.xacro              | 15 +++++++++++++++
 .../jsk_fetch_startup/robots/jsk_fetch.urdf.xacro |  8 ++++++--
 3 files changed, 29 insertions(+), 4 deletions(-)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/robots/insta360_stand.urdf.xacro

diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro
index 8361f9dc20..dd2f9b7a5e 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro
+++ b/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro
@@ -22,10 +22,16 @@
       </geometry>
     </collision>
   </link>
-  <joint name="head_l515_mount_virtual_joint" type="fixed">
+  <joint name="head_l515_mount_link_virtual_joint" type="fixed">
+    <origin rpy="1.57 0 -1.57" xyz="0.02 0.05 0.0" />
+    <parent link="head_l515_virtual_mount_link" />
+    <child link="head_l515_mount_link" />
+  </joint>
+  <link name="head_l515_virtual_mount_link" />
+  <joint name="head_l515_virtual_mount_link_virtual_joint" type="fixed">
     <origin rpy="0 0 0" xyz="0.0255 0 0.055" />
     <parent link="head_tilt_link" />
-    <child link="head_l515_mount_link" />
+    <child link="head_l515_virtual_mount_link" />
   </joint>
 
   <link name="l515_head_link"/>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/insta360_stand.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/insta360_stand.urdf.xacro
new file mode 100644
index 0000000000..690742cfa6
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/robots/insta360_stand.urdf.xacro
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<robot name="insta360_stand" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="insta360_link" >
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+    </inertial>
+  </link>
+  <joint name="insta360_link_virtual_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.1 0 0.9" />
+    <parent link="torso_lift_link" />
+    <child link="insta360_link" />
+  </joint>
+</robot>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro
index 460086a8da..ede62cbb2c 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro
+++ b/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro
@@ -1,10 +1,11 @@
 <?xml version="1.0" ?>
 <robot name="fetch" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:arg name="ros_distro" default="melodic" />
+  <xacro:arg name="use_fetch_description" default="false" />
   <xacro:arg name="base_camera_mount" default="true" />
-  <xacro:arg name="head_box" default="true" />
+  <xacro:arg name="head_box" default="false" />
   <xacro:arg name="head_l515" default="true" />
-  <xacro:arg name="use_fetch_description" default="false" />
+  <xacro:arg name="insta360_stand" default="true" />
 
   <xacro:if value="$(arg use_fetch_description)">
     <xacro:include filename="$(find fetch_description)/robots/fetch.urdf" />
@@ -21,4 +22,7 @@
   <xacro:if value="$(arg head_l515)">
     <xacro:include filename="$(find jsk_fetch_startup)/robots/head_l515.urdf.xacro" />
   </xacro:if>
+  <xacro:if value="$(arg insta360_stand)">
+    <xacro:include filename="$(find jsk_fetch_startup)/robots/insta360_stand.urdf.xacro" />
+  </xacro:if>
 </robot>

From 10b3754fd3123d0dc41a9c0af4edc093bffe7d14 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 19 Apr 2022 15:19:07 +0900
Subject: [PATCH 145/323] [jsk_fetch_startup] add view_model launch and config

---
 .../jsk_fetch_startup/config/view_model.rviz  | 426 ++++++++++++++++++
 .../launch/view_model.launch                  |  17 +
 2 files changed, 443 insertions(+)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/view_model.rviz
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/view_model.launch

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/view_model.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/view_model.rviz
new file mode 100644
index 0000000000..e8978465a4
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/view_model.rviz
@@ -0,0 +1,426 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 728
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.5
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_camera_mount:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bellows_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bellows_link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        d435_front_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        d435_front_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        elbow_flex_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        estop_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        forearm_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_box_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_camera_depth_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_camera_depth_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_camera_rgb_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_camera_rgb_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_l515_mount_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_l515_virtual_mount_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_pan_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_tilt_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        insta360_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        l515_head_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        l_gripper_finger_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_gripper_finger_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        shoulder_lift_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        shoulder_pan_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        torso_fixed_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        torso_lift_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        upperarm_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wrist_flex_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wrist_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_camera_mount:
+          Value: true
+        base_link:
+          Value: true
+        bellows_link:
+          Value: true
+        bellows_link2:
+          Value: true
+        d435_front_left_link:
+          Value: true
+        d435_front_right_link:
+          Value: true
+        elbow_flex_link:
+          Value: true
+        estop_link:
+          Value: true
+        forearm_roll_link:
+          Value: true
+        gripper_link:
+          Value: true
+        head_box_link:
+          Value: true
+        head_camera_depth_frame:
+          Value: true
+        head_camera_depth_optical_frame:
+          Value: true
+        head_camera_link:
+          Value: true
+        head_camera_rgb_frame:
+          Value: true
+        head_camera_rgb_optical_frame:
+          Value: true
+        head_l515_mount_link:
+          Value: true
+        head_l515_virtual_mount_link:
+          Value: true
+        head_pan_link:
+          Value: true
+        head_tilt_link:
+          Value: true
+        insta360_link:
+          Value: true
+        l515_head_link:
+          Value: true
+        l_gripper_finger_link:
+          Value: true
+        l_wheel_link:
+          Value: true
+        laser_link:
+          Value: true
+        r_gripper_finger_link:
+          Value: true
+        r_wheel_link:
+          Value: true
+        shoulder_lift_link:
+          Value: true
+        shoulder_pan_link:
+          Value: true
+        torso_fixed_link:
+          Value: true
+        torso_lift_link:
+          Value: true
+        upperarm_roll_link:
+          Value: true
+        wrist_flex_link:
+          Value: true
+        wrist_roll_link:
+          Value: true
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          base_camera_mount:
+            {}
+          d435_front_left_link:
+            {}
+          d435_front_right_link:
+            {}
+          estop_link:
+            {}
+          l_wheel_link:
+            {}
+          laser_link:
+            {}
+          r_wheel_link:
+            {}
+          torso_fixed_link:
+            {}
+          torso_lift_link:
+            bellows_link:
+              {}
+            bellows_link2:
+              {}
+            head_pan_link:
+              head_box_link:
+                {}
+              head_tilt_link:
+                head_camera_link:
+                  head_camera_depth_frame:
+                    head_camera_depth_optical_frame:
+                      {}
+                  head_camera_rgb_frame:
+                    head_camera_rgb_optical_frame:
+                      {}
+                head_l515_virtual_mount_link:
+                  head_l515_mount_link:
+                    l515_head_link:
+                      {}
+            insta360_link:
+              {}
+            shoulder_pan_link:
+              shoulder_lift_link:
+                upperarm_roll_link:
+                  elbow_flex_link:
+                    forearm_roll_link:
+                      wrist_flex_link:
+                        wrist_roll_link:
+                          gripper_link:
+                            l_gripper_finger_link:
+                              {}
+                            r_gripper_finger_link:
+                              {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 4.618305206298828
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.564796507358551
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.5854246616363525
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1025
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 0
+  Y: 27
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/view_model.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/view_model.launch
new file mode 100644
index 0000000000..4f8ef6e3f9
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/view_model.launch
@@ -0,0 +1,17 @@
+<launch>
+    <arg name="use_fetch_description" default="true" />
+    <arg name="use_base_camera_mount" default="true" />
+    <arg name="use_head_box" default="false" />
+    <arg name="use_head_l515" default="true" />
+
+    <param name="robot_description" command="$(find xacro)/xacro $(find jsk_fetch_startup)/robots/jsk_fetch.urdf.xacro
+                  ros_distro:=$(env ROS_DISTRO)
+                  use_fetch_description:=$(arg use_fetch_description)
+                  base_camera_mount:=$(arg use_base_camera_mount)
+                  head_box:=$(arg use_head_box)
+                  head_l515:=$(arg use_head_l515)" />
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
+  <node name="$(anon rviz)" pkg="rviz" type="rviz" args="-d $(find jsk_fetch_startup)/config/view_model.rviz" required="true"/>
+</launch>

From 362aa48feaf522a895b9f67ee9d6faefa148ad0f Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Tue, 19 Apr 2022 17:08:12 +0900
Subject: [PATCH 146/323] Use VOICEVOX by default

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch         | 8 ++++----
 .../supervisor_scripts/jsk-fetch-startup.conf             | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

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 effda8fadd..deb2e3b9f6 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -4,7 +4,8 @@
   <arg name="launch_move_base" default="true" />
   <arg name="launch_sound_play" default="true" />
   <arg name="launch_insta360" default="true" />
-  <arg name="use_voice_text" default="true" />
+  <arg name="use_voice_text" default="false" />
+  <arg name="default_speaker" default="2" />
   <arg name="fetch_lifelog" default="true" />
   <arg name="boot_sound" default="false" />
   <arg name="map_frame" default="eng2" />
@@ -73,9 +74,8 @@
     <arg name="launch_sound_play" value="$(arg launch_sound_play)" />
     <arg name="sound_play_respawn" value="true" />
   </include>
-  <include unless="$(arg use_voice_text)" file="$(find aques_talk)/launch/aques_talk.launch">
-    <arg name="launch_sound_play" value="$(arg launch_sound_play)" />
-    <arg name="sound_play_respawn" value="true" />
+  <include unless="$(arg use_voice_text)" file="$(find voicevox)/launch/voicevox_texttospeech.launch">
+    <arg name="default_speaker" value="$(arg default_speaker)" />
   </include>
 
   <!-- Buffer Server -->
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
index 8d5fe6f077..11dedc0a6b 100644
--- 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
@@ -1,5 +1,5 @@
 [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 && if [ -d /usr/vt ]; then VOICE_TEXT=true; else VOICE_TEXT=false; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true use_voice_text:=$VOICE_TEXT --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true

From 8c991985d57bb8b4fd919f53bdeb7eb4a2fb8439 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 20 Apr 2022 09:11:59 +0900
Subject: [PATCH 147/323] [jsk_fetch_startup] fix default workspace path

---
 .../jsk_fetch_startup/scripts/update_workspace.sh        | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index d0ce39357f..4c29ddd17f 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -11,14 +11,19 @@ optional arguments:
 "
 }
 
+function get_full_path()
+{
+    echo "$(cd $(dirname $1) && pwd)/$(basename $1)"
+}
+
 SEND_MAIL=true
-WORKSPACE=$HOME/ros/melodic/
+WORKSPACE=$(get_full_path $HOME/ros/melodic)
 
 while getopts hlw: OPT
 do
     case $OPT in
         w)
-            WORKSPACE=$(cd $(dirname $OPTARG) && pwd)/$(basename $OPTARG)
+            WORKSPACE=$(get_full_path $OPTARG)
             ;;
         l)
             SEND_MAIL=false

From 8538bbe3d43e950114b61f152ff10ea708142af9 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 20 Apr 2022 09:31:50 +0900
Subject: [PATCH 148/323] [jsk_fetch_startup] fix

---
 .../jsk_fetch_startup/scripts/update_workspace.sh      | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index 4c29ddd17f..17ec206128 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -55,7 +55,15 @@ wstool foreach -t $WORKSPACE/src --git 'git stash'
 wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot
 ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall
 wstool update -t $WORKSPACE/src --delete-changed-uris
-wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout $branchname' # Forcefully checkout specified branch
+# Forcefully checkout specified branch
+wstool foreach -t $WORKSPACE/src --git --shell \
+'\
+branchname=$(git rev-parse --abbrev-ref HEAD);
+git fetch --all --prune;
+git reset --hard HEAD;
+git checkout origin/$branchname;
+git branch -D $branchname;
+git checkout -b $branchname origin/$branchname'
 wstool update -t $WORKSPACE/src
 WSTOOL_UPDATE_RESULT=$?
 # Rosdep Install

From 3231c8dffb0be335da3cea619df5efbfc6708d1b Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 20 Apr 2022 10:15:08 +0900
Subject: [PATCH 149/323] [jsk_fetch_startup] update

---
 .../jsk_fetch_startup/scripts/update_workspace.sh     | 11 +++--------
 1 file changed, 3 insertions(+), 8 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index 17ec206128..7786444579 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -51,19 +51,14 @@ LOGFILE=$WORKSPACE/update_workspace.txt
 {
 set -x
 # Update workspace
+
 wstool foreach -t $WORKSPACE/src --git 'git stash'
+wstool foreach -t $WORKSPACE/src --git 'git fetch --all --prune'
 wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot
 ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall
 wstool update -t $WORKSPACE/src --delete-changed-uris
 # Forcefully checkout specified branch
-wstool foreach -t $WORKSPACE/src --git --shell \
-'\
-branchname=$(git rev-parse --abbrev-ref HEAD);
-git fetch --all --prune;
-git reset --hard HEAD;
-git checkout origin/$branchname;
-git branch -D $branchname;
-git checkout -b $branchname origin/$branchname'
+wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi'
 wstool update -t $WORKSPACE/src
 WSTOOL_UPDATE_RESULT=$?
 # Rosdep Install

From 66cf626bad2887e2dcf0ea02c188ce330ab63a4c Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 20 Apr 2022 10:31:15 +0900
Subject: [PATCH 150/323] build coral_usb in default ws

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 50dde24154..a6a2675674 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -140,3 +140,8 @@
     local-name: ros-planning/navigation
     uri: https://github.com/708yamaguchi/navigation.git
     version: fetch15
+# Use coral_usb_ros + cv_bridge_python3
+- git:
+    local-name: jsk-ros-pkg/coral_usb_ros
+    uri: https://github.com/jsk-ros-pkg/coral_usb_ros.git
+    version: master

From 882716b06c127039fb44ab570b1d64f3f775a1c1 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 20 Apr 2022 10:31:28 +0900
Subject: [PATCH 151/323] run coral_usb in default ws

---
 .../supervisor_scripts/jsk-human-pose-estimator.conf        | 6 ++++--
 .../supervisor_scripts/jsk-object-detector.conf             | 6 ++++--
 .../jsk-panorama-human-pose-estimator.conf                  | 6 ++++--
 .../supervisor_scripts/jsk-panorama-object-detector.conf    | 6 ++++--
 4 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
index 8021ee6ce4..dfcb5d522b 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
@@ -1,8 +1,10 @@
 [program:jsk-human-pose-estimator]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait"
+; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait"
 
 stopsignal=TERM
-directory=/home/fetch/ros/coral_ws
+; directory=/home/fetch/ros/coral_ws
+directory=/home/fetch/ros/melodic
 ; You can set "autostart=true" if "autostart=false" in jsk-panorama-human-pose-estimator.conf
 autostart=true
 autorestart=false
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
index 2e8e147a9e..d543cf6ea5 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
@@ -1,8 +1,10 @@
 [program:jsk-object-detector]
-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 device_id:=1 --screen --wait"
+; 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 device_id:=1 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/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 device_id:=1 --screen --wait"
 
 stopsignal=TERM
-directory=/home/fetch/ros/coral_ws
+; directory=/home/fetch/ros/coral_ws
+directory=/home/fetch/ros/melodic
 ; You can set "autostart=true" if "autostart=false" in jsk-panorama-object-detector.conf
 autostart=true
 autorestart=false
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
index 48b5fc4dc3..46f6e6516e 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
@@ -1,8 +1,10 @@
 [program:jsk-panorama-human-pose-estimator]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
+; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
 
 stopsignal=TERM
-directory=/home/fetch/ros/coral_ws
+; directory=/home/fetch/ros/coral_ws
+directory=/home/fetch/ros/melodic
 ; You can set "autostart=true" if "autostart=false" in jsk-human-pose-estimator.conf
 autostart=false
 autorestart=false
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
index 434ab2fe48..fb849e0a5e 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
@@ -1,8 +1,10 @@
 [program:jsk-panorama-object-detector]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output 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 device_id:=1 --screen --wait"
+; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output 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 device_id:=1 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output 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 device_id:=1 --screen --wait"
 
 stopsignal=TERM
-directory=/home/fetch/ros/coral_ws
+; directory=/home/fetch/ros/coral_ws
+directory=/home/fetch/ros/melodic
 ; You can set "autostart=true" if "autostart=false" in jsk-object-detector.conf
 autostart=false
 autorestart=false

From c4f10d503a5567eb1bc2f31be9d051f5f3335935 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 20 Apr 2022 16:35:08 +0900
Subject: [PATCH 152/323] [jsk_fetch_startup] support other hotword in
 dialogflow task executive

---
 .../config/dialogflow_hotword.yaml            |  2 +
 .../launch/dialogflow_task_executive.launch   | 55 +++++++++++++++++++
 .../supervisor_scripts/jsk-dialog.conf        |  2 +-
 3 files changed, 58 insertions(+), 1 deletion(-)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml
new file mode 100644
index 0000000000..359c385b3e
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml
@@ -0,0 +1,2 @@
+- やあ
+- <ロボット名に置き換えてください>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch
new file mode 100644
index 0000000000..ba9c76ac6c
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch
@@ -0,0 +1,55 @@
+<launch>
+  <arg name="run_app_manager" default="false" />
+  <arg name="applist" default="" />
+  <arg name="credential" default="$(optenv GOOGLE_APPLICATION_CREDENTIALS)"/>
+  <arg name="project_id" default="$(optenv DIALOGFLOW_PROJECT_ID)"/>
+  <arg name="enable_hotword" default="true" />
+
+  <!-- options for dialogflow_client -->
+  <arg name="use_audio" default="false" />
+  <arg name="use_tts" default="true" />
+  <arg name="language" default="ja-JP" />
+  <arg name="soundplay_action_name" default="robotsound_jp" />
+  <arg name="volume" default="1.0" />
+
+
+  <node name="speech_to_text_mux" pkg="topic_tools" type="mux"
+        args="/speech_to_text /speech_to_text_google /speech_to_text_julius" >
+    <remap from="mux" to="speech_to_text_mux"/>
+  </node>
+
+  <node name="dialogflow_client"
+        pkg="dialogflow_task_executive" type="dialogflow_client.py"
+        output="screen">
+    <rosparam subst_value="true">
+      use_audio: $(arg use_audio)
+      use_tts: $(arg use_tts)
+      language: $(arg language)
+      soundplay_action_name: $(arg soundplay_action_name)
+      volume: $(arg volume)
+      project_id: $(arg project_id)
+      google_cloud_credentials_json: $(arg credential)
+      enable_hotword: $(arg enable_hotword)
+    </rosparam>
+    <rosparam command="load" ns="/dialogflow_client/hotword"
+	    file="/var/lib/robot/dialogflow_hotword.yaml"/>
+  </node>
+
+  <node name="task_executive"
+        pkg="dialogflow_task_executive" type="task_executive.py"
+        output="screen">
+    <rosparam subst_value="true">
+    </rosparam>
+  </node>
+  
+  <group if="$(arg run_app_manager)">
+    <node pkg="app_manager" type="appmaster" name="appmaster"
+          args="-p 11313"/>
+    <node pkg="app_manager" type="app_manager" name="app_manager"
+          args="--applist $(arg applist)"
+          output="screen">
+      <param name="interface_master" value="http://localhost:11313"/>
+    </node>
+  </group>
+
+</launch>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
index 8e8aa85903..80e2b1366d 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
@@ -1,5 +1,5 @@
 [program:jsk-dialog]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch dialogflow_task_executive dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true --wait --screen "
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true --wait --screen "
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true

From 490e71201815f33e92d0458221314b64bfec7f36 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Wed, 20 Apr 2022 18:32:47 +0900
Subject: [PATCH 153/323] compile dialogflow hotword with robot name

---
 .../jsk_fetch_startup/CMakeLists.txt            | 17 +++++++++++++++++
 .../jsk_fetch_startup/config/.gitignore         |  1 +
 .../config/dialogflow_hotword.yaml              |  2 --
 .../config/dialogflow_hotword.yaml.in           |  5 +++++
 4 files changed, 23 insertions(+), 2 deletions(-)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/.gitignore
 delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml.in

diff --git a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt
index 9b98af04b1..29683126ba 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt
+++ b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt
@@ -86,8 +86,25 @@ macro(configure_icon_files icol iname)
   endif()
 endmacro(configure_icon_files)
 
+macro(configure_dialogflow_hotword_yaml dname)
+  set(FETCH_NAME ${dname})
+  if (${FETCH_NAME} STREQUAL "fetch15")
+    set(ROBOT_NICKNAME_KANA "ヘンゼル")
+    set(ROBOT_NICKNAME_HIRA "へんぜる")
+    configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config/dialogflow_hotword.yaml.in
+                   ${CMAKE_CURRENT_SOURCE_DIR}/config/${FETCH_NAME}_dialogflow_hotword.yaml)
+  elseif (${FETCH_NAME} STREQUAL "fetch1075")
+    set(ROBOT_NICKNAME_KANA "グレーテル")
+    set(ROBOT_NICKNAME_HIRA "ぐれーてる")
+    configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config/dialogflow_hotword.yaml.in
+                   ${CMAKE_CURRENT_SOURCE_DIR}/config/${FETCH_NAME}_dialogflow_hotword.yaml)
+  endif()
+endmacro(configure_dialogflow_hotword_yaml)
+
 configure_icon_files(blue fetch15)
 configure_icon_files(red fetch1075)
+configure_dialogflow_hotword_yaml(fetch15)
+configure_dialogflow_hotword_yaml(fetch1075)
 
 #############
 ## Testing ##
diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/.gitignore b/jsk_fetch_robot/jsk_fetch_startup/config/.gitignore
new file mode 100644
index 0000000000..97ed018fbb
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/.gitignore
@@ -0,0 +1 @@
+fetch*_dialogflow_hotword.yaml
diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml
deleted file mode 100644
index 359c385b3e..0000000000
--- a/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-- やあ
-- <ロボット名に置き換えてください>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml.in b/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml.in
new file mode 100644
index 0000000000..73714a65a9
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/dialogflow_hotword.yaml.in
@@ -0,0 +1,5 @@
+- ねえねえ
+- こんにちわ
+- やあ
+- @ROBOT_NICKNAME_KANA@
+- @ROBOT_NICKNAME_HIRA@

From aac649647939ff30ebecca7d3c912571ab6943eb Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Wed, 20 Apr 2022 18:33:16 +0900
Subject: [PATCH 154/323] include dialogflow_task_executive.launch and use own
 yaml

---
 .../launch/dialogflow_task_executive.launch   | 55 -------------------
 .../fetch_dialogflow_task_executive.launch    | 32 +++++++++++
 2 files changed, 32 insertions(+), 55 deletions(-)
 delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch
deleted file mode 100644
index ba9c76ac6c..0000000000
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/dialogflow_task_executive.launch
+++ /dev/null
@@ -1,55 +0,0 @@
-<launch>
-  <arg name="run_app_manager" default="false" />
-  <arg name="applist" default="" />
-  <arg name="credential" default="$(optenv GOOGLE_APPLICATION_CREDENTIALS)"/>
-  <arg name="project_id" default="$(optenv DIALOGFLOW_PROJECT_ID)"/>
-  <arg name="enable_hotword" default="true" />
-
-  <!-- options for dialogflow_client -->
-  <arg name="use_audio" default="false" />
-  <arg name="use_tts" default="true" />
-  <arg name="language" default="ja-JP" />
-  <arg name="soundplay_action_name" default="robotsound_jp" />
-  <arg name="volume" default="1.0" />
-
-
-  <node name="speech_to_text_mux" pkg="topic_tools" type="mux"
-        args="/speech_to_text /speech_to_text_google /speech_to_text_julius" >
-    <remap from="mux" to="speech_to_text_mux"/>
-  </node>
-
-  <node name="dialogflow_client"
-        pkg="dialogflow_task_executive" type="dialogflow_client.py"
-        output="screen">
-    <rosparam subst_value="true">
-      use_audio: $(arg use_audio)
-      use_tts: $(arg use_tts)
-      language: $(arg language)
-      soundplay_action_name: $(arg soundplay_action_name)
-      volume: $(arg volume)
-      project_id: $(arg project_id)
-      google_cloud_credentials_json: $(arg credential)
-      enable_hotword: $(arg enable_hotword)
-    </rosparam>
-    <rosparam command="load" ns="/dialogflow_client/hotword"
-	    file="/var/lib/robot/dialogflow_hotword.yaml"/>
-  </node>
-
-  <node name="task_executive"
-        pkg="dialogflow_task_executive" type="task_executive.py"
-        output="screen">
-    <rosparam subst_value="true">
-    </rosparam>
-  </node>
-  
-  <group if="$(arg run_app_manager)">
-    <node pkg="app_manager" type="appmaster" name="appmaster"
-          args="-p 11313"/>
-    <node pkg="app_manager" type="app_manager" name="app_manager"
-          args="--applist $(arg applist)"
-          output="screen">
-      <param name="interface_master" value="http://localhost:11313"/>
-    </node>
-  </group>
-
-</launch>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch
new file mode 100644
index 0000000000..17f7aa0995
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch
@@ -0,0 +1,32 @@
+<launch>
+  <arg name="hostname" default="fetch15" />
+  <arg name="run_app_manager" default="false" />
+  <arg name="applist" default="" />
+  <arg name="credential" default="$(optenv GOOGLE_APPLICATION_CREDENTIALS)"/>
+  <arg name="project_id" default="$(optenv DIALOGFLOW_PROJECT_ID)"/>
+  <arg name="enable_hotword" default="true" />
+
+  <!-- options for dialogflow_client -->
+  <arg name="use_audio" default="false" />
+  <arg name="use_tts" default="true" />
+  <arg name="language" default="ja-JP" />
+  <arg name="soundplay_action_name" default="robotsound_jp" />
+  <arg name="volume" default="1.0" />
+
+
+  <include file="$(find dialogflow_task_executive)/launch/dialogflow_task_executive.launch">
+    <arg name="run_app_manager" value="$(arg run_app_manager)" />
+    <arg name="applist" value="$(arg applist)" />
+    <arg name="credential" value="$(arg credential)" />
+    <arg name="project_id" value="$(arg project_id)" />
+    <arg name="enable_hotword" value="$(arg enable_hotword)" />
+    <arg name="use_audio" value="$(arg use_audio)" />
+    <arg name="use_tts" value="$(arg use_tts)" />
+    <arg name="language" value="$(arg language)" />
+    <arg name="soundplay_action_name" value="$(arg soundplay_action_name)" />
+    <arg name="volume" value="$(arg volume)" />
+  </include>
+
+  <rosparam command="load" ns="/dialogflow_client/hotword"
+            file="$(find jsk_fetch_startup)/config/$(arg hostname)_dialogflow_hotword.yaml"/>
+</launch>

From 7d8b6b075f749bdfa603eaf38cc95e76b0b20bf9 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 20 Apr 2022 18:41:56 +0900
Subject: [PATCH 155/323] update jsk-dialog.conf

---
 .../jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf        | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
index 80e2b1366d..f4b9db6078 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
@@ -1,5 +1,5 @@
 [program:jsk-dialog]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true --wait --screen "
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen "
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true

From 257c86d81668933b3cd82969e302d9f9f6a3cfff Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Thu, 6 Jan 2022 15:45:35 +0900
Subject: [PATCH 156/323] add cron scripts for update ssl key

---
 .../jsk_fetch_startup/cron_scripts/cron_certbot.conf       | 1 +
 .../jsk_fetch_startup/scripts/certbot_renewhook.sh         | 7 +++++++
 2 files changed, 8 insertions(+)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf
 create mode 100755 jsk_fetch_robot/jsk_fetch_startup/scripts/certbot_renewhook.sh

diff --git a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf
new file mode 100644
index 0000000000..387f504041
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf
@@ -0,0 +1 @@
+0 0 1 Jan,Apr,Jul,Oct * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && certbot renew -v --standalone --renew-hook \"$(rospack find jsk_fetch_startup)/scripts/certbot_renewhook.sh\" >> /var/log/certbot_renewal.log"
\ No newline at end of file
diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/certbot_renewhook.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/certbot_renewhook.sh
new file mode 100755
index 0000000000..d37fe27421
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/certbot_renewhook.sh
@@ -0,0 +1,7 @@
+#!/bin/sh
+
+SITE=dialogflow.$(hostname).jsk.imi.i.u-tokyo.ac.jp
+
+cd /etc/letsencrypt/live/$SITE
+cat fullchain.pem privkey.pem > /etc/haproxy/certs/$SITE.pem
+systemctl restart haproxy

From 779ca9b8f3841e1d3f2bfe36e40cb3d1fcd753c2 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Thu, 21 Apr 2022 10:10:52 +0900
Subject: [PATCH 157/323] [jsk_fetch_startup] update ssl key from letsencrypt

---
 .../jsk_fetch_startup/cron_scripts/cron_certbot.conf            | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf
index 387f504041..8c7cc3ea3b 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/cron_scripts/cron_certbot.conf
@@ -1 +1 @@
-0 0 1 Jan,Apr,Jul,Oct * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && certbot renew -v --standalone --renew-hook \"$(rospack find jsk_fetch_startup)/scripts/certbot_renewhook.sh\" >> /var/log/certbot_renewal.log"
\ No newline at end of file
+0 0 1 Jan,Apr,Jul,Oct * bash -c ". /home/fetch/ros/melodic/devel/setup.bash && systemctl stop haproxy && certbot renew -v --standalone --renew-hook \"$(rospack find jsk_fetch_startup)/scripts/certbot_renewhook.sh\" >> /var/log/certbot_renewal.log"

From f56b78d2205ced03e9317d8d6c338534b8e11ff5 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 21 Apr 2022 14:30:11 +0900
Subject: [PATCH 158/323] [jsk_fetch_startup] Update rosinstall because
 upstream dependency is solved

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index a6a2675674..d141a5de3a 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -1,12 +1,10 @@
 # This is rosinstall file for melodic PC inside fetch.
 # $ ln -s $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/$ROS_DISTRO/src/.rosinstall
 
-# Use https://github.com/PR2/app_manager.git kinetic-devel branch
-# after https://github.com/PR2/app_manager/pull/49 is merged
 - git:
     local-name: PR2/app_manager
-    uri: https://github.com/knorth55/app_manager.git
-    version: fetch15
+    uri: https://github.com/PR2/app_manager.git
+    version: kinetic-devel
 - git:
     local-name: RobotWebTools/rosbridge_suite
     uri: https://github.com/RobotWebTools/rosbridge_suite.git

From 92012bce9057503e63ae2544fd3ebb0680803047 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Thu, 21 Apr 2022 15:45:59 +0900
Subject: [PATCH 159/323] [Fetch] Update rosinstall to use fetch15 branch of
 jsk_common

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index d141a5de3a..5a36721014 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -26,11 +26,17 @@
     local-name: jsk-ros-pkg/jsk_3rdparty
     uri: https://github.com/knorth55/jsk_3rdparty.git
     version: fetch15
+# we need to use the development branch until PR below are merged.
+#  - https://github.com/jsk-ros-pkg/jsk_common/pull/1719
 # Waiting 2.2.12 release
+# - git:
+#     local-name: jsk-ros-pkg/jsk_common
+#     uri: https://github.com/jsk-ros-pkg/jsk_common.git
+#     version: master
 - git:
     local-name: jsk-ros-pkg/jsk_common
-    uri: https://github.com/jsk-ros-pkg/jsk_common.git
-    version: master 
+    uri: https://github.com/knorth55/jsk_common.git
+    version: fetch15
 # we need to use the development branch (fetch15 branch in knorth55's fork)
 # until it is merged to master
 - git:

From 61368da287fac39643bf5fe9af7fcc3f11a5d0e1 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Mon, 18 Apr 2022 13:34:21 +0900
Subject: [PATCH 160/323] [jsk_fetch_startup] Use image hz convert for
 recording kitchen demo

---
 .../apps/go_to_kitchen/go_to_kitchen.app      |  6 +++---
 .../apps/go_to_kitchen/go_to_kitchen.xml      | 21 +++++++++++++++++++
 2 files changed, 24 insertions(+), 3 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index 513531b6ba..109601abef 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -19,7 +19,7 @@ plugins:
       audio_sample_rate: 16000
       audio_format: wave
       audio_sample_format: S16LE
-      video_topic_name: /head_camera/rgb/image_rect_color
+      video_topic_name: /head_camera/rgb/image_rect_color/hz_converted
       video_height: 480
       video_width: 640
       video_framerate: 30
@@ -34,10 +34,10 @@ plugins:
       audio_sample_rate: 16000
       audio_format: wave
       audio_sample_format: S16LE
-      video_topic_name: /edgetpu_object_detector/output/image
+      video_topic_name: /edgetpu_object_detector/output/image/hz_converted
       video_height: 480
       video_width: 640
-      video_framerate: 10
+      video_framerate: 30
       video_encoding: RGB
   - name: panorama_video_recorder_plugin
     type: app_recorder/video_recorder_plugin
diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index 229bd5f8b0..e32ed91c39 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -10,6 +10,27 @@
     <param name="score_thresh" type="double" value="0.60" /> <!-- default: 0.6 -->
   </node>
 
+  <!-- Image topic hz converter for better synchronization betweeen audio and video-->
+  <node name="head_camera_image_hz_converter"
+        pkg="jsk_topic_tools"
+        type="topic_hz_converter.py">
+    <remap from="~input" to="/head_camera/rgb/image_rect_color" />
+    <remap from="~output" to="/head_camera/rgb/image_rect_color/hz_converted" />
+    <rosparam>
+      desired_topic_hz: 30
+    </rosparam>
+  </node>
+
+  <node name="object_detect_image_hz_converter"
+        pkg="jsk_topic_tools"
+        type="topic_hz_converter.py">
+    <remap from="~input" to="/edgetpu_object_detector/output/image" />
+    <remap from="~output" to="/edgetpu_object_detector/output/image/hz_converted" />
+    <rosparam>
+      desired_topic_hz: 30
+    </rosparam>
+  </node>
+
   <!-- Use m5stack_ros -->
   <!-- See https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/289 -->
   <node name="rosserial_m5stack" pkg="rosserial_python" type="serial_node.py">

From 5d713ab5d25fe5c62899ad24de9d90ad5b39af94 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 21 Apr 2022 08:49:11 +0900
Subject: [PATCH 161/323] [jsk_fetch_startup] update rviz config

---
 .../jsk_fetch_startup/config/jsk_startup.rviz | 47 ++++++++++++-------
 1 file changed, 31 insertions(+), 16 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
index 6cb1fffa48..ae1fe52d80 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
@@ -5,7 +5,7 @@ Panels:
     Property Tree Widget:
       Expanded: ~
       Splitter Ratio: 0.4187380373477936
-    Tree Height: 1319
+    Tree Height: 479
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -143,6 +143,10 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        head_l515_virtual_mount_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         head_pan_link:
           Alpha: 1
           Show Axes: false
@@ -153,6 +157,10 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        insta360_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         l515_head_link:
           Alpha: 1
           Show Axes: false
@@ -344,12 +352,12 @@ Visualization Manager:
       Class: rviz/Map
       Color Scheme: costmap
       Draw Behind: false
-      Enabled: false
+      Enabled: true
       Name: SafeCostMap
       Topic: /safe_teleop_base/local_costmap/costmap
       Unreliable: false
       Use Timestamp: false
-      Value: false
+      Value: true
     - Alpha: 0.3499999940395355
       Class: rviz/Map
       Color Scheme: costmap
@@ -401,9 +409,7 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
       Min Color: 0; 0; 0
-      Min Intensity: 0
       Name: BaseScan
       Position Transformer: XYZ
       Queue Size: 10
@@ -431,9 +437,7 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
       Min Color: 0; 0; 0
-      Min Intensity: 0
       Name: XtionPointCloud
       Position Transformer: XYZ
       Queue Size: 10
@@ -459,6 +463,19 @@ Visualization Manager:
       top: 10
       transport hint: raw
       width: 320
+    - Class: jsk_rviz_plugin/OverlayImage
+      Enabled: true
+      Name: PanoramaImage
+      Topic: /dual_fisheye_to_panorama/quater/output
+      Value: true
+      alpha: 0.800000011920929
+      height: 128
+      keep aspect ratio: true
+      left: 340
+      overwrite alpha value: false
+      top: 10
+      transport hint: raw
+      width: 480
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -474,9 +491,7 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
       Min Color: 0; 0; 0
-      Min Intensity: 0
       Name: HeadL515PointCloud
       Position Transformer: XYZ
       Queue Size: 10
@@ -541,13 +556,13 @@ Visualization Manager:
     Saved: ~
 Window Geometry:
   CancelAction:
-    collapsed: true
+    collapsed: false
   Displays:
-    collapsed: true
-  Height: 1865
-  Hide Left Dock: true
+    collapsed: false
+  Height: 1025
+  Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001f8000006abfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d000005b2000000c900fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000fb0000001800430061006e00630065006c0041006300740069006f006e00000005f5000000f30000007f00ffffff000000010000010f00000463fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000463000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003f50000003efc0100000002fb0000000800540069006d00650100000000000003f5000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f5000006ab00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001f800000363fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000026a000000c900fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000fb0000001800430061006e00630065006c0041006300740069006f006e01000002ad000000f30000007f00ffffff000000010000010f00000463fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000463000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005820000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -556,6 +571,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1013
-  X: 67
+  Width: 1920
+  X: 0
   Y: 27

From 969327871e2ff360cb3834a62b9df4744697d5a4 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 21 Apr 2022 14:12:51 +0900
Subject: [PATCH 162/323] [jsk_fetch_startup] add panorama image and detection
 results to rviz config

---
 .../jsk_fetch_startup/config/jsk_startup.rviz | 134 +++++++++++++-----
 1 file changed, 97 insertions(+), 37 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
index ae1fe52d80..9fa5277bc9 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
@@ -5,7 +5,7 @@ Panels:
     Property Tree Widget:
       Expanded: ~
       Splitter Ratio: 0.4187380373477936
-    Tree Height: 479
+    Tree Height: 477
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -450,32 +450,6 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
-    - Class: jsk_rviz_plugin/OverlayImage
-      Enabled: true
-      Name: XtionRGB
-      Topic: /head_camera/rgb/quater/image_rect_color
-      Value: true
-      alpha: 0.800000011920929
-      height: 128
-      keep aspect ratio: true
-      left: 10
-      overwrite alpha value: false
-      top: 10
-      transport hint: raw
-      width: 320
-    - Class: jsk_rviz_plugin/OverlayImage
-      Enabled: true
-      Name: PanoramaImage
-      Topic: /dual_fisheye_to_panorama/quater/output
-      Value: true
-      alpha: 0.800000011920929
-      height: 128
-      keep aspect ratio: true
-      left: 340
-      overwrite alpha value: false
-      top: 10
-      transport hint: raw
-      width: 480
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -488,7 +462,7 @@ Visualization Manager:
       Color: 255; 255; 255
       Color Transformer: RGB8
       Decay Time: 0
-      Enabled: true
+      Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
@@ -503,7 +477,93 @@ Visualization Manager:
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: true
+      Value: false
+    - Class: rviz/Group
+      Displays:
+        - Class: jsk_rviz_plugin/OverlayImage
+          Enabled: true
+          Name: XtionRGB
+          Topic: /head_camera/rgb/quater/image_rect_color
+          Value: true
+          alpha: 0.800000011920929
+          height: 128
+          keep aspect ratio: true
+          left: 10
+          overwrite alpha value: false
+          top: 10
+          transport hint: raw
+          width: 320
+        - Class: jsk_rviz_plugin/OverlayImage
+          Enabled: false
+          Name: XtionRGBHumanPoseEstimator
+          Topic: /edgetpu_human_pose_estimator/output/image
+          Value: false
+          alpha: 0.800000011920929
+          height: 128
+          keep aspect ratio: true
+          left: 10
+          overwrite alpha value: false
+          top: 10
+          transport hint: raw
+          width: 320
+        - Class: jsk_rviz_plugin/OverlayImage
+          Enabled: false
+          Name: XtionRGBObjectDetector
+          Topic: /edgetpu_human_pose_estimator/output/image
+          Value: false
+          alpha: 0.800000011920929
+          height: 128
+          keep aspect ratio: true
+          left: 10
+          overwrite alpha value: false
+          top: 10
+          transport hint: raw
+          width: 320
+      Enabled: true
+      Name: XtionRGB
+    - Class: rviz/Group
+      Displays:
+        - Class: jsk_rviz_plugin/OverlayImage
+          Enabled: true
+          Name: PanoramaImage
+          Topic: /dual_fisheye_to_panorama/quater/output
+          Value: true
+          alpha: 0.800000011920929
+          height: 128
+          keep aspect ratio: true
+          left: 340
+          overwrite alpha value: false
+          top: 10
+          transport hint: raw
+          width: 480
+        - Class: jsk_rviz_plugin/OverlayImage
+          Enabled: false
+          Name: PanoramaHumanPoseEstimator
+          Topic: /edgetpu_panorama_human_pose_estimator/output/image
+          Value: false
+          alpha: 0.800000011920929
+          height: 128
+          keep aspect ratio: true
+          left: 340
+          overwrite alpha value: false
+          top: 10
+          transport hint: raw
+          width: 480
+        - Class: jsk_rviz_plugin/OverlayImage
+          Enabled: false
+          Name: PanoramaObjectDetector
+          Topic: /edgetpu_panorama_object_detector/output/image
+          Value: false
+          alpha: 0.800000011920929
+          height: 128
+          keep aspect ratio: true
+          left: 340
+          overwrite alpha value: false
+          top: 10
+          transport hint: raw
+          width: 480
+      Enabled: true
+      Name: PanoramaImage
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -534,25 +594,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 10.471776962280273
+      Distance: 10
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.00829183217138052
-        Y: 0.022624600678682327
-        Z: -0.003759089857339859
-      Focal Shape Fixed Size: true
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5747973322868347
+      Pitch: 0.7853981852531433
       Target Frame: base_link
       Value: Orbit (rviz)
-      Yaw: 1.745403528213501
+      Yaw: 0.7853981852531433
     Saved: ~
 Window Geometry:
   CancelAction:
@@ -562,7 +622,7 @@ Window Geometry:
   Height: 1025
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001f800000363fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000026a000000c900fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000fb0000001800430061006e00630065006c0041006300740069006f006e01000002ad000000f30000007f00ffffff000000010000010f00000463fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000463000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005820000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001f800000361fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e00000269000000ca00fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000fb0000001800430061006e00630065006c0041006300740069006f006e01000002ad000000f20000008200ffffff000000010000010f00000463fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000463000000a600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000026200fffffffb0000000800540069006d00650100000000000004500000000000000000000005820000036100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:

From a06aa8ba24a0b532e9ec7be20e813dd386336d66 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 25 Apr 2022 15:13:14 +0900
Subject: [PATCH 163/323] [jsk_fetch_startup] fix format, remove old document,
 and add TOC

---
 jsk_fetch_robot/jsk_fetch_startup/README.md | 120 ++++++++++++++------
 1 file changed, 84 insertions(+), 36 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md
index e7baff4793..0c65fb347d 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/README.md
+++ b/jsk_fetch_robot/jsk_fetch_startup/README.md
@@ -1,5 +1,28 @@
 # jsk_fetch_startup
 
+- [jsk_fetch_startup](#jsk_fetch_startup)
+  - [SetUp (Running following commands in the first time)](#setup-running-following-commands-in-the-first-time)
+    - [Install a udev rule](#install-a-udev-rule)
+    - [For realsense](#for-realsense)
+    - [supervisor](#supervisor)
+    - [cron](#cron)
+    - [mongodb](#mongodb)
+  - [Teleoperation](#teleoperation)
+  - [Maintenance](#maintenance)
+    - [re-roslaunch jsk_fetch_startup fetch_bringup.launch](#re-roslaunch-jsk_fetch_startup-fetch_bringuplaunch)
+    - [re-roslaunch fetch_bringup fetch.launch](#re-roslaunch-fetch_bringup-fetchlaunch)
+    - [Clock Synchronization](#clock-synchronization)
+  - [Network](#network)
+    - [General description](#general-description)
+    - [Case description](#case-description)
+    - [Access point](#access-point)
+  - [Log](#log)
+  - [Apps](#apps)
+    - [Note](#note)
+    - [Add fetch to rwt_app_chooser](#add-fetch-to-rwt_app_chooser)
+    - [Execute demos](#execute-demos)
+  - [Administration](#administration)
+
 ## SetUp (Running following commands in the first time)
 
 ### Install a udev rule
@@ -7,7 +30,7 @@
 rosrun jsk_fetch_startup install_udev.sh
 ```
 
-#### For realsense
+### For realsense
 
 Before start this, remove `librealsense2` and `realsense2-ros` from ROS repository and set not to be installed.
 
@@ -27,70 +50,70 @@ sudo apt-mark hold librealsense2 librealsense2-dev
 ```
 
 ### supervisor
+
 Important jobs for fetch operation are managed by supervisor.
 
 Here is a list of jobs that are managed by supervisor.
 
-  - roscore
+- roscore
 
     Start roscore
 
-  - robot
+- robot
 
     Launch Minimum ROS programs to run fetch
 
-  - jsk-fetch-startup
+- jsk-fetch-startup
 
     Launch ROS programs extended by JSK
 
-  - jsk-network-monitor
+- jsk-network-monitor
 
     Restart the network manager automatically if ping does not work.
 
-  - jsk-log-wifi
+- jsk-log-wifi
 
     Monitor network condition
 
-  - jsk-app-scheduler
+- jsk-app-scheduler
 
     Scheduler to launch [app](https://github.com/knorth55/app_manager_utils/tree/master/app_scheduler) at a fixed time
 
-  - jsk-object-detector
+- jsk-object-detector
 
     Object detection using fetch's head camera and [coral_usb_ros](https://github.com/knorth55/coral_usb_ros)
 
-  - jsk-panorama-object-detector:
+- jsk-panorama-object-detector:
 
     Object detection using fetch's 360 camera and [coral_usb_ros](https://github.com/knorth55/coral_usb_ros)
 
-  - jsk-human-pose-estimator
+- jsk-human-pose-estimator
 
     Human pose estimation using fetch's head camera and [coral_usb_ros](https://github.com/knorth55/coral_usb_ros)
 
-  - jsk-panorama-human-pose-estimator
+- jsk-panorama-human-pose-estimator
 
     Human pose estimation using fetch's 360 camera and [coral_usb_ros](https://github.com/knorth55/coral_usb_ros)
 
-  - jsk-dialog
+- jsk-dialog
 
     Launch [dialogflow_task_exective](https://github.com/jsk-ros-pkg/jsk_3rdparty/tree/master/dialogflow_task_executive)
 
-  - jsk-gdrive
+- jsk-gdrive
 
     Launch [app](https://github.com/knorth55/app_manager_utils/tree/master/app_uploader) to upload data to Goole Drive
 
-  - jsk-dstat
+- jsk-dstat
 
     Monitor fetch's resource using dstat command
 
-  - jsk-lifelog
+- jsk-lifelog
 
     Launch program to save fetch's [lifelog](https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_robot_common/jsk_robot_startup/lifelog)
 
-
 Install supervisor config files. e.g. `robot.conf`, `jsk_fetch_startup.conf` ...
 
-```
+```bash
 su -c 'rosrun jsk_fetch_startup install_supervisor.sh'
 ```
 
@@ -100,17 +123,17 @@ Previously, upstart was used, but it has been moved to supervisor. This is becau
 
 ![supervisor_status](https://user-images.githubusercontent.com/19769486/119499716-f142c000-bda1-11eb-9b96-0cfa7e04a1b2.png)
 
-
 ### cron
+
 Install cron jobs for root user and fetch user. e.g. `shutdown`, `update_workspace`.
 
-```
+```bash
 su -c 'rosrun jsk_fetch_startup install_cron.sh'
 ```
 
 ### mongodb
 
-```
+```bash
 sudo mkdir -p /var/lib/robot/mongodb_store/
 
 # to see the db items from http://lcoalhost/rockmongo
@@ -122,11 +145,7 @@ sudo mv rockmongo-1.1.7 /var/www/html/rockmongo
 # $MONGO["servers"][$i]["control_auth"] = false; // true;//enable control users, works only if mongo_auth=false
 ```
 
-### Coral Edge TPU
-Create ROS workspace for Coral Edge TPU. Please see:
-https://github.com/knorth55/coral_usb_ros
-
-### Teleoperation
+## Teleoperation
 
 For the JSK safe teleop system, please see [data flow diagram of safe_teleop.launch](https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_robot_common/jsk_robot_startup#launchsafe_teleoplaunch)
 
@@ -138,19 +157,22 @@ The numbers assigned to the joystick are as follows.
 ## Maintenance
 
 ### re-roslaunch jsk_fetch_startup fetch_bringup.launch
-```
+
+```bash
 sudo supervisorctl restart jsk-fetch-startup
 ```
 
 ### re-roslaunch fetch_bringup fetch.launch
-```
+
+```bash
 sudo supervisorctl restart robot
 ```
 
 ### [Clock Synchronization](https://github.com/fetchrobotics/docs/blob/0c1c63ab47952063bf60280e74b4ff3ae07fd914/source/computer.rst)
 
 install `chrony` and add ```server `gethostip -d fetch15` offline minpoll 8``` to /etc/chrony/chrony.conf, restart chronyd by `sudo /etc/init.d/chrony restart` and wait for few seconds, if you get
-```
+
+```bash
 $ chronyc tracking
 Reference ID    : 133.11.216.145 (fetch15.jsk.imi.i.u-tokyo.ac.jp)
 Stratum         : 4
@@ -166,21 +188,22 @@ Root dispersion : 0.018803 seconds
 Update interval : 2.1 seconds
 Leap status     : Normal
 ```
-it works, if you get `127.127.1.1` for `Reference ID`, something wrong
 
+it works, if you get `127.127.1.1` for `Reference ID`, something wrong
 
 ## Network
+
 ### General description
+
 Fetch has wired and wireless network connections.
 If we use both of wired and wireless connections as DHCP, DNS holds two IP addresses for same hostname (fetch15 in this case).
 This cause problems in network such as ROS communication or ssh connection.
 
-The solution we take now (2016/11/01) is using wired connection as static IP.
-By doing so, DNS holds only one IP adress (for wireless connection) for fetch hostname.
-
 ### Case description
+
 If you see the following result, it is OK.
-```
+
+```bash
 $ nslookup fetch15.jsk.imi.i.u-tokyo.ac.jp
 Server:         127.0.1.1
 Address:        127.0.1.1#53
@@ -190,24 +213,28 @@ Address: 133.11.216.145
 ```
 
 If two or more IP addresses apper, something is wrong.
-Please connect display, open a window of network manager, and check that wired connection uses static IP.
+Please connect display, open a window of network manager.
 
 ### Access point
+
 Define access point setting, such as ssid:
-```
+
+```bash
 cd /etc/NetworkManager/system-connections
 ```
 
-### Log
+## Log
 
 tmuxinator makes it easy to check the important logs of fetch from command line. Currently, it shows the logs of the supervisor jobs.
 
 Install tmuxinator config.
+
 ```bash
 rosrun jsk_fetch_startup install_tmuxinator.sh
 ```
 
 Show logs
+
 ```bash
 tmuxinator log
 ```
@@ -244,6 +271,7 @@ tmuxinator log
 You can not run this on Firefox. Please use Google Chrome.
 
 ### Add fetch to rwt_app_chooser
+
 1. Access [http://tork-a.github.io/visualization_rwt/rwt_app_chooser](http://tork-a.github.io/visualization_rwt/rwt_app_chooser "website").
   - Be careful to access the site via http, not https, to to enable websocket communication.
   - Modern browsers may automatically redirect from http to https.
@@ -254,7 +282,27 @@ You can not run this on Firefox. Please use Google Chrome.
 1. Click `ADD ROBOT` button
 
 ### Execute demos
+
 1. Click `fetch15` at `Select Robot` window
 1. Select task which are shown with icons.
 
 ![select_app](https://user-images.githubusercontent.com/19769486/40872010-7d21d2bc-6681-11e8-8c0b-621f199638dd.png)
+
+## Administration
+
+- 2016/10/26 add `allow 133.11.216/8` to /etc/chrony/chrony.conf
+- 2018/08/26 add `0 10 * * 1-5 /home/fetch/ros/indigo_robot/devel/env.sh rosservice call /fetch15/start_app "name: 'jsk_fetch_startup/go_to_kitchen'"` to crontab
+  - `fetch` goes to 73B2 kitchen at 10:00 AM from Monday to Friday.
+- 2019/04/19: add `fetch` user in `pulse-access` group.
+- 2019/04/19: set `start on runlevel [2345]` in `/etc/init/pulseaudio.conf`.
+  - this modification is needed for starting `pulseaudio` in boot.
+  - `pulseaudio` is required to register USB speaker on head in boot.
+- 2019/04/19: set `env DISALLOW_MODULE_LOADING=0` in `/etc/init/pulseaudio.conf`.
+  - this modification is needed for overriding default speaker setting in `/etc/init/jsk-fetch-startup.conf`
+  - overriding default speaker setting to use USB speaker on head is done with `pactl set-default-sink $AUDIO_DEVICE` in `/etc/init/jsk-fetch-startup.conf`
+- 2019/04/19: launch `jsk_fetch_startup/fetch_bringup.launch` by `fetch` user in `/etc/init/jsk-fetch-startup.conf`
+  - some nodes save files by `fetch` user
+- 2019/04/19: add arg `launch_teleop` in `/etc/ros/indigo/robot.launch`.
+  - We sent PR to upstream [fetchrobotics/fetch_robots PR#40](https://github.com/fetchrobotics/fetch_robots/pull/40).
+- 2019/04/19: run `/etc/ros/indigo/robot.launch` with `arg` `launch_teleop:=false`.
+  - `teleop` in `/etc/ros/indigo/robot.launch` nodes were conflicted with `teleop` nodes in [jsk_fetch_startup/launch/fetch_teleop.xml](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml)

From 1c754bab868769ba7a2477bd9ac6eee05da26e14 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 28 Apr 2022 12:44:10 +0900
Subject: [PATCH 164/323] [jsk_fetch_startup] enable to change
 robot_description according to config.bash

---
 .../jsk_fetch_startup/config/config.bash          |  5 +++++
 .../jsk_fetch_startup/launch/fetch.launch         | 15 ++++++++-------
 2 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
index ea364d3b12..ea2ca482dd 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -1,6 +1,11 @@
 # This file is bash configuration for robot.conf
 # This file must be at /var/lib/robot/config.bash
 
+export USE_BASE_CAMERA_MOUNT=true
+export USE_HEAD_BOX=true
+export USE_HEAD_L515=true
+export USE_INSTA360_STAND=true
+
 export RS_SERIAL_NO_T265=""
 export RS_SERIAL_NO_D435_FRONTRIGHT=""
 export RS_SERIAL_NO_D435_FRONTLEFT=""
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
index 72826157ec..5157fc18a8 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
@@ -3,14 +3,15 @@
   <arg name="launch_teleop" default="true" />
   <arg name="launch_moveit" default="true" />
 
-  <arg name="use_base_camera_mount" default="true" />
-  <arg name="use_head_box" default="true" />
-  <arg name="launch_diagnostics_agg" default="false" />
-  <arg name="use_head_l515" default="true" />
-  <arg name="use_realsense" default="true" />
+  <!-- options for robot_description -->
   <arg name="use_fetch_description" default="false" />
+  <arg name="use_base_camera_mount" default="$(optenv USE_BASE_CAMERA_MOUNT true)" />
+  <arg name="use_head_box" default="$(optenv USE_HEAD_BOX true)" />
+  <arg name="use_head_l515" default="(opt USE_HEAD_L515 true)" />
+  <arg name="insta360_stand" default="(opt USE_INSTA360_STAND true)" />
 
-  <!-- realsense serial numbers -->
+  <!-- realsense option and serial numbers -->
+  <arg name="use_realsense" default="true" />
   <arg name="RS_SERIAL_NO_T265" default="$(optenv RS_SERIAL_NO_T265)" />
   <arg name="RS_SERIAL_NO_D435_FRONTRIGHT" default="$(optenv RS_SERIAL_NO_D435_FRONTRIGHT)" />
   <arg name="RS_SERIAL_NO_D435_FRONTLEFT" default="$(optenv RS_SERIAL_NO_D435_FRONTLEFT)" />
@@ -136,7 +137,7 @@
          command="$(find xacro)/xacro $(find jsk_fetch_startup)/robots/jsk_fetch.urdf.xacro
                   ros_distro:=$(env ROS_DISTRO) use_fetch_description:=$(arg use_fetch_description)
                   base_camera_mount:=$(arg use_base_camera_mount) head_box:=$(arg use_head_box)
-                  head_l515:=$(arg use_head_l515)" />
+                  head_l515:=$(arg use_head_l515) insta360_stand:=$(arg insta360_stand)" />
 
   <!-- Drivers for Base -->
   <node name="robot_driver" launch-prefix="$(arg launch_prefix)" pkg="fetch_drivers" type="robot_driver" output="screen">

From 322aeef85ba348c4701573692f35d3081195a274 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 27 Apr 2022 17:24:14 +0900
Subject: [PATCH 165/323] [jsk_fetch_startup] rename update_workspace.sh to
 update_workspace_main.sh and call it from update_workspace.sh

---
 .../scripts/update_workspace.sh               | 113 +-----------------
 .../scripts/update_workspace_main.sh          | 113 ++++++++++++++++++
 2 files changed, 115 insertions(+), 111 deletions(-)
 create mode 100755 jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index 7786444579..868f0cd1b2 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -1,113 +1,4 @@
 #!/usr/bin/env bash
 
-function usage()
-{
-    echo "Usage: $0 [-w workspace_directory] [-h] [-l]
-
-optional arguments:
-    -h                  show this help
-    -w WORKSPACE_PATH   specify target workspace
-    -l                  do not send a mail
-"
-}
-
-function get_full_path()
-{
-    echo "$(cd $(dirname $1) && pwd)/$(basename $1)"
-}
-
-SEND_MAIL=true
-WORKSPACE=$(get_full_path $HOME/ros/melodic)
-
-while getopts hlw: OPT
-do
-    case $OPT in
-        w)
-            WORKSPACE=$(get_full_path $OPTARG)
-            ;;
-        l)
-            SEND_MAIL=false
-            ;;
-        h)
-            usage
-            exit 1
-            ;;
-        *)
-            usage
-            exit 1
-            ;;
-    esac
-done
-
-if [ ! -e $WORKSPACE ]; then
-    echo "No workspace $WORKSPACE"
-    exit 1
-fi
-
-. $WORKSPACE/devel/setup.bash
-# Filename should end with .txt to preview the contents in a web browser
-LOGFILE=$WORKSPACE/update_workspace.txt
-
-{
-set -x
-# Update workspace
-
-wstool foreach -t $WORKSPACE/src --git 'git stash'
-wstool foreach -t $WORKSPACE/src --git 'git fetch --all --prune'
-wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot
-ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall
-wstool update -t $WORKSPACE/src --delete-changed-uris
-# Forcefully checkout specified branch
-wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi'
-wstool update -t $WORKSPACE/src
-WSTOOL_UPDATE_RESULT=$?
-# Rosdep Install
-sudo apt-get update -y
-rosdep update
-# 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
-rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys \
-"\
-jsk_footstep_controller \
-jsk_footstep_planner \
-librealsense2 \
-realsense2_camera \
-realsense2_description \
-"
-ROSDEP_INSTALL_RESULT=$?
-# Build workspace
-cd $WORKSPACE
-catkin clean aques_talk collada_urdf_jsk_patch libcmt -y
-catkin init
-catkin config -DCMAKE_BUILD_TYPE=Release
-catkin build --continue-on-failure
-CATKIN_BUILD_RESULT=$?
-# Send mail
-MAIL_BODY=""
-if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then
-    MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. "
-fi
-if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then
-    MAIL_BODY=$MAIL_BODY"Please install dependencies manually. "
-fi
-if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
-    MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually."
-fi
-set +x
-} 2>&1 | tee $LOGFILE
-if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then
-    echo "Sent a mail"
-    rostopic pub -1 /email jsk_robot_startup/Email "header:
-  seq: 0
-  stamp: {secs: 0, nsecs: 0}
-  frame_id: ''
-subject: 'Daily workspace update fails'
-body: '$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_fetch_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh
+/tmp/update_workspace.sh $@
diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
new file mode 100755
index 0000000000..74eb47693b
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
@@ -0,0 +1,113 @@
+#!/usr/bin/env bash
+
+function usage()
+{
+    echo "Usage: $0 [-w workspace_directory] [-h] [-l]
+
+optional arguments:
+    -h                  show this help
+    -w WORKSPACE_PATH   specify target workspace
+    -l                  do not send a mail
+"
+}
+
+function get_full_path()
+{
+    echo "$(cd $(dirname $1) && pwd)/$(basename $1)"
+}
+
+SEND_MAIL=true
+WORKSPACE=$(get_full_path $HOME/ros/melodic)
+
+while getopts hlw: OPT
+do
+    case $OPT in
+        w)
+            WORKSPACE=$(get_full_path $OPTARG)
+            ;;
+        l)
+            SEND_MAIL=false
+            ;;
+        h)
+            usage
+            exit 1
+            ;;
+        *)
+            usage
+            exit 1
+            ;;
+    esac
+done
+
+if [ ! -e $WORKSPACE ]; then
+    echo "No workspace $WORKSPACE"
+    exit 1
+fi
+
+. $WORKSPACE/devel/setup.bash
+# Filename should end with .txt to preview the contents in a web browser
+LOGFILE=$WORKSPACE/update_workspace.txt
+
+{
+set -x
+# Update workspace
+
+wstool foreach -t $WORKSPACE/src --git 'git stash'
+wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune'
+wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot
+ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall
+wstool update -t $WORKSPACE/src --delete-changed-uris
+# Forcefully checkout specified branch
+wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi'
+wstool update -t $WORKSPACE/src
+WSTOOL_UPDATE_RESULT=$?
+# Rosdep Install
+sudo apt-get update -y
+rosdep update
+# 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
+rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys \
+"\
+jsk_footstep_controller \
+jsk_footstep_planner \
+librealsense2 \
+realsense2_camera \
+realsense2_description \
+"
+ROSDEP_INSTALL_RESULT=$?
+# Build workspace
+cd $WORKSPACE
+catkin clean aques_talk collada_urdf_jsk_patch libcmt -y
+catkin init
+catkin config -DCMAKE_BUILD_TYPE=Release
+catkin build --continue-on-failure
+CATKIN_BUILD_RESULT=$?
+# Send mail
+MAIL_BODY=""
+if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then
+    MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. "
+fi
+if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then
+    MAIL_BODY=$MAIL_BODY"Please install dependencies manually. "
+fi
+if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
+    MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually."
+fi
+set +x
+} 2>&1 | tee $LOGFILE
+if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then
+    echo "Sent a mail"
+    rostopic pub -1 /email jsk_robot_startup/Email "header:
+  seq: 0
+  stamp: {secs: 0, nsecs: 0}
+  frame_id: ''
+subject: 'Daily workspace update fails'
+body: '$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

From 3a0431a53c9898abbc98c10e8dc39d4060bb3f3e Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 28 Apr 2022 15:25:14 +0900
Subject: [PATCH 166/323] [jsk_fetch_startup] fix bugs

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
index 5157fc18a8..3d8fa4f0c2 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
@@ -7,8 +7,8 @@
   <arg name="use_fetch_description" default="false" />
   <arg name="use_base_camera_mount" default="$(optenv USE_BASE_CAMERA_MOUNT true)" />
   <arg name="use_head_box" default="$(optenv USE_HEAD_BOX true)" />
-  <arg name="use_head_l515" default="(opt USE_HEAD_L515 true)" />
-  <arg name="insta360_stand" default="(opt USE_INSTA360_STAND true)" />
+  <arg name="use_head_l515" default="$(optenv USE_HEAD_L515 true)" />
+  <arg name="insta360_stand" default="$(optenv USE_INSTA360_STAND true)" />
 
   <!-- realsense option and serial numbers -->
   <arg name="use_realsense" default="true" />

From ae9c549ab4f7919fa61b062718db09c1add16fb8 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Sat, 30 Apr 2022 19:10:33 +0900
Subject: [PATCH 167/323] use app_manager fetch15 branch

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 5a36721014..66086e40b9 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -3,8 +3,8 @@
 
 - git:
     local-name: PR2/app_manager
-    uri: https://github.com/PR2/app_manager.git
-    version: kinetic-devel
+    uri: https://github.com/knorth55/app_manager.git
+    version: fetch15 
 - git:
     local-name: RobotWebTools/rosbridge_suite
     uri: https://github.com/RobotWebTools/rosbridge_suite.git

From 63cdfd032e3f14ef01980e1fd70bc9a15a2a378f Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 12 May 2022 22:20:29 +0900
Subject: [PATCH 168/323] [jsk_fetch_startup] Remove duplicated diagnostics
 aggregator

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
index 3d8fa4f0c2..230ed6656c 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
@@ -2,6 +2,7 @@
   <!-- add arg launch_teleop: yamaguchi & s-kitagawa (2019/04/19) -->
   <arg name="launch_teleop" default="true" />
   <arg name="launch_moveit" default="true" />
+  <arg name="launch_diagnostics_agg" default="false" />
 
   <!-- options for robot_description -->
   <arg name="use_fetch_description" default="false" />

From ec3fcb7d631caefaad7efe869f90b6a471c5ebcc Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Sat, 14 May 2022 00:42:50 +0900
Subject: [PATCH 169/323] set fetch default english speaker

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch            | 5 ++++-
 .../supervisor_scripts/jsk-fetch-startup.conf                | 2 +-
 2 files changed, 5 insertions(+), 2 deletions(-)

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 deb2e3b9f6..33202e6185 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -6,6 +6,7 @@
   <arg name="launch_insta360" default="true" />
   <arg name="use_voice_text" default="false" />
   <arg name="default_speaker" default="2" />
+  <arg name="default_english_speaker" default="voice_kal_diphone" />
   <arg name="fetch_lifelog" default="true" />
   <arg name="boot_sound" default="false" />
   <arg name="map_frame" default="eng2" />
@@ -67,7 +68,9 @@
   <!-- disable sound_play in julius.launch and place it in fetch_bringup.launch -->
   <!-- see: https://github.com/jsk-ros-pkg/jsk_robot/pull/1140 -->
   <node name="sound_play" pkg="sound_play" type="soundplay_node.py"
-        respawn="true" if="$(arg launch_sound_play)" />
+        respawn="true" if="$(arg launch_sound_play)">
+    <param name="default_voice" value="$(arg default_english_speaker)" />
+  </node>
 
   <!-- japanese speech node -->
   <include if="$(arg use_voice_text)" file="$(find voice_text)/launch/voice_text.launch">
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
index 11dedc0a6b..e418fcd627 100644
--- 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
@@ -1,5 +1,5 @@
 [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 && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=voice_cmu_us_slt_arctic_hts; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true

From 01db310e03139c1f0c4da77a0e5c7d7ea5625413 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 17 May 2022 23:17:48 +0900
Subject: [PATCH 170/323] [jsk_fetch_startup] add --profile and --interface
 args to network_monitor.py

---
 .../scripts/network_monitor.py                | 40 ++++++++++---------
 1 file changed, 22 insertions(+), 18 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/network_monitor.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/network_monitor.py
index 1f67266a30..782f5479a5 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/network_monitor.py
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/network_monitor.py
@@ -47,21 +47,21 @@
 TOUCH_FILE = "/home/fetch/.Network_Monitor_Restarted_Robot"
 
 
-def ping(use_arping, hosts):
+def ping(use_arping, hosts, network_interface='wlan0'):
     for host in hosts:
         for _ in xrange(5):
             print(datetime.now(),"Sending ping request")
             if use_arping:
-                response = os.system("arping -I wlan0 -c 1 " + host)
+                response = os.system("arping -I {} -c 1 {}".format(network_interface, host))
             else:
-                response = os.system("ping -c 1 -q " + host)
+                response = os.system("ping -c 1 -q {}".format(host))
             if response == 0:
                 return True
             sleep(5)
     return False
 
-def get_sanshiro():
-    return [['sanshiro', 'sanshiro']]
+def get_sanshiro(network_profile_id):
+    return [[network_profile_id, 'sanshiro']]
 
 def get_saved_networks(filepaths=None):
     # NetworkManager has its own ID for networks, often multiple for the same
@@ -90,19 +90,19 @@ def get_saved_networks(filepaths=None):
 
 
 # for reconnecting to 'sanshiro'
-def reconnect_to_wlan():
-    if call(["nmcli", "d", "disconnect", "iface", "wlan0"]) == 0:
+def reconnect_to_wlan(network_interface='wlan0', network_profile_id='sanshiro'):
+    if call(["nmcli", "d", "disconnect", "iface", network_interface]) == 0:
         sleep(0.3)
-        print("disconnect from wlan0")
+        print("Network disconnected with interface \"{}\"".format(network_interface))
     else:
-        print("'nmcli d disconnect iface wlan0' do not work correctly!")
+        print("'nmcli d disconnect iface {}' do not work correctly!".format(network_interface))
 
-    if call(["nmcli", "c", "up", "id", "sanshiro"]) == 0:
+    if call(["nmcli", "c", "up", "id", network_profile_id]) == 0:
         sleep(0.3)
-        print("connect to sanshiro")
+        print("Network connected with profile \"{}\"".format(network_profile_id))
         return True
     else:
-        print("'nmcli c up id sanshiro' do not work correctly!")
+        print("'nmcli c up id {}' do not work correctly!".format(network_profile_id))
         return False
 
 
@@ -150,13 +150,13 @@ def connect_by_nmcli_id(nid, ssid="SSID not given"):
         return False
 
 
-def attempt_reconnect_to_network():
+def attempt_reconnect_to_network(network_interface, network_profile_id):
     # First, try to connect to sanshiro
-    if connect_by_nmcli_id('sanshiro', 'sanshiro'):
+    if connect_by_nmcli_id(network_profile_id, 'sanshiro'):
         return True
 
     # Get list of stored 'wireless' connections; [id, ssid]
-    known = get_saved_networks() # alternative : known = get_sanshiro()
+    known = get_saved_networks() # alternative : known = get_sanshiro(network_profile_id)
 
     # Get list of unique available wifi network ssids and their strongest signal
     avail = get_avail_networks_by_strength()
@@ -170,7 +170,7 @@ def attempt_reconnect_to_network():
     for ntwk in to_try:
         if connect_by_nmcli_id(*ntwk):
             return True
-    if reconnect_to_wlan():
+    if reconnect_to_wlan(network_interface, network_profile_id):
         return True
     return False
 
@@ -249,12 +249,12 @@ def main(args):
     while True:
         try:
             # Check if we can ping the access point
-            if not ping(args.arping, hostnames):
+            if not ping(args.arping, hostnames, args.interface):
                 print(datetime.now(), "Cannot connect to", ', '.join(hostnames))
                 sound_goal.goal.sound_request.arg = "ピングが通りません"
                 pub.publish(sound_goal)
                 # Try to connect to any known network
-                if not attempt_reconnect_to_network():
+                if not attempt_reconnect_to_network(args.interface, args.profile):
                     # TODO use check_output instead of Popen and handle truly
                     # bad issues with computer restarts or notification.
                     print(datetime.now(), "Restarting network-manager")
@@ -302,6 +302,10 @@ def main(args):
                         help="One or more comma delimited hostname(s) to ping. Hostnames will "
                         "be tried in order supplied until one is successfully contacted. Default: "
                         "Looks for NETWORK_MONITOR_HOSTNAMES in environment.")
+    parser.add_argument('-I', '--interface', default='wlan0',
+                        help='Network interface to be used.')
+    parser.add_argument('--profile', default='sanshiro',
+                        help='Network profile to be used.')
     parser.add_argument("-a", "--arping", action='store_true',
                         help="Use arping instead of ping.")
     parser.add_argument("--enable-reboot-option", action='store_true',

From c751e6322a08523dd4ee549adcc717235a750bab Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 17 May 2022 23:18:07 +0900
Subject: [PATCH 171/323] [jsk_fetch_startup] add interface arg to
 log-wifi-link.sh

---
 .../scripts/log-wifi-link.sh                  | 20 ++++++++++++++++---
 1 file changed, 17 insertions(+), 3 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh
index 9de64ee353..c888d2a903 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh
@@ -7,9 +7,9 @@ INTERVAL=10
 wifi_status(){
     local ssid=$(iw $IFACE link | grep SSID | cut -d: -f2)
     local freq=$(iw $IFACE link | grep freq | cut -d':' -f2)
-    local signal=$(cat /proc/net/wireless | grep wlan0 | awk '{print $3}')
-    local level=$(cat /proc/net/wireless | grep wlan0 | awk '{print $4}')
-    local noise=$(cat /proc/net/wireless | grep wlan0 | awk '{print $5}')
+    local signal=$(cat /proc/net/wireless | grep $IFACE | awk '{print $3}')
+    local level=$(cat /proc/net/wireless | grep $IFACE | awk '{print $4}')
+    local noise=$(cat /proc/net/wireless | grep $IFACE | awk '{print $5}')
     local bitrate=$(iw $IFACE link | grep bitrate | cut -d':' -f2)
     echo "$(date -Iseconds),$ssid,$freq,$signal,$level,$noise,$bitrate"
 }
@@ -19,6 +19,20 @@ if [ ! -d $OUTDIR ]; then
     mkdir -p $OUTDIR
 fi
 
+print_help(){
+    echo "Usage: $0 [-i INTERVAL (default: 10)] [-I IFACE (default: wlan0)]"
+    exit 1
+}
+
+while getopts hi:I: o
+do
+    case "$o" in
+        i)  INTERVAL=$OPTARG;;
+        I)  IFACE="$OPTARG";;
+        h)  print_help;;
+    esac
+done
+
 while true; do
     wifi_status >> $OUTPATH
     sleep $INTERVAL

From eb93897f2d74230bd76d5b5783a075acc380d48e Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 18 May 2022 00:02:48 +0900
Subject: [PATCH 172/323] [jsk_fetch_startup] support network profile and
 interface configuration in supervisor jobs

---
 jsk_fetch_robot/jsk_fetch_startup/config/config.bash           | 3 +++
 .../jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf     | 2 +-
 .../supervisor_scripts/jsk-network-monitor.conf                | 2 +-
 3 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
index ea2ca482dd..9ab4ab44f1 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -10,3 +10,6 @@ export RS_SERIAL_NO_T265=""
 export RS_SERIAL_NO_D435_FRONTRIGHT=""
 export RS_SERIAL_NO_D435_FRONTLEFT=""
 export RS_SERIAL_NO_L515_HEAD=""
+
+export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0"
+export NETWORK_DEFAULT_PROFILE_ID="sanshiro"
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
index cdb54b8638..a9723545b8 100644
--- 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
@@ -1,5 +1,5 @@
 [program:jsk-log-wifi]
-command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup log-wifi-link.sh"
+command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rosrun jsk_fetch_startup log-wifi-link.sh -I $NETWORK_DEFAULT_WIFI_INTERFACE"
 stopsignal=TERM
 autostart=true
 autorestart=false
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
index bf05c87a6b..843e376569 100644
--- 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
@@ -1,5 +1,5 @@
 [program:jsk-network-monitor]
-command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup network_monitor.py"
+command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
 stopsignal=TERM
 autostart=true
 autorestart=false

From 7469849477ebe88db7db89b0b3ec836222cda130 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 18 May 2022 21:14:48 +0900
Subject: [PATCH 173/323] [jsk_fetch_startup] fix l515 timestamp

---
 .../jsk_fetch_startup/launch/fetch_realsense_bringup.launch  | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
index 424c8f2322..2ecf27c275 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
@@ -100,6 +100,11 @@
       <arg name="enable_infra"          value="true"/>
       <arg name="respawn"              value="$(arg respawn)"/>
     </include>
+    <rosparam>
+      /motion_module/global_time_enabled: true
+      /l500_depth_sensor/global_time_enabled: true
+      /rgb_camera/global_time_enabled: true
+    </rosparam>
   </group>
 
 </launch>

From 934d281784b1b3912d65350b8d1e33c450475d17 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 19 May 2022 02:34:15 +0900
Subject: [PATCH 174/323] [jsk_fetch_startup] fix l515 timestamp

---
 .../jsk_fetch_startup/launch/fetch_realsense_bringup.launch | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
index 2ecf27c275..e500b5740c 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
@@ -101,9 +101,9 @@
       <arg name="respawn"              value="$(arg respawn)"/>
     </include>
     <rosparam>
-      /motion_module/global_time_enabled: true
-      /l500_depth_sensor/global_time_enabled: true
-      /rgb_camera/global_time_enabled: true
+        /l515_head/motion_module/global_time_enabled: true
+        /l515_head/l500_depth_sensor/global_time_enabled: true
+        /l515_head/rgb_camera/global_time_enabled: true
     </rosparam>
   </group>
 

From cfe24c4f5c29c931ecf8cb5f2d4655a4e4d6689f Mon Sep 17 00:00:00 2001
From: Guilherme Affonso <guilherme.c.affonso@gmail.com>
Date: Thu, 19 May 2022 20:54:46 +0900
Subject: [PATCH 175/323] Set unregister_timeout in rosbridge_websocket for
 rosbridge_suite/#138

---
 jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch b/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch
index f1f90dc1e3..ad67c18d90 100644
--- a/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch
@@ -44,6 +44,7 @@
         delay_between_messages: 0
         max_message_size: None
         fragment_timeout: 600
+        unregister_timeout: 100000000
       </rosparam>
     </node>
     <node name="rosapi" pkg="rosapi" type="rosapi_node"

From f3e871a21f673a7d94934c4b8b317a6ea47cdd59 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 18 May 2022 02:25:39 +0900
Subject: [PATCH 176/323] [jsk_fetch_startup] add rossetip with

---
 .../supervisor_scripts/jsk-app-scheduler.conf             | 7 ++++++-
 .../jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf  | 7 ++++++-
 .../jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf   | 6 +++++-
 .../supervisor_scripts/jsk-fetch-startup.conf             | 8 +++++++-
 .../jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf  | 6 +++++-
 .../supervisor_scripts/jsk-human-pose-estimator.conf      | 6 +++++-
 .../supervisor_scripts/jsk-log-wifi.conf                  | 5 ++++-
 .../supervisor_scripts/jsk-network-monitor.conf           | 5 ++++-
 .../supervisor_scripts/jsk-object-detector.conf           | 6 +++++-
 .../jsk-panorama-human-pose-estimator.conf                | 6 +++++-
 .../supervisor_scripts/jsk-panorama-object-detector.conf  | 6 +++++-
 .../supervisor_scripts/jsk-rfcomm-bind.conf               | 6 +++++-
 .../supervisor_scripts/jsk-shutdown.conf                  | 6 +++++-
 .../jsk_fetch_startup/supervisor_scripts/robot.conf       | 7 ++++++-
 .../jsk_fetch_startup/supervisor_scripts/roscore.conf     | 4 +++-
 15 files changed, 76 insertions(+), 15 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf
index 57944374f6..adeb6148d6 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf
@@ -1,5 +1,10 @@
 [program:jsk-app-scheduler]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
+. /home/fetch/ros/melodic/devel/setup.bash && \
+if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
+rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
+rosrun jsk_fetch_startup wait_app_manager.bash && \
+roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
index f4b9db6078..92975a9248 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
@@ -1,5 +1,10 @@
 [program:jsk-dialog]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen "
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
+. /home/fetch/ros/melodic/devel/setup.bash && \
+if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
+rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
+rosrun jsk_fetch_startup wait_app_manager.bash && \
+roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen "
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
index 4fcf56a3e3..90530aec0a 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
@@ -1,7 +1,11 @@
 ; Install dstat
 ; sudo apt install dstat
 [program:jsk-dstat]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup dstat.bash"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
+. /home/fetch/ros/melodic/devel/setup.bash && \
+if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
+rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
+rosrun jsk_fetch_startup dstat.bash"
 stopsignal=TERM
 autostart=true
 autorestart=false
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
index e418fcd627..a080e1502b 100644
--- 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
@@ -1,5 +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 && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=voice_cmu_us_slt_arctic_hts; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
+. /home/fetch/ros/melodic/devel/setup.bash && \
+if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
+rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
+rosrun jsk_fetch_startup setup_audio.bash && \
+if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=voice_cmu_us_slt_arctic_hts; fi && \
+roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
index dc30c03ea9..12d9a271b1 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
@@ -1,5 +1,9 @@
 [program:jsk-gdrive]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
+. /home/fetch/ros/melodic/devel/setup.bash && \
+if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
+rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
+roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
index dfcb5d522b..be215f27d7 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
@@ -1,6 +1,10 @@
 [program:jsk-human-pose-estimator]
 ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
+. /home/fetch/ros/melodic/devel/setup.bash && \
+if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
+rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
+roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait"
 
 stopsignal=TERM
 ; directory=/home/fetch/ros/coral_ws
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
index a9723545b8..b094e4b0f4 100644
--- 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
@@ -1,5 +1,8 @@
 [program:jsk-log-wifi]
-command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rosrun jsk_fetch_startup log-wifi-link.sh -I $NETWORK_DEFAULT_WIFI_INTERFACE"
+command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && \
+if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
+rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
+rosrun jsk_fetch_startup log-wifi-link.sh -I $NETWORK_DEFAULT_WIFI_INTERFACE"
 stopsignal=TERM
 autostart=true
 autorestart=false
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
index 843e376569..9d3c638715 100644
--- 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
@@ -1,5 +1,8 @@
 [program:jsk-network-monitor]
-command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
+command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && \
+if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
+rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
+rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
 stopsignal=TERM
 autostart=true
 autorestart=false
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
index d543cf6ea5..ae6910f422 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
@@ -1,6 +1,10 @@
 [program:jsk-object-detector]
 ; 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 device_id:=1 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/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 device_id:=1 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
+. /home/fetch/ros/melodic/devel/setup.bash && \
+if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
+rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
+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 device_id:=1 --screen --wait"
 
 stopsignal=TERM
 ; directory=/home/fetch/ros/coral_ws
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
index 46f6e6516e..84de837d4c 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
@@ -1,6 +1,10 @@
 [program:jsk-panorama-human-pose-estimator]
 ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
+. /home/fetch/ros/melodic/devel/setup.bash && \
+if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
+rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
+roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
 
 stopsignal=TERM
 ; directory=/home/fetch/ros/coral_ws
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
index fb849e0a5e..7c55eb7e24 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
@@ -1,6 +1,10 @@
 [program:jsk-panorama-object-detector]
 ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output 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 device_id:=1 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output 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 device_id:=1 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
+. /home/fetch/ros/melodic/devel/setup.bash && \
+if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
+rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
+roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output 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 device_id:=1 --screen --wait"
 
 stopsignal=TERM
 ; directory=/home/fetch/ros/coral_ws
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
index 16f10c4710..d090411fdb 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
@@ -1,5 +1,9 @@
 [program:jsk-rfcomm-bind]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && roslaunch jsk_robot_startup rfcomm_bind.launch --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
+. /home/fetch/ros/melodic/devel/setup.bash && \
+if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
+rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
+roslaunch jsk_robot_startup rfcomm_bind.launch --wait"
 
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
index bdc0bd78eb..ee776ce4d4 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
@@ -1,5 +1,9 @@
 [program:jsk-shutdown]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_robot_startup shutdown.py --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
+. /home/fetch/ros/melodic/devel/setup.bash && \
+if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
+rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
+rosrun jsk_robot_startup shutdown.py --wait"
 
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
index 0862a3af71..9c27f452e7 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
@@ -1,5 +1,10 @@
 [program:robot]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
+. /home/fetch/ros/melodic/devel/setup.bash && \
+if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
+rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
+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
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf
index 7d8b14bbc7..f2dfdb5474 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf
@@ -1,5 +1,7 @@
 [program:roscore]
-command=/bin/bash -c ". /opt/ros/roscore_prestart.bash && . /opt/ros/melodic/setup.bash && roscore"
+command=/bin/bash -c ". /opt/ros/roscore_prestart.bash && \
+. /opt/ros/melodic/setup.bash && \
+roscore"
 stopsignal=TERM
 autostart=true
 autorestart=unexpected

From d08654a3e01819f725f0a39c95ffb5fea21cd00f Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 18 May 2022 22:03:06 +0900
Subject: [PATCH 177/323] [jsk_fetch_startup] fix

---
 jsk_fetch_robot/jsk_fetch_startup/config/config.bash      | 3 ++-
 .../supervisor_scripts/jsk-app-scheduler.conf             | 7 +------
 .../jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf  | 7 +------
 .../jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf   | 6 +-----
 .../supervisor_scripts/jsk-fetch-startup.conf             | 8 +-------
 .../jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf  | 6 +-----
 .../supervisor_scripts/jsk-human-pose-estimator.conf      | 6 +-----
 .../supervisor_scripts/jsk-log-wifi.conf                  | 5 +----
 .../supervisor_scripts/jsk-network-monitor.conf           | 5 +----
 .../supervisor_scripts/jsk-object-detector.conf           | 6 +-----
 .../jsk-panorama-human-pose-estimator.conf                | 6 +-----
 .../supervisor_scripts/jsk-panorama-object-detector.conf  | 6 +-----
 .../supervisor_scripts/jsk-rfcomm-bind.conf               | 6 +-----
 .../supervisor_scripts/jsk-shutdown.conf                  | 6 +-----
 .../jsk_fetch_startup/supervisor_scripts/robot.conf       | 7 +------
 .../jsk_fetch_startup/supervisor_scripts/roscore.conf     | 4 +---
 16 files changed, 17 insertions(+), 77 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
index 9ab4ab44f1..54f6ee0893 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -11,5 +11,6 @@ export RS_SERIAL_NO_D435_FRONTRIGHT=""
 export RS_SERIAL_NO_D435_FRONTLEFT=""
 export RS_SERIAL_NO_L515_HEAD=""
 
-export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0"
+export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1"
 export NETWORK_DEFAULT_PROFILE_ID="sanshiro"
+export NETWORK_DEFAULT_ROS_INTERFACE="wlan0"
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf
index adeb6148d6..73b49933f8 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf
@@ -1,10 +1,5 @@
 [program:jsk-app-scheduler]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
-. /home/fetch/ros/melodic/devel/setup.bash && \
-if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
-rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
-rosrun jsk_fetch_startup wait_app_manager.bash && \
-roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
index 92975a9248..b33947240b 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
@@ -1,10 +1,5 @@
 [program:jsk-dialog]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
-. /home/fetch/ros/melodic/devel/setup.bash && \
-if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
-rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
-rosrun jsk_fetch_startup wait_app_manager.bash && \
-roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen "
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen "
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
index 90530aec0a..da03912699 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
@@ -1,11 +1,7 @@
 ; Install dstat
 ; sudo apt install dstat
 [program:jsk-dstat]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
-. /home/fetch/ros/melodic/devel/setup.bash && \
-if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
-rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
-rosrun jsk_fetch_startup dstat.bash"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup dstat.bash"
 stopsignal=TERM
 autostart=true
 autorestart=false
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
index a080e1502b..92ca6033dc 100644
--- 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
@@ -1,11 +1,5 @@
 [program:jsk-fetch-startup]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
-. /home/fetch/ros/melodic/devel/setup.bash && \
-if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
-rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
-rosrun jsk_fetch_startup setup_audio.bash && \
-if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=voice_cmu_us_slt_arctic_hts; fi && \
-roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=voice_cmu_us_slt_arctic_hts; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
index 12d9a271b1..2a3e6bbc22 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
@@ -1,9 +1,5 @@
 [program:jsk-gdrive]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
-. /home/fetch/ros/melodic/devel/setup.bash && \
-if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
-rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
-roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
index be215f27d7..d9a69b7774 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
@@ -1,10 +1,6 @@
 [program:jsk-human-pose-estimator]
 ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
-. /home/fetch/ros/melodic/devel/setup.bash && \
-if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
-rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
-roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait"
 
 stopsignal=TERM
 ; directory=/home/fetch/ros/coral_ws
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
index b094e4b0f4..fdf3741b6a 100644
--- 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
@@ -1,8 +1,5 @@
 [program:jsk-log-wifi]
-command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && \
-if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
-rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
-rosrun jsk_fetch_startup log-wifi-link.sh -I $NETWORK_DEFAULT_WIFI_INTERFACE"
+command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup log-wifi-link.sh -I $NETWORK_DEFAULT_WIFI_INTERFACE"
 stopsignal=TERM
 autostart=true
 autorestart=false
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
index 9d3c638715..f9949696b0 100644
--- 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
@@ -1,8 +1,5 @@
 [program:jsk-network-monitor]
-command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && \
-if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
-rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
-rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
+command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
 stopsignal=TERM
 autostart=true
 autorestart=false
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
index ae6910f422..d5a6794621 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
@@ -1,10 +1,6 @@
 [program:jsk-object-detector]
 ; 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 device_id:=1 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
-. /home/fetch/ros/melodic/devel/setup.bash && \
-if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
-rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
-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 device_id:=1 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && 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 device_id:=1 --screen --wait"
 
 stopsignal=TERM
 ; directory=/home/fetch/ros/coral_ws
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
index 84de837d4c..f07778b651 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
@@ -1,10 +1,6 @@
 [program:jsk-panorama-human-pose-estimator]
 ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
-. /home/fetch/ros/melodic/devel/setup.bash && \
-if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
-rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
-roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
 
 stopsignal=TERM
 ; directory=/home/fetch/ros/coral_ws
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
index 7c55eb7e24..dd7111436d 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
@@ -1,10 +1,6 @@
 [program:jsk-panorama-object-detector]
 ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output 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 device_id:=1 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
-. /home/fetch/ros/melodic/devel/setup.bash && \
-if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
-rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
-roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output 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 device_id:=1 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output 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 device_id:=1 --screen --wait"
 
 stopsignal=TERM
 ; directory=/home/fetch/ros/coral_ws
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
index d090411fdb..9bf1a76169 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
@@ -1,9 +1,5 @@
 [program:jsk-rfcomm-bind]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
-. /home/fetch/ros/melodic/devel/setup.bash && \
-if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
-rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
-roslaunch jsk_robot_startup rfcomm_bind.launch --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch jsk_robot_startup rfcomm_bind.launch --wait"
 
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
index ee776ce4d4..95539f2543 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
@@ -1,9 +1,5 @@
 [program:jsk-shutdown]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
-. /home/fetch/ros/melodic/devel/setup.bash && \
-if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
-rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
-rosrun jsk_robot_startup shutdown.py --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_robot_startup shutdown.py --wait"
 
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
index 9c27f452e7..b4db414f79 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
@@ -1,10 +1,5 @@
 [program:robot]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && \
-. /home/fetch/ros/melodic/devel/setup.bash && \
-if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && \
-rossetip $NETWORK_DEFAULT_WIFI_INTERFACE && \
-rosrun jsk_fetch_startup link_calibration_files.bash && \
-roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && 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
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf
index f2dfdb5474..7d8b14bbc7 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/roscore.conf
@@ -1,7 +1,5 @@
 [program:roscore]
-command=/bin/bash -c ". /opt/ros/roscore_prestart.bash && \
-. /opt/ros/melodic/setup.bash && \
-roscore"
+command=/bin/bash -c ". /opt/ros/roscore_prestart.bash && . /opt/ros/melodic/setup.bash && roscore"
 stopsignal=TERM
 autostart=true
 autorestart=unexpected

From c26c7d74fd1bdd0f8da3ffb3a9fa1e25ccd3e8e3 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 18 May 2022 22:03:28 +0900
Subject: [PATCH 178/323] [jsk_fetch_startup] add fetchctl script

---
 .../jsk_fetch_startup/scripts/fetchctl.sh     | 63 +++++++++++++++++++
 1 file changed, 63 insertions(+)
 create mode 100755 jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh
new file mode 100755
index 0000000000..87fb0d3133
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh
@@ -0,0 +1,63 @@
+#!/bin/bash
+
+function usage() {
+    echo "Usage: $0 <command>"
+    exit 1
+}
+
+function start_jobs() {
+    sudo supervisorctl start roscore
+    sudo supervisorctl start robot
+    sudo supervisorctl start jsk-shutdown
+    sudo supervisorctl start jsk-rfcomm-bind
+    sudo supervisorctl start jsk-object-detector
+    sudo supervisorctl start jsk-network-monitor
+    sudo supervisorctl start jsk-log-wifi
+    sudo supervisorctl start jsk-human-pose-estimator
+    sudo supervisorctl start jsk-gdrive
+    sudo supervisorctl start jsk-fetch-startup
+    sudo supervisorctl start jsk-dstat
+    sudo supervisorctl start jsk-dialog
+    sudo supervisorctl start jsk-app-scheduler
+}
+
+function restart_jobs() {
+    sudo supervisorctl restart roscore
+    sudo supervisorctl restart robot
+    sudo supervisorctl restart jsk-shutdown
+    sudo supervisorctl restart jsk-rfcomm-bind
+    sudo supervisorctl restart jsk-object-detector
+    sudo supervisorctl restart jsk-network-monitor
+    sudo supervisorctl restart jsk-log-wifi
+    sudo supervisorctl restart jsk-human-pose-estimator
+    sudo supervisorctl restart jsk-gdrive
+    sudo supervisorctl restart jsk-fetch-restartup
+    sudo supervisorctl restart jsk-dstat
+    sudo supervisorctl restart jsk-dialog
+    sudo supervisorctl restart jsk-app-scheduler
+}
+
+function stop_jobs() {
+    sudo supervisorctl stop roscore
+    sudo supervisorctl stop robot
+    sudo supervisorctl stop jsk-shutdown
+    sudo supervisorctl stop jsk-rfcomm-bind
+    sudo supervisorctl stop jsk-object-detector
+    sudo supervisorctl stop jsk-network-monitor
+    sudo supervisorctl stop jsk-log-wifi
+    sudo supervisorctl stop jsk-human-pose-estimator
+    sudo supervisorctl stop jsk-gdrive
+    sudo supervisorctl stop jsk-fetch-stopup
+    sudo supervisorctl stop jsk-dstat
+    sudo supervisorctl stop jsk-dialog
+    sudo supervisorctl stop jsk-app-scheduler
+}
+
+command=$1
+
+case "$command" in
+    start) start_jobs;;
+    restart) restart_jobs;;
+    stop) stop_jobs;;
+    *) usage;;
+esac

From 7862488982a8cf32f7db08ca1fc31458077ee704 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 18 May 2022 23:54:14 +0900
Subject: [PATCH 179/323] [jsk_fetch_startup] fix fetchctl.sh

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh
index 87fb0d3133..ec5d8f0b84 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/fetchctl.sh
@@ -31,7 +31,7 @@ function restart_jobs() {
     sudo supervisorctl restart jsk-log-wifi
     sudo supervisorctl restart jsk-human-pose-estimator
     sudo supervisorctl restart jsk-gdrive
-    sudo supervisorctl restart jsk-fetch-restartup
+    sudo supervisorctl restart jsk-fetch-startup
     sudo supervisorctl restart jsk-dstat
     sudo supervisorctl restart jsk-dialog
     sudo supervisorctl restart jsk-app-scheduler
@@ -47,7 +47,7 @@ function stop_jobs() {
     sudo supervisorctl stop jsk-log-wifi
     sudo supervisorctl stop jsk-human-pose-estimator
     sudo supervisorctl stop jsk-gdrive
-    sudo supervisorctl stop jsk-fetch-stopup
+    sudo supervisorctl stop jsk-fetch-startup
     sudo supervisorctl stop jsk-dstat
     sudo supervisorctl stop jsk-dialog
     sudo supervisorctl stop jsk-app-scheduler

From 5ecc3f128fcc53d2c36c2f9ed37fbfaeed58fffc Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Fri, 20 May 2022 11:01:21 +0900
Subject: [PATCH 180/323] [jsk_fetch_startup] add README.md

---
 jsk_fetch_robot/jsk_fetch_startup/README.md | 47 +++++++++++++++++++++
 1 file changed, 47 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md
index 0c65fb347d..1406e4f6ef 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/README.md
+++ b/jsk_fetch_robot/jsk_fetch_startup/README.md
@@ -49,6 +49,53 @@ sudo apt install librealsense2-dev=2.45.0-0~realsense0.4551
 sudo apt-mark hold librealsense2 librealsense2-dev
 ```
 
+### Install config.bash
+
+JSK fetch system uses some enviroment variables. To set them, copy `config.bash` to `/var/lib/robot/config.bash` and modify it.
+
+```bash
+roscd jsk_fetch_startup
+sudo cp config/config.bash /var/lib/robot/config.bash
+```
+
+descriptions of each variable are below.
+
+- `USE_BASE_CAMERA_MOUNT`
+  + Flag for robot model
+- `USE_HEAD_BOX`
+  + Flag for robot model
+- `USE_HEAD_L515`
+  + Flag for robot model
+- `USE_INSTA360_STAND`
+  + Flag for robot model
+- `RS_SERIAL_NO_T265`
+  + Serial number of Realsense T265 for visual odometry.
+  + realsense will not be launched when this is blank.
+- `RS_SERIAL_NO_D435_FRONTRIGHT`
+  + Serial number of Realsense D435 on the base
+  + realsense will not be launched when this is blank.
+- `RS_SERIAL_NO_D435_FRONTLEFT`
+  + Serial number of Realsense D435 on the base
+  + realsense will not be launched when this is blank.
+- `RS_SERIAL_NO_L515_HEAD`
+  + Serial number of Realsense L515 on the head
+  + realsense will not be launched when this is blank.
+- `NETWORK_DEFAULT_WIFI_INTERFACE`
+  + Wi-Fi network interface for network management scripts (e.g. `network_monitor.py` and `network-log-wifi.sh`)
+- `NETWORK_DEFAULT_PROFILE_ID`
+  + Network manager profile ID for network management scripts (`network_monitor.py`)
++ `NETWORK_DEFAULT_ROS_INTERFACE`
+  + Network interface which is used for ROS connection.
+  + `ROS_IP` is set to the IP address of this interface in supervisor jobs.
+
+It is also recommended to add lines below to each users's bashrc in the robot PC.
+
+```bash
+source /var/lib/robot/config.bash
+rossetmaster localhost
+rossetip $NETWORK_DEFAULT_ROS_INTERFACE
+```
+
 ### supervisor
 
 Important jobs for fetch operation are managed by supervisor.

From 2339c5a824c97099f6dcc1754f262b5bfb03cd1a Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Fri, 20 May 2022 11:14:03 +0900
Subject: [PATCH 181/323] [jsk_fetch_startup] add network connection
 descriptions

---
 jsk_fetch_robot/jsk_fetch_startup/README.md | 46 ++++++++++++++++++++-
 1 file changed, 44 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md
index 1406e4f6ef..fe6aac39b8 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/README.md
+++ b/jsk_fetch_robot/jsk_fetch_startup/README.md
@@ -262,14 +262,56 @@ Address: 133.11.216.145
 If two or more IP addresses apper, something is wrong.
 Please connect display, open a window of network manager.
 
-### Access point
+### Network configuration
 
-Define access point setting, such as ssid:
+Ubuntu 18.04 uses [NetworkManager](https://wiki.archlinux.jp/index.php/NetworkManager) for network configuration.
+Network manager's profiles are in `/etc/NetworkManager/system-connections`.
 
 ```bash
 cd /etc/NetworkManager/system-connections
 ```
 
+You can also see profiles with `nmcli`, `nmtui` or `nm-connection-editor` (GUI) command.
+
+To see available connection profiles.
+
+```bash
+fetch@fetch1075:~$ nmcli connection
+NAME                UUID                                  TYPE      DEVICE
+netplan-eth1        433e484b-3493-3640-9368-395c0c752304  ethernet  eth1
+sanshiro-73B2       1f0f9db6-e448-41ef-9d27-e1ed4e48a4f5  wifi      wlan1
+Wired connection 1  eb557bda-e1bf-3ab7-89e9-1f839cd6b88a  ethernet  --
+fetch1075-hotspot   b85c6a8f-9d28-4cf3-95a0-6dc37229863d  wifi      --
+sanshiro-outside    d7ee2165-c93a-4050-862d-d0c381a546ab  wifi      --
+fetch@fetch1075:~$ nmcli c show sanshiro-73B2
+```
+
+To activate some connection.
+
+```bash
+fetch@fetch1075:~$ sudo nmcli c up sanshiro-outside
+[sudo] password for fetch:
+Connection successfully activated (D-Bus active path: /org/freedesktop/NetworkManager/ActiveConnection/5)
+fetch@fetch1075:~$ sudo nmcli c up sanshiro-73B2
+Connection successfully activated (D-Bus active path: /org/freedesktop/NetworkManager/ActiveConnection/6)
+```
+
+To edit connection profiles, use `nmtui` or `nm-connection-editor`
+
+### Default connection profiles
+
+fetch15 and fetch1075 has `sanshiro-73B2` and `sanshiro-outside` connections by default. (If not, please make them)
+
+- `sanshiro-73B2` (Connect `sanshiro` with fixed BSSID)
+- `sanshiro-outside` (Connect `sanshiro` without fixed BSSID)
+
+By default, `sanshiro-73B2` is activated for stable connection in 73B2.
+If you want to use fetch outside of 73B2, it is recommended to activate `sanshiro-outside`.
+
+```bash
+sudo nmcli c up sanshiro-outside
+```
+
 ## Log
 
 tmuxinator makes it easy to check the important logs of fetch from command line. Currently, it shows the logs of the supervisor jobs.

From af9ac92c7d0cf857e5780ba1df296678bb918b57 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 19 May 2022 22:48:16 +0900
Subject: [PATCH 182/323] [jsk_fetch_startup] Add audible warning

---
 .../config/warning_blacklist.yaml                  | 12 ++++++++++++
 .../jsk_fetch_startup/launch/fetch_bringup.launch  | 14 ++++++++++++++
 2 files changed, 26 insertions(+)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml
new file mode 100644
index 0000000000..ed684b0de8
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml
@@ -0,0 +1,12 @@
+blacklist:
+  - name: "/CPU/CPU Usage/my_machine CPU Usage"
+  - name: "/Other/amcl: Standard deviation"
+  - name: "/Other/jsk_joy_node: Joystick Driver Status"
+  - name: "/Other/l515_head l515_head_realsense2_camera_.*: Frequency Status"
+  - name: "/Peripherals/PS3 Controller"
+  - name: "/Sensors/IMU/IMU.*"
+  - name: "/SoundPlay/sound_play.*"
+run_stop_blacklist:
+  - name: "\\w*_(mcb|breaker)"
+  - name: "Mainboard"
+    message: "Runstop pressed"
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 33202e6185..64958be7f0 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -286,6 +286,20 @@
     <include file="$(find jsk_fetch_startup)/launch/fetch_rosserial.launch" />
   </group>
 
+  <node name="audible_warning"
+        pkg="jsk_tools" type="audible_warning.py"
+        clear_params="true"
+        output="screen" >
+    <remap from="/robotsound" to="/sound_play" />
+    <rosparam command="load" file="$(find jsk_fetch_startup)/config/warning_blacklist.yaml" />
+    <rosparam>
+      run_stop_topic: robot_state
+      run_stop_condition: "m.runstopped is True"
+      seconds_to_start_speaking: 60
+      speak_interval: 600
+    </rosparam>
+  </node>
+
   <!-- Publish /diagnostics based on topics and nodes sanity check -->
   <node name="sanity_diagnostics" pkg="jsk_tools" type="sanity_diagnostics.py">
     <rosparam command="load" file="$(find jsk_fetch_startup)/config/sanity_targets.yaml" />

From 6f3b36808d578da46a0296dd4c642bb6328d37f0 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Fri, 13 May 2022 03:16:52 +0900
Subject: [PATCH 183/323] [jsk_fetch_startup] Remove diagnostics speak function
 from warning.py

---
 .../jsk_fetch_startup/scripts/warning.py      | 67 -------------------
 1 file changed, 67 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py
index decf7e9d1d..029e8b281c 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py
@@ -9,7 +9,6 @@
 from sound_play.libsoundplay import SoundClient
 
 from actionlib_msgs.msg import GoalStatus, GoalStatusArray
-from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
 from fetch_driver_msgs.msg import RobotState
 from geometry_msgs.msg import Twist
 from power_msgs.msg import BatteryState, BreakerState
@@ -36,40 +35,6 @@ def terminate_thread(thread):
         ctypes.pythonapi.PyThreadState_SetAsyncExc(thread.ident, None)
         raise SystemError("PyThreadState_SetAsyncExc failed")
 
-class DiagnosticsSpeakThread(threading.Thread):
-    def __init__(self, error_status):
-        threading.Thread.__init__(self)
-        self.volume = rospy.get_param("~volume", 1.0)
-        self.error_status = error_status
-        self.start()
-
-    def run(self):
-        global sound
-        for status in  self.error_status:
-            # ignore error status if the error already occured in the latest 10 minites
-            if status.message in error_status_in_10_min:
-                if rospy.Time.now().secs - error_status_in_10_min[status.message] < 600:
-                    continue
-                else:
-                    error_status_in_10_min[status.message] = rospy.Time.now().secs
-            else:
-                error_status_in_10_min[status.message] = rospy.Time.now().secs
-            # we can ignore "Joystick not open."
-            if status.message == "Joystick not open." :
-                continue
-            if status.name == "supply_breaker" and status.message == "Disabled." :
-                continue
-            #
-            text = "Error on {}, {}".format(status.name, status.message)
-            rospy.loginfo(text)
-            text = text.replace('_', ', ')
-            sound.say(text, 'voice_kal_diphone', volume=self.volume)
-            time.sleep(5)
-
-    def stop(self):
-        terminate_thread(self)
-        self.join()
-
 class Warning:
     def __init__(self):
         time.sleep(1)
@@ -77,22 +42,13 @@ def __init__(self):
         self.battery_state_msgs = BatteryState()
         self.twist_msgs = Twist()
         #
-        self.diagnostics_speak_thread = {}
         self.auto_undocking = False
-        self.diagnostics_list = []
-        if rospy.get_param("~speak_warn", True):
-            self.diagnostics_list.append(DiagnosticStatus.WARN)
-        if rospy.get_param("~speak_error", True):
-            self.diagnostics_list.append(DiagnosticStatus.ERROR)
-        if rospy.get_param("~speak_stale", True):
-            self.diagnostics_list.append(DiagnosticStatus.STALE)
         #
         self.base_breaker = rospy.ServiceProxy('base_breaker', BreakerCommand)
         #
         self.battery_sub = rospy.Subscriber("battery_state", BatteryState, self.battery_callback, queue_size = 1)
         self.cmd_vel_sub = rospy.Subscriber("base_controller/command_unchecked", Twist, self.cmd_vel_callback, queue_size = 1)
         self.robot_state_sub = rospy.Subscriber("robot_state", RobotState, self.robot_state_callback, queue_size = 1)
-        self.diagnostics_status_sub = rospy.Subscriber("diagnostics", DiagnosticArray, self.diagnostics_status_callback, queue_size = 1)
         self.undock_sub = rospy.Subscriber("/undock/status", GoalStatusArray, self.undock_status_callback)
         #
         self.cmd_vel_pub = rospy.Publisher("base_controller/command", Twist, queue_size=1)
@@ -140,29 +96,6 @@ def cmd_vel_callback(self, msg):
         ##
         self.twist_msgs = msg
 
-    def diagnostics_status_callback(self, msg):
-        ##
-        self.diagnostic_status_msgs = msg.status
-        ##
-        ## check if this comes from /robot_driver
-        callerid = msg._connection_header['callerid']
-        if callerid not in self.diagnostics_speak_thread:
-            self.diagnostics_speak_thread[callerid] = None
-        error_status = filter(lambda n: n.level in self.diagnostics_list, msg.status)
-        # when RunStopped, ignore message from *_mcb and *_breaker
-        if self.robot_state_msgs.runstopped:
-            error_status = filter(lambda n: not (re.match("\w*_(mcb|breaker)",n.name) or (n.name == "Mainboard" and n.message == "Runstop pressed")), error_status)
-        if not error_status : # error_status is not []
-            if self.diagnostics_speak_thread[callerid] and self.diagnostics_speak_thread[callerid].is_alive():
-                self.diagnostics_speak_thread[callerid].stop()
-            return
-        # make sure that diagnostics_speak_thread is None, when the thread is terminated
-        if self.diagnostics_speak_thread[callerid] and not self.diagnostics_speak_thread[callerid].is_alive():
-            self.diagnostics_speak_thread[callerid] = None
-        # run new thread
-        if self.diagnostics_speak_thread[callerid] is None:
-            self.diagnostics_speak_thread[callerid] = DiagnosticsSpeakThread(error_status)
-
 if __name__ == "__main__":
     global sound
     # store error status and time of the error in the latest 10 minites

From 12312ef664995ce688670f8b27bd5d6b4421b4f4 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 23 May 2022 13:50:01 +0900
Subject: [PATCH 184/323] [jsk_fetch_startup] update README

---
 jsk_fetch_robot/jsk_fetch_startup/README.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md
index fe6aac39b8..8978b82201 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/README.md
+++ b/jsk_fetch_robot/jsk_fetch_startup/README.md
@@ -85,8 +85,8 @@ descriptions of each variable are below.
 - `NETWORK_DEFAULT_PROFILE_ID`
   + Network manager profile ID for network management scripts (`network_monitor.py`)
 + `NETWORK_DEFAULT_ROS_INTERFACE`
-  + Network interface which is used for ROS connection.
-  + `ROS_IP` is set to the IP address of this interface in supervisor jobs.
+  + Network interface or IP address which is used for ROS connection.
+  + `rossetip $NETWORK_DEFAULT_ROS_INTERFACE` is executed to set `ROS_IP`.
 
 It is also recommended to add lines below to each users's bashrc in the robot PC.
 

From 123e25316e632c6126db3fc2a240b7e43492662f Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Mon, 23 May 2022 13:58:32 +0900
Subject: [PATCH 185/323] [jsk_robot_startup] Set mongodb_store logerr period
 3600[s]

---
 jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch
index 13c62d42f4..e7b6b684d8 100644
--- a/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/mongodb.launch
@@ -34,6 +34,7 @@
     <arg name="repl_set" value="rs0"
          if="$(arg repl_set_mode)" />
     <arg name="replicator_dump_path" value="$(arg replicator_dump_path)" />
+    <arg name="logerr_period" default="3600" />
     <arg name="test_mode" value="$(arg test_mode)" />
   </include>
 

From d239bae48330f30947cc9a795a54d2378817fae7 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 26 May 2022 13:59:48 +0900
Subject: [PATCH 186/323] change warning voice from default voice in fetch1075

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch           | 6 +++++-
 .../supervisor_scripts/jsk-fetch-startup.conf               | 2 +-
 2 files changed, 6 insertions(+), 2 deletions(-)

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 64958be7f0..7a3e457bfc 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -69,7 +69,10 @@
   <!-- see: https://github.com/jsk-ros-pkg/jsk_robot/pull/1140 -->
   <node name="sound_play" pkg="sound_play" type="soundplay_node.py"
         respawn="true" if="$(arg launch_sound_play)">
-    <param name="default_voice" value="$(arg default_english_speaker)" />
+    <rosparam subst_value="true" >
+      default_voice: $(arg default_english_speaker)
+      plugin: sound_play/flite_plugin
+    </rosparam>
   </node>
 
   <!-- japanese speech node -->
@@ -297,6 +300,7 @@
       run_stop_condition: "m.runstopped is True"
       seconds_to_start_speaking: 60
       speak_interval: 600
+      language: cmu_us_slt.flitevox
     </rosparam>
   </node>
 
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
index 92ca6033dc..9feb78d71c 100644
--- 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
@@ -1,5 +1,5 @@
 [program:jsk-fetch-startup]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=voice_cmu_us_slt_arctic_hts; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=cmu_us_ljm.flitevox; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true

From 8c471162d85504edbe8f7aef248a8914af9bff9b Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 26 May 2022 14:35:08 +0900
Subject: [PATCH 187/323] update voice for fetch15

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch          | 7 ++++---
 .../supervisor_scripts/jsk-fetch-startup.conf              | 2 +-
 2 files changed, 5 insertions(+), 4 deletions(-)

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 7a3e457bfc..d624488f15 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -6,7 +6,8 @@
   <arg name="launch_insta360" default="true" />
   <arg name="use_voice_text" default="false" />
   <arg name="default_speaker" default="2" />
-  <arg name="default_english_speaker" default="voice_kal_diphone" />
+  <arg name="default_english_speaker" default="kal" />
+  <arg name="default_warning_speaker" default="kal" />
   <arg name="fetch_lifelog" default="true" />
   <arg name="boot_sound" default="false" />
   <arg name="map_frame" default="eng2" />
@@ -295,12 +296,12 @@
         output="screen" >
     <remap from="/robotsound" to="/sound_play" />
     <rosparam command="load" file="$(find jsk_fetch_startup)/config/warning_blacklist.yaml" />
-    <rosparam>
+    <rosparam subst_value="true">
       run_stop_topic: robot_state
       run_stop_condition: "m.runstopped is True"
       seconds_to_start_speaking: 60
       speak_interval: 600
-      language: cmu_us_slt.flitevox
+      language: $(arg default_warning_speaker) 
     </rosparam>
   </node>
 
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
index 9feb78d71c..1f0c842e10 100644
--- 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
@@ -1,5 +1,5 @@
 [program:jsk-fetch-startup]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=voice_us2_mbrola; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=cmu_us_ljm.flitevox; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=cmu_us_bdl.flitevox DEFAULT_WARNING_SPEAKER=cmu_us_fem.flitevox; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=cmu_us_slt.flitevox DEFAULT_WARNING_SPEAKER=cmu_us_lnh.flitevox; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true

From 97cd9e07832848771eaf9d6e7c72b002a00845cf Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 25 May 2022 18:32:53 +0900
Subject: [PATCH 188/323] [jsk_fetch_startup] Send kitchen demo mail with embed
 images

---
 .../euslisp/navigation-utils.l                | 49 +++++++++++++++++++
 1 file changed, 49 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 6054eb779e..7b6ec6f817 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -382,10 +382,12 @@ Args:
                     :with-image "/edgetpu_object_detector/output/image" :speak t)
       (notify-recognition :location "kitchen stove")
       (notify-co2 :location "kitchen stove")
+      (take-photo "kitchen_stove.jpg")
       (send *ri* :go-pos-unsafe 0 0 -45)
       ;; sink
       (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3
                     :with-image "/edgetpu_object_detector/output/image" :speak t)
+      (take-photo "kitchen_sink.jpg")
       (notify-recognition :location "kitchen sink"))
     (progn
       (notify-recognition :location "kitchen"))))
@@ -434,6 +436,51 @@ Args:
     (send *ri* :go-pos-unsafe 0 0 -80) ;; face the front against the trash can
     success-move-to-trashcan-front))
 
+(defun send-kitchen-mail ()
+  (let ((msg (instance jsk_robot_startup::Email :init))
+        (stove-text (instance jsk_robot_startup::EmailBody :init))
+        (sink-text (instance jsk_robot_startup::EmailBody :init))
+        (trashcan-text (instance jsk_robot_startup::EmailBody :init))
+        (change-line (instance jsk_robot_startup::EmailBody :init))
+        (kitchen-stove-img (instance jsk_robot_startup::EmailBody :init))
+        (kitchen-sink-img (instance jsk_robot_startup::EmailBody :init))
+        (trashcan-inside-img (instance jsk_robot_startup::EmailBody :init)))
+    (ros::advertise "email" jsk_robot_startup::Email 1)
+    (send stove-text :type "text")
+    (send stove-text :message "コンロを見に行ったよ．")
+    (send sink-text :type "text")
+    (send sink-text :message "シンクを見に行ったよ．")
+    (send trashcan-text :type "text")
+    (send trashcan-text :message "ゴミ箱を見に行ったよ．")
+    (send kitchen-stove-img :type "img")
+    (send kitchen-stove-img :file_path "/tmp/kitchen_stove.jpg")
+    (send kitchen-stove-img :img_size 50)
+    (send kitchen-sink-img :type "img")
+    (send kitchen-sink-img :file_path "/tmp/kitchen_sink.jpg")
+    (send kitchen-sink-img :img_size 50)
+    (send trashcan-inside-img :type "img")
+    (send trashcan-inside-img :file_path "/tmp/trashcan_inside.jpg")
+    (send trashcan-inside-img :img_size 50)
+    (send change-line :type "html")
+    (send change-line :message "<br>")
+    (send msg :receiver_address "fetch@jsk.imi.i.u-tokyo.ac.jp")
+    (send msg :subject "キッチンを巡回したよ")
+    (send msg :body (list stove-text
+                          change-line
+                          kitchen-stove-img
+                          change-line
+                          sink-text
+                          change-line
+                          kitchen-sink-img
+                          change-line
+                          trashcan-text
+                          change-line
+                          trashcan-inside-img))
+    (unix::sleep 1)
+    (ros::ros-info "send-kitchen-mail")
+    (ros::publish "email" msg)
+    ))
+
 
 (defun go-to-kitchen (&key (tweet t) (n-dock-trial 1) (n-kitchen-trial 1)
                            (control-switchbot :api))
@@ -477,6 +524,7 @@ Args:
       (room-light-off :control-switchbot control-switchbot))
     ;; change the inflation_radius
     (restore-params)
+    (send-kitchen-mail)
     (setq success-battery-charging (equal (get-battery-charging-state) :charging))
     (and success-go-to-kitchen success-auto-dock success-battery-charging)))
 
@@ -587,6 +635,7 @@ Args:
                        (success-go-to-kitchen
                          (cdr (assoc 'success-go-to-kitchen userdata))))
                    (restore-params)
+		   (send-kitchen-mail)
                    (and success-go-to-kitchen success-auto-dock success-battery-charging)))))
           '(:init)
           '(t nil))))

From cfe24d0b0d1308b8e8e6a0ab3b5bfceb1d44802c Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 26 May 2022 15:47:46 +0900
Subject: [PATCH 189/323] update config/config.bash to support fetch15 and
 fetch1075

---
 .../jsk_fetch_startup/config/config.bash      | 46 ++++++++++++++-----
 .../supervisor_scripts/jsk-fetch-startup.conf |  2 +-
 2 files changed, 36 insertions(+), 12 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
index 54f6ee0893..55d1fdc33c 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -1,16 +1,40 @@
 # This file is bash configuration for robot.conf
 # This file must be at /var/lib/robot/config.bash
 
-export USE_BASE_CAMERA_MOUNT=true
-export USE_HEAD_BOX=true
-export USE_HEAD_L515=true
-export USE_INSTA360_STAND=true
+if [ $(hostname) = 'fetch15' ]; then
+  export DEFAULT_SPEAKER=13;
+  export DEFAULT_ENGLISH_SPEAKER=cmu_us_bdl.flitevox;
+  export DEFAULT_WARNING_SPEAKER=cmu_us_fem.flitevox;
 
-export RS_SERIAL_NO_T265=""
-export RS_SERIAL_NO_D435_FRONTRIGHT=""
-export RS_SERIAL_NO_D435_FRONTLEFT=""
-export RS_SERIAL_NO_L515_HEAD=""
+  export USE_BASE_CAMERA_MOUNT=true;
+  export USE_HEAD_BOX=true;
+  export USE_HEAD_L515=true;
+  export USE_INSTA360_STAND=true;
 
-export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1"
-export NETWORK_DEFAULT_PROFILE_ID="sanshiro"
-export NETWORK_DEFAULT_ROS_INTERFACE="wlan0"
+  export RS_SERIAL_NO_T265="925122110450";
+  export RS_SERIAL_NO_D435_FRONTRIGHT="";
+  export RS_SERIAL_NO_D435_FRONTLEFT="";
+  export RS_SERIAL_NO_L515_HEAD="f0211890";
+
+  export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0";
+  export NETWORK_DEFAULT_ROS_INTERFACE="133.11.216.217";
+  export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2";
+elif [ $(hostname) = 'fetch1075' ]; then
+  export DEFAULT_SPEAKER=2;
+  export DEFAULT_ENGLISH_SPEAKER=cmu_us_slt.flitevox;
+  export DEFAULT_WARNING_SPEAKER=cmu_us_lnh.flitevox;
+
+  export USE_BASE_CAMERA_MOUNT=false;
+  export USE_HEAD_BOX=false;
+  export USE_HEAD_L515=true;
+  export USE_INSTA360_STAND=true;
+
+  export RS_SERIAL_NO_T265="";
+  export RS_SERIAL_NO_D435_FRONTRIGHT="";
+  export RS_SERIAL_NO_D435_FRONTLEFT="";
+  export RS_SERIAL_NO_L515_HEAD="f0232270";
+
+  export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1";
+  export NETWORK_DEFAULT_ROS_INTERFACE="133.11.216.218";
+  export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2";
+fi
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
index 1f0c842e10..a16f190835 100644
--- 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
@@ -1,5 +1,5 @@
 [program:jsk-fetch-startup]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && if [ $(hostname) = 'fetch15' ]; then DEFAULT_SPEAKER=13; DEFAULT_ENGLISH_SPEAKER=cmu_us_bdl.flitevox DEFAULT_WARNING_SPEAKER=cmu_us_fem.flitevox; elif [ $(hostname) = 'fetch1075' ]; then DEFAULT_SPEAKER=2; DEFAULT_ENGLISH_SPEAKER=cmu_us_slt.flitevox DEFAULT_WARNING_SPEAKER=cmu_us_lnh.flitevox; fi && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true

From ef1771eea49ac6892ab8f67b580e8e29514b685b Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 26 May 2022 16:15:37 +0900
Subject: [PATCH 190/323] add config_outside.bash

---
 .../jsk_fetch_startup/config/config_outside.bash    | 13 +++++++++++++
 1 file changed, 13 insertions(+)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash
new file mode 100644
index 0000000000..3302f5c258
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash
@@ -0,0 +1,13 @@
+# This file is bash configuration for robot.conf
+# This file must be at /var/lib/robot/config.bash
+
+SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]:-$0}"; )" &> /dev/null && pwd 2> /dev/null; )";
+. $SCRIPT_DIR/config.bash
+
+if [ $(hostname) = 'fetch15' ]; then
+  export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside";
+elif [ $(hostname) = 'fetch1075' ]; then
+  export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1";
+  export NETWORK_DEFAULT_ROS_INTERFACE="wlan0";
+  export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside";
+fi

From 539c01d2d786273c3faa584ae7410c1e67254a91 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 26 May 2022 16:17:48 +0900
Subject: [PATCH 191/323] update install_supervisor.sh to copy config.bash

---
 .../jsk_fetch_startup/config/install_supervisor.sh          | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
index 9448bd5b83..157dfab827 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
@@ -18,9 +18,7 @@ done
 # Enable jsk_dstat job to save the csv log under /var/log
 ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv
 
-# copy config.bash to /var/lib/robo if not exists
-if [ ! -e /var/lib/robot/config.bash ]; then
-    sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash
-fi
+sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash
+sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config_outside.bash
 
 set +x

From 8b574ae7f6a14adcee08101958c7858f508d5e93 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 26 May 2022 16:24:43 +0900
Subject: [PATCH 192/323] use symbolic link instead of copying to install
 supervisor

---
 .../jsk_fetch_startup/config/install_supervisor.sh    | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
index 157dfab827..d837fb5132 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
@@ -8,17 +8,14 @@ current_prefix_path="${prefix_paths[0]}"
 set -x
 
 cd $jsk_fetch_startup/supervisor_scripts
-for file in $(ls ./*.conf); do
-    sudo cp $file /etc/supervisor/conf.d/
-    sudo chown root:root /etc/supervisor/conf.d/$file
-    sudo chmod 644 /etc/supervisor/conf.d/$file
-    echo "copied $file to /etc/supervisor/conf.d"
+for file in $(ls *.conf); do
+    sudo ln -s $jsk_fetch_startup/supervisor_scripts/$file /etc/supervisor/conf.d/$file
 done
 
 # Enable jsk_dstat job to save the csv log under /var/log
 ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv
 
-sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash
-sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config_outside.bash
+sudo ln -s $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash
+sudo ln -s $jsk_fetch_startup/config/config.bash /var/lib/robot/config_outside.bash
 
 set +x

From 012166d2a33bd1854d48dce0f64525b3efbb38e9 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 26 May 2022 16:35:02 +0900
Subject: [PATCH 193/323] add network_interface arg in fetch_bringup.launch

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

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 d624488f15..4c8213e4e9 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -16,6 +16,7 @@
   <arg name="use_build_map" default="false" />
   <arg name="use_keepout" default="true" />
   <arg name="fetch_switchbot" default="true" />
+  <arg name="network_interface" default="wlan0" />
 
   <arg name="battery_warning" default="true" />
   <arg name="nav_speak" default="true" />
@@ -52,7 +53,7 @@
   </node>
   <node if="$(arg boot_sound)" pkg="jsk_robot_startup" name="boot_sound" type="boot_sound.py" >
     <param name="wav_file" value="$(find jsk_fetch_startup)/data/boot_sound.wav" />
-    <param name="preferred_interface" value="wlan0" />
+    <param name="preferred_interface" value="$(arg network_interface)" />
   </node>
 
   <!-- look at human for Fetch -->

From 90af3dd11abd7c75f21da34645a7b8e026a23c23 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 26 May 2022 16:35:32 +0900
Subject: [PATCH 194/323] add network_interface in jsk-fetch-startup.conf

---
 .../jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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
index a16f190835..1cdd2ed50d 100644
--- 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
@@ -1,5 +1,5 @@
 [program:jsk-fetch-startup]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true

From f0cc2935831820821a3da680bf661171c614388a Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 26 May 2022 22:33:16 +0900
Subject: [PATCH 195/323] fix config_outside.bash

---
 jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash | 1 -
 1 file changed, 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash
index 3302f5c258..011a2f64c1 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash
@@ -7,7 +7,6 @@ SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]:-$0}"; )" &> /dev/null &&
 if [ $(hostname) = 'fetch15' ]; then
   export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside";
 elif [ $(hostname) = 'fetch1075' ]; then
-  export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1";
   export NETWORK_DEFAULT_ROS_INTERFACE="wlan0";
   export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside";
 fi

From 3d367c594a5bdb57eec56ec4303d3d117d1fc9e6 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 26 May 2022 22:53:46 +0900
Subject: [PATCH 196/323] remove unnecessary lines

---
 .../jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf         | 2 +-
 .../jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
index da03912699..4fcf56a3e3 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf
@@ -1,7 +1,7 @@
 ; Install dstat
 ; sudo apt install dstat
 [program:jsk-dstat]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup dstat.bash"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup dstat.bash"
 stopsignal=TERM
 autostart=true
 autorestart=false
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
index fdf3741b6a..a9723545b8 100644
--- 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
@@ -1,5 +1,5 @@
 [program:jsk-log-wifi]
-command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup log-wifi-link.sh -I $NETWORK_DEFAULT_WIFI_INTERFACE"
+command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rosrun jsk_fetch_startup log-wifi-link.sh -I $NETWORK_DEFAULT_WIFI_INTERFACE"
 stopsignal=TERM
 autostart=true
 autorestart=false

From 62742359ec9dceb809df2ed7594023b83a352dec Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 26 May 2022 23:12:38 +0900
Subject: [PATCH 197/323] merge serveral supervisor into one

---
 .../launch/fetch_bringup.launch               | 77 +++++++++++++++++++
 .../supervisor_scripts/jsk-app-scheduler.conf |  3 +-
 .../supervisor_scripts/jsk-dialog.conf        |  3 +-
 .../supervisor_scripts/jsk-fetch-startup.conf |  2 +-
 .../supervisor_scripts/jsk-gdrive.conf        |  3 +-
 .../jsk-human-pose-estimator.conf             |  4 +-
 .../jsk-network-monitor.conf                  |  3 +-
 .../jsk-object-detector.conf                  |  4 +-
 .../supervisor_scripts/jsk-rfcomm-bind.conf   |  3 +-
 .../supervisor_scripts/jsk-shutdown.conf      |  3 +-
 10 files changed, 94 insertions(+), 11 deletions(-)

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 4c8213e4e9..ac50296152 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -4,6 +4,17 @@
   <arg name="launch_move_base" default="true" />
   <arg name="launch_sound_play" default="true" />
   <arg name="launch_insta360" default="true" />
+  <arg name="launch_app_scheduler" default="true" />
+  <arg name="launch_dialogflow" default="true" />
+  <arg name="launch_gdrive_server" default="true" />
+  <arg name="launch_network_monitor" default="true" />
+  <arg name="launch_rfcomm_bind" default="true" />
+  <arg name="launch_shutdown" default="true" />
+  <arg name="launch_edgetpu_human_pose_estimator" default="true" />
+  <arg name="launch_edgetpu_object_detector" default="true" />
+  <arg name="launch_edgetpu_panorama_human_pose_estimator" default="false" />
+  <arg name="launch_edgetpu_panorama_object_detector" default="false" />
+
   <arg name="use_voice_text" default="false" />
   <arg name="default_speaker" default="2" />
   <arg name="default_english_speaker" default="kal" />
@@ -17,6 +28,7 @@
   <arg name="use_keepout" default="true" />
   <arg name="fetch_switchbot" default="true" />
   <arg name="network_interface" default="wlan0" />
+  <arg name="network_profile_id" default="sanshiro" />
 
   <arg name="battery_warning" default="true" />
   <arg name="nav_speak" default="true" />
@@ -129,6 +141,58 @@
     <arg name="basic_yaml" value="/var/lib/robot/roswww_basic_keys.yaml" />
   </include>
 
+  <!-- app scheduler -->
+  <include if="$(arg launch_app_scheduler)"
+           file="$(find app_scheduler)/launch/app_scheduler.launch">
+    <arg name="yaml_path" value="/var/lib/robot/app_schedule.yaml" />
+  </include>
+
+  <!-- dialogflow task executive -->
+  <include if="$(arg launch_dialogflow)"
+           file="$(find jsk_fetch_startup)/launch/fetch_dialogflow_task_executive.launch">
+    <arg name="run_app_manager" value="false" />
+    <arg name="webhook_server" value="true" />
+    <arg name="hostname" value="$(arg hostname)" />
+  </include>
+
+  <!-- gdrive_ros -->
+  <include if="$(arg launch_gdrive_server)"
+           file="$(find gdrive_ros)/launch/gdrive_server.launch">
+    <arg name="respawn" value="true" />
+  </include>
+
+  <!-- edgetpu human pose estimator -->
+  <include if="$(arg launch_edgetpu_human_pose_estimator)"
+           file="$(find coral_usb)/launch/edgetpu_human_pose_estimator.launch">
+    <arg name="INPUT_IMAGE" value="/head_camera/rgb/image_rect_color" />
+    <arg name="device_id" value="0" />
+  </include>
+
+  <!-- edgetpu panorama human pose estimator -->
+  <include if="$(arg launch_edgetpu_panorama_human_pose_estimator)"
+           file="$(find coral_usb)/launch/edgetpu_panorama_human_pose_estimator.launch">
+    <arg name="INPUT_IMAGE" value="/dual_fisheye_to_panorama/quarter/output" />
+    <arg name="device_id" value="0" />
+  </include>
+
+  <!-- edgetpu object detector -->
+  <include if="$(arg launch_edgetpu_object_detector)"
+           file="$(find coral_usb)/launch/edgetpu_object_detector.launch">
+    <arg name="INPUT_IMAGE" value="/head_camera/rgb/image_rect_color" />
+    <arg name="device_id" value="1" />
+    <arg name="model_file" value="$(env HOME)/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite" />
+    <arg name="label_file" value="$(env HOME)/.ros/data/coral_usb/73b2_kitchen_labels.txt" />
+  </include>
+
+  <!-- edgetpu panorama object detector -->
+  <include if="$(arg launch_edgetpu_panorama_object_detector)"
+           file="$(find coral_usb)/launch/edgetpu_panorama_object_detector.launch">
+    <arg name="INPUT_IMAGE" value="/dual_fisheye_to_panorama/quarter/output" />
+    <arg name="device_id" value="1" />
+    <arg name="model_file" value="$(env HOME)/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite" />
+    <arg name="label_file" value="$(env HOME)/.ros/data/coral_usb/73b2_kitchen_labels.txt" />
+  </include>
+
   <!-- rwt_image_view -->
   <include file="$(find jsk_robot_startup)/lifelog/rwt_image_view.launch" if="$(arg rwt_image_view)">
     <arg name="launch_roswww" value="false" />
@@ -314,4 +378,17 @@
     </rosparam>
   </node>
 
+  <!-- network_monitor -->
+  <node if="$(arg launch_network_monitor)"
+        name="network_monitor" pkg="jsk_fetch_startup" type="network_monitor.py"
+        args="--interface $(arg network_interface) --profile $(arg network_profile_id)"/>
+
+  <!-- rfcomm_bind -->
+  <include if="$(arg launch_rfcomm_bind)"
+           file="$(find jsk_robot_startup)/launch/rfcomm_bind.launch"/>
+
+  <!-- shutdown node -->
+  <node if="$(arg launch_shutdown)"
+        name="shutdown" pkg="jsk_robot_startup" type="shutdown.py" />
+
 </launch>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf
index 73b49933f8..91d9ceac86 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf
@@ -2,7 +2,8 @@
 command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
-autostart=true
+; autostart=true
+autostart=false
 autorestart=false
 stdout_logfile=/var/log/ros/jsk-app-scheduler.log
 stderr_logfile=/var/log/ros/jsk-app-scheduler.log
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
index b33947240b..16bf25a1b1 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
@@ -2,7 +2,8 @@
 command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen "
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
-autostart=true
+; autostart=true
+autostart=false
 autorestart=false
 stdout_logfile=/var/log/ros/jsk-dialog.log
 stderr_logfile=/var/log/ros/jsk-dialog.log
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
index 1cdd2ed50d..abc1b97481 100644
--- 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
@@ -1,5 +1,5 @@
 [program:jsk-fetch-startup]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE network_profile_id:=$NETWORK_DEFAULT_PROFILE_ID --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
index 2a3e6bbc22..0325da1b22 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
@@ -2,7 +2,8 @@
 command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
-autostart=true
+; autostart=true
+autostart=false
 autorestart=false
 stdout_logfile=/var/log/ros/jsk-gdrive.log
 stderr_logfile=/var/log/ros/jsk-gdrive.log
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
index d9a69b7774..cd794862c7 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
@@ -5,8 +5,8 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/mel
 stopsignal=TERM
 ; directory=/home/fetch/ros/coral_ws
 directory=/home/fetch/ros/melodic
-; You can set "autostart=true" if "autostart=false" in jsk-panorama-human-pose-estimator.conf
-autostart=true
+; autostart=true
+autostart=false
 autorestart=false
 stdout_logfile=/var/log/ros/jsk-human-pose-estimator.log
 stderr_logfile=/var/log/ros/jsk-human-pose-estimator.log
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
index f9949696b0..ab050efd86 100644
--- 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
@@ -1,7 +1,8 @@
 [program:jsk-network-monitor]
 command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
 stopsignal=TERM
-autostart=true
+; autostart=true
+autostart=false
 autorestart=false
 stdout_logfile=/var/log/ros/jsk-network-monitor.log
 stderr_logfile=/var/log/ros/jsk-network-monitor.log
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
index d5a6794621..5688491b3c 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
@@ -5,8 +5,8 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/mel
 stopsignal=TERM
 ; directory=/home/fetch/ros/coral_ws
 directory=/home/fetch/ros/melodic
-; You can set "autostart=true" if "autostart=false" in jsk-panorama-object-detector.conf
-autostart=true
+; autostart=true
+autostart=false
 autorestart=false
 stdout_logfile=/var/log/ros/jsk-object-detector.log
 stderr_logfile=/var/log/ros/jsk-object-detector.log
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
index 9bf1a76169..8cf6f5788a 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
@@ -3,7 +3,8 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/mel
 
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
-autostart=true
+; autostart=true
+autostart=false
 autorestart=false
 stdout_logfile=/var/log/ros/jsk-rfcomm-bind.log
 stderr_logfile=/var/log/ros/jsk-rfcomm-bind.log
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
index 95539f2543..fc31e3ac66 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
@@ -3,7 +3,8 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/mel
 
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
-autostart=true
+; autostart=true
+autostart=false
 autorestart=false
 stdout_logfile=/var/log/ros/jsk-shutdown.log
 stderr_logfile=/var/log/ros/jsk-shutdown.log

From f7ea845927085ec5ea9bf99aa8d7d579581131f9 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 26 May 2022 23:16:17 +0900
Subject: [PATCH 198/323] add robot and jsk-fetch-startup supervisor for
 outside

---
 .../supervisor_scripts/jsk-fetch-startup-outside.conf | 11 +++++++++++
 .../supervisor_scripts/robot-outside.conf             | 11 +++++++++++
 2 files changed, 22 insertions(+)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf
new file mode 100644
index 0000000000..9c30a69ea2
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf
@@ -0,0 +1,11 @@
+[program:jsk-fetch-startup-outside]
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE network_profile_id:=$NETWORK_DEFAULT_PROFILE_ID --wait"
+stopsignal=TERM
+directory=/home/fetch/ros/melodic
+autostart=false
+autorestart=false
+stdout_logfile=/var/log/ros/jsk-fetch-startup.log
+stderr_logfile=/var/log/ros/jsk-fetch-startup.log
+user=fetch
+environment=ROSCONSOLE_FORMAT="[${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/robot-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf
new file mode 100644
index 0000000000..bb16165155
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf
@@ -0,0 +1,11 @@
+[program:robot]
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen"
+stopsignal=TERM
+directory=/home/fetch/ros/melodic
+autostart=false
+autorestart=unexpected
+stdout_logfile=/var/log/ros/robot.log
+stderr_logfile=/var/log/ros/robot.log
+user=ros
+environment=ROS_LOG_DIR=/var/log/ros,ROSCONSOLE_FORMAT="[${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

From 13511c4dde62706a461b1d0f31527a79beb47a83 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 26 May 2022 23:24:53 +0900
Subject: [PATCH 199/323] fix typo

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 ac50296152..5a39fc66d2 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -151,7 +151,7 @@
   <include if="$(arg launch_dialogflow)"
            file="$(find jsk_fetch_startup)/launch/fetch_dialogflow_task_executive.launch">
     <arg name="run_app_manager" value="false" />
-    <arg name="webhook_server" value="true" />
+    <!-- arg name="webhook_server" value="true" / -->
     <arg name="hostname" value="$(arg hostname)" />
   </include>
 

From f1cfd0c98a178e3fc0072f9cc71050df33811794 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 26 May 2022 23:25:02 +0900
Subject: [PATCH 200/323] move coral file

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch         | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

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 5a39fc66d2..c67a72729e 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -180,8 +180,8 @@
            file="$(find coral_usb)/launch/edgetpu_object_detector.launch">
     <arg name="INPUT_IMAGE" value="/head_camera/rgb/image_rect_color" />
     <arg name="device_id" value="1" />
-    <arg name="model_file" value="$(env HOME)/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite" />
-    <arg name="label_file" value="$(env HOME)/.ros/data/coral_usb/73b2_kitchen_labels.txt" />
+    <arg name="model_file" value="/etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite" />
+    <arg name="label_file" value="/etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt" />
   </include>
 
   <!-- edgetpu panorama object detector -->
@@ -189,8 +189,8 @@
            file="$(find coral_usb)/launch/edgetpu_panorama_object_detector.launch">
     <arg name="INPUT_IMAGE" value="/dual_fisheye_to_panorama/quarter/output" />
     <arg name="device_id" value="1" />
-    <arg name="model_file" value="$(env HOME)/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite" />
-    <arg name="label_file" value="$(env HOME)/.ros/data/coral_usb/73b2_kitchen_labels.txt" />
+    <arg name="model_file" value="/etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite" />
+    <arg name="label_file" value="/etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt" />
   </include>
 
   <!-- rwt_image_view -->

From 87fa63e6339158626636012bdf3dbd880135838c Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 26 May 2022 23:47:01 +0900
Subject: [PATCH 201/323] add default path for dialogflow json

---
 .../launch/fetch_dialogflow_task_executive.launch             | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch
index 17f7aa0995..a236629a55 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_dialogflow_task_executive.launch
@@ -2,8 +2,8 @@
   <arg name="hostname" default="fetch15" />
   <arg name="run_app_manager" default="false" />
   <arg name="applist" default="" />
-  <arg name="credential" default="$(optenv GOOGLE_APPLICATION_CREDENTIALS)"/>
-  <arg name="project_id" default="$(optenv DIALOGFLOW_PROJECT_ID)"/>
+  <arg name="credential" default="$(optenv GOOGLE_APPLICATION_CREDENTIALS /var/lib/robot/dialogflow/fetch-credential.json)"/>
+  <arg name="project_id" default="$(optenv DIALOGFLOW_PROJECT_ID fetch)"/>
   <arg name="enable_hotword" default="true" />
 
   <!-- options for dialogflow_client -->

From 71cd303590adca3280f9b79ec1d651f45ce461ab Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 26 May 2022 23:47:30 +0900
Subject: [PATCH 202/323] update dialogflow credential path

---
 .../jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf        | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
index 16bf25a1b1..cd93a425b1 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
@@ -8,5 +8,5 @@ autorestart=false
 stdout_logfile=/var/log/ros/jsk-dialog.log
 stderr_logfile=/var/log/ros/jsk-dialog.log
 user=fetch
-environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",GOOGLE_APPLICATION_CREDENTIALS=/var/lib/robot/dialogflow/JSK-Fetch-a384d3498680.json,DIALOGFLOW_PROJECT_ID=fetch-kiedno,PYTHONUNBUFFERED=1
+environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",GOOGLE_APPLICATION_CREDENTIALS=/var/lib/robot/dialogflow/fetch-credential.json,DIALOGFLOW_PROJECT_ID=fetch-kiedno,PYTHONUNBUFFERED=1
 priority=200

From b91db6c8e62c04c08d859c62e07760b0f7491e83 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 26 May 2022 23:47:43 +0900
Subject: [PATCH 203/323] add gdrive yaml path

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 1 +
 1 file changed, 1 insertion(+)

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 c67a72729e..0f69649739 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -158,6 +158,7 @@
   <!-- gdrive_ros -->
   <include if="$(arg launch_gdrive_server)"
            file="$(find gdrive_ros)/launch/gdrive_server.launch">
+    <arg name="settings_yaml" value="/var/lib/robot/gdrive/fetch_pydrive_settings.yaml" />
     <arg name="respawn" value="true" />
   </include>
 

From efd421fc14ade94e74e1f87bf2de5a418b84465d Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 26 May 2022 23:56:12 +0900
Subject: [PATCH 204/323] fix typo in robot-outside.conf

---
 .../jsk_fetch_startup/supervisor_scripts/robot-outside.conf     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf
index bb16165155..f5a6196858 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf
@@ -1,4 +1,4 @@
-[program:robot]
+[program:robot-outside]
 command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && 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

From 53201bdd5f16bc0b6b5c23028b17ffa1d25ffad1 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 27 May 2022 00:13:40 +0900
Subject: [PATCH 205/323] move jsk-network-monitor because it requires root
 user to run

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch      |  7 -------
 .../supervisor_scripts/jsk-fetch-startup-outside.conf  |  2 +-
 .../supervisor_scripts/jsk-fetch-startup.conf          |  2 +-
 .../jsk-network-monitor-outside.conf                   | 10 ++++++++++
 .../supervisor_scripts/jsk-network-monitor.conf        |  3 +--
 5 files changed, 13 insertions(+), 11 deletions(-)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf

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 0f69649739..1ff28eaf27 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -7,7 +7,6 @@
   <arg name="launch_app_scheduler" default="true" />
   <arg name="launch_dialogflow" default="true" />
   <arg name="launch_gdrive_server" default="true" />
-  <arg name="launch_network_monitor" default="true" />
   <arg name="launch_rfcomm_bind" default="true" />
   <arg name="launch_shutdown" default="true" />
   <arg name="launch_edgetpu_human_pose_estimator" default="true" />
@@ -28,7 +27,6 @@
   <arg name="use_keepout" default="true" />
   <arg name="fetch_switchbot" default="true" />
   <arg name="network_interface" default="wlan0" />
-  <arg name="network_profile_id" default="sanshiro" />
 
   <arg name="battery_warning" default="true" />
   <arg name="nav_speak" default="true" />
@@ -379,11 +377,6 @@
     </rosparam>
   </node>
 
-  <!-- network_monitor -->
-  <node if="$(arg launch_network_monitor)"
-        name="network_monitor" pkg="jsk_fetch_startup" type="network_monitor.py"
-        args="--interface $(arg network_interface) --profile $(arg network_profile_id)"/>
-
   <!-- rfcomm_bind -->
   <include if="$(arg launch_rfcomm_bind)"
            file="$(find jsk_robot_startup)/launch/rfcomm_bind.launch"/>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf
index 9c30a69ea2..616e824d5f 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf
@@ -1,5 +1,5 @@
 [program:jsk-fetch-startup-outside]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE network_profile_id:=$NETWORK_DEFAULT_PROFILE_ID --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=false
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
index abc1b97481..1cdd2ed50d 100644
--- 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
@@ -1,5 +1,5 @@
 [program:jsk-fetch-startup]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE network_profile_id:=$NETWORK_DEFAULT_PROFILE_ID --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf
new file mode 100644
index 0000000000..e27f9645ed
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf
@@ -0,0 +1,10 @@
+[program:jsk-network-monitor-outside]
+command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
+stopsignal=TERM
+autostart=false
+autorestart=false
+stdout_logfile=/var/log/ros/jsk-network-monitor.log
+stderr_logfile=/var/log/ros/jsk-network-monitor.log
+user=root
+environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",NETWORK_MONITOR_HOSTNAMES="google.com",PYTHONUNBUFFERED=1
+priority=200
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
index ab050efd86..f9949696b0 100644
--- 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
@@ -1,8 +1,7 @@
 [program:jsk-network-monitor]
 command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
 stopsignal=TERM
-; autostart=true
-autostart=false
+autostart=true
 autorestart=false
 stdout_logfile=/var/log/ros/jsk-network-monitor.log
 stderr_logfile=/var/log/ros/jsk-network-monitor.log

From 6ad0a8d9917259ac498e2913f5a576279554a603 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 27 May 2022 00:23:02 +0900
Subject: [PATCH 206/323] update tmuxinator log.yml

---
 .../jsk_fetch_startup/tmuxinator_yaml/log.yml | 21 +++++++++----------
 1 file changed, 10 insertions(+), 11 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml
index 99a36f2a0e..85062f575d 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml
+++ b/jsk_fetch_robot/jsk_fetch_startup/tmuxinator_yaml/log.yml
@@ -36,15 +36,14 @@ windows:
   - jsk-fetch-startup: tail -f -n 1000 /var/log/ros/jsk-fetch-startup.log
   - jsk-network-monitor: tail -f -n 1000 /var/log/ros/jsk-network-monitor.log
   - jsk-log-wifi: tail -f -n 1000 /var/log/ros/jsk-log-wifi.log
-  - jsk-app-scheduler: tail -f -n 1000 /var/log/ros/jsk-app-scheduler.log
-  # - jsk-coral: tail -f -n 1000 /var/log/ros/jsk-coral.log
-  - jsk-object-detector: tail -f -n 1000 /var/log/ros/jsk-object-detector.log
-  - jsk-panorama-object-detector: tail -f -n 1000 /var/log/ros/jsk-panorama-object-detector.log
-  - jsk-human-pose-estimator: tail -f -n 1000 /var/log/ros/jsk-human-pose-estimator.log
-  - jsk-panorama-human-pose-estimator: tail -f -n 1000 /var/log/ros/jsk-panorama-human-pose-estimator.log
-  - jsk-dialog: tail -f -n 1000 /var/log/ros/jsk-dialog.log
-  - jsk-gdrive: tail -f -n 1000 /var/log/ros/jsk-gdrive.log
-  - jsk-shutdown: tail -f -n 1000 /var/log/ros/jsk-shutdown.log
-  - jsk-rfcomm-bind: tail -f -n 1000 /var/log/ros/jsk-rfcomm-bind.log
   - jsk-dstat: tail -f -n 1000 /var/log/ros/jsk-dstat.log
-  - jsk-rfcomm-bind: tail -f -n 1000 /var/log/ros/jsk-rfcomm-bind.log
+  # - jsk-app-scheduler: tail -f -n 1000 /var/log/ros/jsk-app-scheduler.log
+  # - jsk-coral: tail -f -n 1000 /var/log/ros/jsk-coral.log
+  # - jsk-object-detector: tail -f -n 1000 /var/log/ros/jsk-object-detector.log
+  # - jsk-panorama-object-detector: tail -f -n 1000 /var/log/ros/jsk-panorama-object-detector.log
+  # - jsk-human-pose-estimator: tail -f -n 1000 /var/log/ros/jsk-human-pose-estimator.log
+  # - jsk-panorama-human-pose-estimator: tail -f -n 1000 /var/log/ros/jsk-panorama-human-pose-estimator.log
+  # - jsk-dialog: tail -f -n 1000 /var/log/ros/jsk-dialog.log
+  # - jsk-gdrive: tail -f -n 1000 /var/log/ros/jsk-gdrive.log
+  # - jsk-shutdown: tail -f -n 1000 /var/log/ros/jsk-shutdown.log
+  # - jsk-rfcomm-bind: tail -f -n 1000 /var/log/ros/jsk-rfcomm-bind.log

From b3d91b951b81bcf52ac97914cbbfeb963e5b1c24 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <knorth55@users.noreply.github.com>
Date: Fri, 27 May 2022 10:07:50 +0900
Subject: [PATCH 207/323] Update
 jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh

Co-authored-by: Koki Shinjo <sktometometo@gmail.com>
---
 jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
index d837fb5132..f1229d57a2 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
@@ -11,7 +11,7 @@ cd $jsk_fetch_startup/supervisor_scripts
 for file in $(ls *.conf); do
     sudo ln -s $jsk_fetch_startup/supervisor_scripts/$file /etc/supervisor/conf.d/$file
 done
-
+sudo supervisorctl reread
 # Enable jsk_dstat job to save the csv log under /var/log
 ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv
 

From 776a47f9bde39cbddec6c9c1cbf710bb85eb1239 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 27 May 2022 12:38:10 +0900
Subject: [PATCH 208/323] add fetch_coral.launch

---
 .../launch/fetch_bringup.launch               | 38 ++-----------
 .../launch/fetch_coral.launch                 | 56 +++++++++++++++++++
 2 files changed, 62 insertions(+), 32 deletions(-)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch

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 1ff28eaf27..818bd600b1 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -11,8 +11,6 @@
   <arg name="launch_shutdown" default="true" />
   <arg name="launch_edgetpu_human_pose_estimator" default="true" />
   <arg name="launch_edgetpu_object_detector" default="true" />
-  <arg name="launch_edgetpu_panorama_human_pose_estimator" default="false" />
-  <arg name="launch_edgetpu_panorama_object_detector" default="false" />
 
   <arg name="use_voice_text" default="false" />
   <arg name="default_speaker" default="2" />
@@ -160,36 +158,12 @@
     <arg name="respawn" value="true" />
   </include>
 
-  <!-- edgetpu human pose estimator -->
-  <include if="$(arg launch_edgetpu_human_pose_estimator)"
-           file="$(find coral_usb)/launch/edgetpu_human_pose_estimator.launch">
-    <arg name="INPUT_IMAGE" value="/head_camera/rgb/image_rect_color" />
-    <arg name="device_id" value="0" />
-  </include>
-
-  <!-- edgetpu panorama human pose estimator -->
-  <include if="$(arg launch_edgetpu_panorama_human_pose_estimator)"
-           file="$(find coral_usb)/launch/edgetpu_panorama_human_pose_estimator.launch">
-    <arg name="INPUT_IMAGE" value="/dual_fisheye_to_panorama/quarter/output" />
-    <arg name="device_id" value="0" />
-  </include>
-
-  <!-- edgetpu object detector -->
-  <include if="$(arg launch_edgetpu_object_detector)"
-           file="$(find coral_usb)/launch/edgetpu_object_detector.launch">
-    <arg name="INPUT_IMAGE" value="/head_camera/rgb/image_rect_color" />
-    <arg name="device_id" value="1" />
-    <arg name="model_file" value="/etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite" />
-    <arg name="label_file" value="/etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt" />
-  </include>
-
-  <!-- edgetpu panorama object detector -->
-  <include if="$(arg launch_edgetpu_panorama_object_detector)"
-           file="$(find coral_usb)/launch/edgetpu_panorama_object_detector.launch">
-    <arg name="INPUT_IMAGE" value="/dual_fisheye_to_panorama/quarter/output" />
-    <arg name="device_id" value="1" />
-    <arg name="model_file" value="/etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite" />
-    <arg name="label_file" value="/etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt" />
+  <!-- coral edgetpu -->
+  <include file="$(find jsk_fetch_startup)/launch/fetch_coral.launch">
+    <arg name="launch_edgetpu_human_pose_estimator" value="$(arg launch_edgetpu_human_pose_estimator)" />
+    <arg name="launch_edgetpu_object_detector" value="$(arg launch_edgetpu_object_detector)" />
+    <arg name="input_image" value="/head_camera/rgb/image_rect_color" />
+    <arg name="input_panorama_image" value="/dual_fisheye_to_panorama/quarter/output" />
   </include>
 
   <!-- rwt_image_view -->
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch
new file mode 100644
index 0000000000..025807d971
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch
@@ -0,0 +1,56 @@
+<launch>
+  <arg name="launch_edgetpu_human_pose_estimator" default="true" />
+  <arg name="launch_edgetpu_object_detector" default="true" />
+
+  <arg name="input_image" default="/head_camera/rgb/image_rect_color" />
+  <arg name="input_panorama_image" default="/dual_fisheye_to_panorama/quarter/output" />
+
+  <!-- edgetpu human pose estimator -->
+  <node if="$(arg launch_edgetpu_human_pose_estimator)"
+        name="edgetpu_human_node_manager" pkg="coral_usb" type="edgetpu_node_manager.py">
+    <rosparam subst_value="true">
+      edgetpu_node_manager:
+        nodes:
+          - name: edgetpu_human_pose_estimator
+            type: human_pose_estimator
+          - name: edgetpu_panorama_human_pose_estimator
+            type: panorama_human_pose_estimator
+        default: edgetpu_human_pose_estimator
+      edgetpu_human_pose_estimator:
+        input_image: $(arg input_image)
+        image_transport: raw
+        device_id: 0
+      edgetpu_panorama_human_pose_estimator:
+        input_image: $(arg input_panorama_image)
+        image_transport: raw
+        device_id: 0
+    </rosparam>
+  </node>
+
+  <!-- edgetpu object detector -->
+  <node if="$(arg launch_edgetpu_object_detector)"
+        name="edgetpu_human_node_manager" pkg="coral_usb" type="edgetpu_node_manager.py">
+    <rosparam subst_value="true">
+      edgetpu_node_manager:
+        nodes:
+          - name: edgetpu_object_detector
+            type: object_detector
+          - name: edgetpu_panorama_object_detector
+            type: panorama_object_detector
+        default: edgetpu_object_detector
+      edgetpu_object_detector:
+        input_image: $(arg input_image)
+        image_transport: raw
+        device_id: 0
+        model_file: /etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite
+        label_file: /etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt
+      edgetpu_panorama_object_detector:
+        input_image: $(arg input_panorama_image)
+        image_transport: raw
+        device_id: 0
+        model_file: /etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite
+        label_file: /etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt
+    </rosparam>
+  </node>
+
+</launch>

From ab45f352a6b19940a67cfd50f4c7816a94bd265f Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 27 May 2022 14:48:58 +0900
Subject: [PATCH 209/323] fix typo

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch
index 025807d971..191fd8d51f 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch
@@ -29,7 +29,7 @@
 
   <!-- edgetpu object detector -->
   <node if="$(arg launch_edgetpu_object_detector)"
-        name="edgetpu_human_node_manager" pkg="coral_usb" type="edgetpu_node_manager.py">
+        name="edgetpu_object_node_manager" pkg="coral_usb" type="edgetpu_node_manager.py">
     <rosparam subst_value="true">
       edgetpu_node_manager:
         nodes:

From cec0104050811636bb857d241a0b17477582c4d5 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 27 May 2022 15:15:50 +0900
Subject: [PATCH 210/323] fix typo in fetch_coral.launch

---
 .../launch/fetch_bringup.launch               |  2 +-
 .../launch/fetch_coral.launch                 | 78 +++++++++----------
 2 files changed, 40 insertions(+), 40 deletions(-)

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 818bd600b1..bec5a4b709 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -163,7 +163,7 @@
     <arg name="launch_edgetpu_human_pose_estimator" value="$(arg launch_edgetpu_human_pose_estimator)" />
     <arg name="launch_edgetpu_object_detector" value="$(arg launch_edgetpu_object_detector)" />
     <arg name="input_image" value="/head_camera/rgb/image_rect_color" />
-    <arg name="input_panorama_image" value="/dual_fisheye_to_panorama/quarter/output" />
+    <arg name="input_panorama_image" value="/dual_fisheye_to_panorama/quater/output" />
   </include>
 
   <!-- rwt_image_view -->
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch
index 191fd8d51f..237ef48534 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_coral.launch
@@ -3,54 +3,54 @@
   <arg name="launch_edgetpu_object_detector" default="true" />
 
   <arg name="input_image" default="/head_camera/rgb/image_rect_color" />
-  <arg name="input_panorama_image" default="/dual_fisheye_to_panorama/quarter/output" />
+  <arg name="input_panorama_image" default="/dual_fisheye_to_panorama/quater/output" />
 
   <!-- edgetpu human pose estimator -->
   <node if="$(arg launch_edgetpu_human_pose_estimator)"
         name="edgetpu_human_node_manager" pkg="coral_usb" type="edgetpu_node_manager.py">
-    <rosparam subst_value="true">
-      edgetpu_node_manager:
-        nodes:
-          - name: edgetpu_human_pose_estimator
-            type: human_pose_estimator
-          - name: edgetpu_panorama_human_pose_estimator
-            type: panorama_human_pose_estimator
-        default: edgetpu_human_pose_estimator
-      edgetpu_human_pose_estimator:
-        input_image: $(arg input_image)
-        image_transport: raw
-        device_id: 0
-      edgetpu_panorama_human_pose_estimator:
-        input_image: $(arg input_panorama_image)
-        image_transport: raw
-        device_id: 0
-    </rosparam>
   </node>
+  <rosparam subst_value="true">
+    edgetpu_human_node_manager:
+      nodes:
+        - name: edgetpu_human_pose_estimator
+          type: human_pose_estimator
+        - name: edgetpu_panorama_human_pose_estimator
+          type: panorama_human_pose_estimator
+      default: edgetpu_human_pose_estimator
+    edgetpu_human_pose_estimator:
+      input_topic: $(arg input_image)
+      image_transport: raw
+      device_id: 0
+    edgetpu_panorama_human_pose_estimator:
+      input_topic: $(arg input_panorama_image)
+      image_transport: raw
+      device_id: 0
+  </rosparam>
 
   <!-- edgetpu object detector -->
   <node if="$(arg launch_edgetpu_object_detector)"
         name="edgetpu_object_node_manager" pkg="coral_usb" type="edgetpu_node_manager.py">
-    <rosparam subst_value="true">
-      edgetpu_node_manager:
-        nodes:
-          - name: edgetpu_object_detector
-            type: object_detector
-          - name: edgetpu_panorama_object_detector
-            type: panorama_object_detector
-        default: edgetpu_object_detector
-      edgetpu_object_detector:
-        input_image: $(arg input_image)
-        image_transport: raw
-        device_id: 0
-        model_file: /etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite
-        label_file: /etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt
-      edgetpu_panorama_object_detector:
-        input_image: $(arg input_panorama_image)
-        image_transport: raw
-        device_id: 0
-        model_file: /etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite
-        label_file: /etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt
-    </rosparam>
   </node>
+  <rosparam subst_value="true">
+    edgetpu_object_node_manager:
+      nodes:
+        - name: edgetpu_object_detector
+          type: object_detector
+        - name: edgetpu_panorama_object_detector
+          type: panorama_object_detector
+      default: edgetpu_object_detector
+    edgetpu_object_detector:
+      input_topic: $(arg input_image)
+      image_transport: raw
+      device_id: 1
+      model_file: /etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite
+      label_file: /etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt
+    edgetpu_panorama_object_detector:
+      input_topic: $(arg input_panorama_image)
+      image_transport: raw
+      device_id: 1
+      model_file: /etc/ros/jsk_data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite
+      label_file: /etc/ros/jsk_data/coral_usb/73b2_kitchen_labels.txt
+  </rosparam>
 
 </launch>

From adf4db2560d6a3839c0d074b3524719b98c91231 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Fri, 27 May 2022 13:03:12 +0900
Subject: [PATCH 211/323] [jsk_fetch_startup] Set vital_rate 0.1 in
 go-to-kitchen demo

---
 .../launch/trashbin_occupancy_detector.launch                  | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
index cdae23dda3..6926af55a3 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
@@ -44,6 +44,7 @@
     <remap from="camera_info" to="$(arg IMAGE_CAMERAINFO)" />
     <remap from="Feature0D" to="$(arg DEFAULT_NAMESPACE)/Feature0D" />
     <remap from="ImageFeature0D" to="$(arg DEFAULT_NAMESPACE)/ImageFeature0D" />
+    <param name="vital_rate" value="0.1" />
   </node>
 
   <group ns="$(arg DEFAULT_NAMESPACE)">
@@ -57,6 +58,7 @@
       <rosparam>
         tolerance: 0.02
         min_size: 100
+        vital_rate: 0.1
       </rosparam>
     </node>
     <node pkg="nodelet" type="nodelet"
@@ -72,6 +74,7 @@
         target_frame_id: base_link
         use_pca: true
         force_to_flip_z_axis: false
+        vital_rate: 0.1
       </rosparam>
     </node>
     

From aa9321e188732f64d18bffd2a24bbfaf4939fb88 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Fri, 27 May 2022 13:08:14 +0900
Subject: [PATCH 212/323] [jsk_fetch_startup] Set small hz vital_rate to
 suppress audible diagnostics

---
 .../jsk_fetch_startup/launch/fetch_insta360_indigo.launch        | 1 +
 .../jsk_fetch_startup/launch/fetch_insta360_melodic.launch       | 1 +
 2 files changed, 2 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_indigo.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_indigo.launch
index 5cd5374aa4..2835f972fd 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_indigo.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_indigo.launch
@@ -1,6 +1,7 @@
 <launch>
   <!-- Insta360 images -->
   <include file="$(find jsk_perception)/sample/sample_insta360_air.launch">
+    <arg name="vital_rate" value="0.1" />
     <arg name="gui" value="false" />
     <!-- Reduce CPU load -->
     <!-- To check the valid formats, -->
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch
index c8af2a9b22..d7b863ae23 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch
@@ -2,6 +2,7 @@
   <!-- Insta360 images -->
   <include file="$(find jsk_perception)/sample/sample_insta360_air.launch">
     <arg name="gui" value="false" />
+    <arg name="vital_rate" value="0.1" />
     <!-- Reduce CPU load -->
     <!-- To check the valid formats, -->
     <!-- $ sudo apt-get install v4l-utils -->

From 93a950d2918e7117c6535e69212413b1e207e513 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Mon, 30 May 2022 18:36:10 +0900
Subject: [PATCH 213/323] [jsk_fetch_startup] Use smaller size images for
 trashbin occupancy detector

---
 .../launch/trashbin_occupancy_detector.launch                 | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
index 6926af55a3..97d02e1a22 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
@@ -1,6 +1,6 @@
 <launch>
-  <arg name="POINTCLOUD_INPUT" default="/head_camera/depth_registered/points"/>
-  <arg name="IMAGE_INPUT" default="/head_camera/rgb/image_rect_color"/>
+  <arg name="POINTCLOUD_INPUT" default="/head_camera/depth_registered/quater/throttled/points"/>
+  <arg name="IMAGE_INPUT" default="/head_camera/rgb/throttled/image_rect_color"/>
   <arg name="IMAGE_CAMERAINFO" default="/head_camera/rgb/camera_info"/>
   <arg name="CENTROID_FRAME" default="target"/>
   <arg name="DEFAULT_NAMESPACE" default="/trashbin_occupancy_detector"/>

From 0dd9cb833d3b23d2c1247ce963ecef825d43bb44 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 31 May 2022 11:45:27 +0900
Subject: [PATCH 214/323] [jsk_fetch_startup] Launch rfcomm bind job as root

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch            | 5 -----
 .../supervisor_scripts/jsk-rfcomm-bind.conf                  | 3 +--
 2 files changed, 1 insertion(+), 7 deletions(-)

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 bec5a4b709..7daa75ef27 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -7,7 +7,6 @@
   <arg name="launch_app_scheduler" default="true" />
   <arg name="launch_dialogflow" default="true" />
   <arg name="launch_gdrive_server" default="true" />
-  <arg name="launch_rfcomm_bind" default="true" />
   <arg name="launch_shutdown" default="true" />
   <arg name="launch_edgetpu_human_pose_estimator" default="true" />
   <arg name="launch_edgetpu_object_detector" default="true" />
@@ -351,10 +350,6 @@
     </rosparam>
   </node>
 
-  <!-- rfcomm_bind -->
-  <include if="$(arg launch_rfcomm_bind)"
-           file="$(find jsk_robot_startup)/launch/rfcomm_bind.launch"/>
-
   <!-- shutdown node -->
   <node if="$(arg launch_shutdown)"
         name="shutdown" pkg="jsk_robot_startup" type="shutdown.py" />
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
index 8cf6f5788a..9bf1a76169 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
@@ -3,8 +3,7 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/mel
 
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
-; autostart=true
-autostart=false
+autostart=true
 autorestart=false
 stdout_logfile=/var/log/ros/jsk-rfcomm-bind.log
 stderr_logfile=/var/log/ros/jsk-rfcomm-bind.log

From 54630b8274e0deb910378ffb5f067fc2a745b949 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 31 May 2022 11:47:18 +0900
Subject: [PATCH 215/323] [jsk_fetch_startup] Launch shutdown node as root

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch            | 5 -----
 .../jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf   | 3 +--
 2 files changed, 1 insertion(+), 7 deletions(-)

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 7daa75ef27..248847d452 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -7,7 +7,6 @@
   <arg name="launch_app_scheduler" default="true" />
   <arg name="launch_dialogflow" default="true" />
   <arg name="launch_gdrive_server" default="true" />
-  <arg name="launch_shutdown" default="true" />
   <arg name="launch_edgetpu_human_pose_estimator" default="true" />
   <arg name="launch_edgetpu_object_detector" default="true" />
 
@@ -350,8 +349,4 @@
     </rosparam>
   </node>
 
-  <!-- shutdown node -->
-  <node if="$(arg launch_shutdown)"
-        name="shutdown" pkg="jsk_robot_startup" type="shutdown.py" />
-
 </launch>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
index fc31e3ac66..95539f2543 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
@@ -3,8 +3,7 @@ command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/mel
 
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
-; autostart=true
-autostart=false
+autostart=true
 autorestart=false
 stdout_logfile=/var/log/ros/jsk-shutdown.log
 stderr_logfile=/var/log/ros/jsk-shutdown.log

From 2e1a94afebff92b5b2043e60e9214d2a1521397d Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Wed, 1 Jun 2022 13:03:22 +0900
Subject: [PATCH 216/323] [jsk_fetch_startup] Disable L515 to reduce CPU usage

---
 jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
index 55d1fdc33c..2fbacb8d1f 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -14,7 +14,10 @@ if [ $(hostname) = 'fetch15' ]; then
   export RS_SERIAL_NO_T265="925122110450";
   export RS_SERIAL_NO_D435_FRONTRIGHT="";
   export RS_SERIAL_NO_D435_FRONTLEFT="";
-  export RS_SERIAL_NO_L515_HEAD="f0211890";
+  # Disable L515 to reduce fetch's CPU usage
+  # Use L515 after finding a way to reduce L515 CPU usage like ConnectionBasedTransport
+  # export RS_SERIAL_NO_L515_HEAD="f0211890";
+  export RS_SERIAL_NO_L515_HEAD="";
 
   export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0";
   export NETWORK_DEFAULT_ROS_INTERFACE="133.11.216.217";
@@ -32,7 +35,10 @@ elif [ $(hostname) = 'fetch1075' ]; then
   export RS_SERIAL_NO_T265="";
   export RS_SERIAL_NO_D435_FRONTRIGHT="";
   export RS_SERIAL_NO_D435_FRONTLEFT="";
-  export RS_SERIAL_NO_L515_HEAD="f0232270";
+  # Disable L515 to reduce fetch's CPU usage
+  # Use L515 after finding a way to reduce L515 CPU usage like ConnectionBasedTransport
+  # export RS_SERIAL_NO_L515_HEAD="f0232270";
+  export RS_SERIAL_NO_L515_HEAD="";
 
   export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1";
   export NETWORK_DEFAULT_ROS_INTERFACE="133.11.216.218";

From b3aacf58d9e9669332cee6f2b39089e03f4d0926 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 2 Jun 2022 18:10:49 +0900
Subject: [PATCH 217/323] [jsk_robot_startup] Add sigint and sigterm timeout
 arg for app_manager

---
 jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch b/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch
index ad67c18d90..1e7a5be105 100644
--- a/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch
@@ -2,6 +2,8 @@
   <arg name="master" default="true" doc="launch master if enabled"/>
   <arg name="master_address" default="localhost" doc="address for app_manager master"/>
   <arg name="master_port" default="11313" doc="port for app_manager master"/>
+  <arg name="sigint_timeout" default="15.0" doc="Time between sending sigint and sending sigterm to ROSLaunchParent"/>
+  <arg name="sigterm_timeout" default="2.0" doc="Time between sending sigterm and sending sigkill to ROSLaunchParent"/>
 
   <arg name="use_applist" default="false" doc="load apps from applist argument"/>
   <arg name="applist" default="" doc="app dirs (space separated)"/>
@@ -64,6 +66,8 @@
     <arg name="master" value="$(arg master)"/>
     <arg name="master_address" value="$(arg master_address)"/>
     <arg name="master_port" value="$(arg master_port)"/>
+    <arg name="sigint_timeout" value="$(arg sigint_timeout)"/>
+    <arg name="sigterm_timeout" value="$(arg sigterm_timeout)"/>
     <arg name="use_applist" value="$(arg use_applist)"/>
     <arg name="applist" value="$(arg applist)"/>
     <arg name="respawn" value="$(arg respawn)"/>

From 6bd4cd95d791b77a60cdea9fa6c40f1b02c635e2 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 2 Jun 2022 18:11:40 +0900
Subject: [PATCH 218/323] [jsk_fetch_startup] Add sigint_timeout for fetch's
 app_manager

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 1 +
 1 file changed, 1 insertion(+)

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 248847d452..74f2cfba29 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -133,6 +133,7 @@
     <arg name="respawn" value="false" />
     <arg name="basic" value="true" />
     <arg name="basic_yaml" value="/var/lib/robot/roswww_basic_keys.yaml" />
+    <arg name="sigint_timeout" value="120.0" />
   </include>
 
   <!-- app scheduler -->

From 2732127246a8b0b25916e2ed7d9f5f2200eb8b2b Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 2 Jun 2022 18:12:51 +0900
Subject: [PATCH 219/323] [jsk_fetch_startup] Replace audio/vidoe recorder with
 rosbag converter in go-to-kitchen demo

---
 .../apps/go_to_kitchen/go_to_kitchen.app      | 136 +++++++++---------
 1 file changed, 67 insertions(+), 69 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index 109601abef..0a59d5bc50 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -9,57 +9,6 @@ plugins:
     type: app_notification_saver/service_notification_saver
   - name: smach_notification_saver_plugin
     type: app_notification_saver/smach_notification_saver
-  - name: head_camera_video_recorder_plugin
-    type: app_recorder/audio_video_recorder_plugin
-    launch_args:
-      video_path: /tmp
-      video_title: go_to_kitchen_head_camera.avi
-      audio_topic_name: /audio
-      audio_channels: 1
-      audio_sample_rate: 16000
-      audio_format: wave
-      audio_sample_format: S16LE
-      video_topic_name: /head_camera/rgb/image_rect_color/hz_converted
-      video_height: 480
-      video_width: 640
-      video_framerate: 30
-      video_encoding: RGB
-  - name: object_detection_video_recorder_plugin
-    type: app_recorder/audio_video_recorder_plugin
-    launch_args:
-      video_path: /tmp
-      video_title: go_to_kitchen_object_detection.avi
-      audio_topic_name: /audio
-      audio_channels: 1
-      audio_sample_rate: 16000
-      audio_format: wave
-      audio_sample_format: S16LE
-      video_topic_name: /edgetpu_object_detector/output/image/hz_converted
-      video_height: 480
-      video_width: 640
-      video_framerate: 30
-      video_encoding: RGB
-  - name: panorama_video_recorder_plugin
-    type: app_recorder/video_recorder_plugin
-    launch_args:
-      video_path: /tmp
-      video_title: go_to_kitchen_panorama.avi
-      video_topic_name: /dual_fisheye_to_panorama/output
-      video_fps: 1.0
-  - name: rviz_video_recorder_plugin
-    type: app_recorder/video_recorder_plugin
-    launch_args:
-      video_path: /tmp
-      video_title: go_to_kitchen_rviz.avi
-      video_topic_name: /rviz/image
-      video_fps: 30.0
-  - name: respeaker_audio_recorder_plugin
-    type: app_recorder/audio_recorder_plugin
-    launch_args:
-      audio_path: /tmp
-      audio_title: go_to_kitchen_audio.wav
-      audio_topic_name: /audio
-      audio_format: wave
   - name: rosbag_recorder_plugin
     type: app_recorder/rosbag_recorder_plugin
     launch_args:
@@ -86,6 +35,8 @@ plugins:
         - /move_base/global_costmap/costmap
         - /particlecloud
         - /base_scan/throttled
+        - /dual_fisheye_to_panorama/quater/output/compressed
+        - /edgetpu_object_detector/output/image/compressed
         - /head_camera/rgb/throttled/camera_info
         - /head_camera/depth_registered/throttled/camera_info
         - /head_camera/rgb/throttled/image_rect_color/compressed
@@ -95,6 +46,53 @@ plugins:
         - /server_name/smach/container_structure
         - /audio
         - /rviz/throttled/image/compressed
+  - name: head_camera_converter_plugin
+    type: app_recorder/rosbag_video_converter_plugin
+    plugin_args:
+      rosbag_path: /tmp
+      rosbag_title: go_to_kitchen_rosbag.bag
+      image_topic_name: /head_camera/rgb/throttled/image_rect_color/compressed
+      image_fps: 5
+      audio_topic_name: /audio
+      audio_sample_rate: 16000
+      audio_channels: 1
+      video_path: /tmp/go_to_kitchen_head_camera.mp4
+  - name: object_detection_converter_plugin
+    type: app_recorder/rosbag_video_converter_plugin
+    plugin_args:
+      rosbag_path: /tmp
+      rosbag_title: go_to_kitchen_rosbag.bag
+      image_topic_name: /edgetpu_object_detector/output/image/compressed
+      image_fps: 30
+      audio_topic_name: /audio
+      audio_sample_rate: 16000
+      audio_channels: 1
+      video_path: /tmp/go_to_kitchen_object_detection.mp4
+  - name: panorama_converter_plugin
+    type: app_recorder/rosbag_video_converter_plugin
+    plugin_args:
+      rosbag_path: /tmp
+      rosbag_title: go_to_kitchen_rosbag.bag
+      image_topic_name: /dual_fisheye_to_panorama/quater/output/compressed
+      image_fps: 1
+      video_path: /tmp/go_to_kitchen_panorama.mp4
+  - name: rviz_converter_plugin
+    type: app_recorder/rosbag_video_converter_plugin
+    plugin_args:
+      rosbag_path: /tmp
+      rosbag_title: go_to_kitchen_rosbag.bag
+      image_topic_name: /rviz/throttled/image/compressed
+      image_fps: 5
+      video_path: /tmp/go_to_kitchen_rviz.mp4
+  - name: respeaker_audio_converter_plugin
+    type: app_recorder/rosbag_audio_converter_plugin
+    plugin_args:
+      rosbag_path: /tmp
+      rosbag_title: go_to_kitchen_rosbag.bag
+      audio_topic_name: /audio
+      audio_sample_rate: 16000
+      audio_channels: 1
+      audio_path: /tmp/go_to_kitchen_audio.wav
   - name: result_recorder_plugin
     type: app_recorder/result_recorder_plugin
     plugin_args:
@@ -105,19 +103,19 @@ plugins:
     plugin_args:
       upload_file_paths:
         - /tmp/go_to_kitchen_result.yaml
-        - /tmp/go_to_kitchen_head_camera.avi
-        - /tmp/go_to_kitchen_object_detection.avi
-        - /tmp/go_to_kitchen_panorama.avi
-        - /tmp/go_to_kitchen_rviz.avi
+        - /tmp/go_to_kitchen_head_camera.mp4
+        - /tmp/go_to_kitchen_object_detection.mp4
+        - /tmp/go_to_kitchen_panorama.mp4
+        - /tmp/go_to_kitchen_rviz.mp4
         - /tmp/go_to_kitchen_audio.wav
         - /tmp/go_to_kitchen_rosbag.bag
         - /tmp/trashcan_inside.jpg
       upload_file_titles:
         - go_to_kitchen_result.yaml
-        - go_to_kitchen_head_camera.avi
-        - go_to_kitchen_object_detection.avi
-        - go_to_kitchen_panorama.avi
-        - go_to_kitchen_rviz.avi
+        - go_to_kitchen_head_camera.mp4
+        - go_to_kitchen_object_detection.mp4
+        - go_to_kitchen_panorama.mp4
+        - go_to_kitchen_rviz.mp4
         - go_to_kitchen_audio.wav
         - go_to_kitchen_rosbag.bag
         - trashcan_inside.jpg
@@ -162,12 +160,12 @@ plugin_order:
     - move_base_cancel_plugin
     - service_notification_saver_plugin
     - smach_notification_saver_plugin
-    - head_camera_video_recorder_plugin
-    - object_detection_video_recorder_plugin
-    - panorama_video_recorder_plugin
-    - rviz_video_recorder_plugin
-    - respeaker_audio_recorder_plugin
     - rosbag_recorder_plugin
+    - head_camera_converter_plugin
+    - object_detection_converter_plugin
+    - panorama_converter_plugin
+    - rviz_converter_plugin
+    - respeaker_audio_converter_plugin
     - result_recorder_plugin
     - gdrive_uploader_plugin
     - tweet_notifier_plugin
@@ -178,12 +176,12 @@ plugin_order:
     - move_base_cancel_plugin
     - service_notification_saver_plugin
     - smach_notification_saver_plugin
-    - head_camera_video_recorder_plugin
-    - object_detection_video_recorder_plugin
-    - panorama_video_recorder_plugin
-    - rviz_video_recorder_plugin
-    - respeaker_audio_recorder_plugin
     - rosbag_recorder_plugin
+    - head_camera_converter_plugin
+    - object_detection_converter_plugin
+    - panorama_converter_plugin
+    - rviz_converter_plugin
+    - respeaker_audio_converter_plugin
     - result_recorder_plugin
     - gdrive_uploader_plugin
     - tweet_notifier_plugin

From 794fc8736998fcf71f66ffd7ccaaf7493b9dbb10 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 2 Jun 2022 18:36:01 +0900
Subject: [PATCH 220/323] [jsk_fetch_startup] Update rosinstall to use
 jsk_rosbag_tools in go-to-kitchen demo

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 30 ++++++++++++++++----
 1 file changed, 24 insertions(+), 6 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 66086e40b9..a4f9e3bcaf 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -1,10 +1,16 @@
 # This is rosinstall file for melodic PC inside fetch.
 # $ ln -s $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/$ROS_DISTRO/src/.rosinstall
 
+# Use knorth55 fetch15 branch after the following PR is merged.
+# https://github.com/knorth55/app_manager/pull/2
+# - git:
+#     local-name: PR2/app_manager
+#     uri: https://github.com/knorth55/app_manager.git
+#     version: fetch15
 - git:
     local-name: PR2/app_manager
-    uri: https://github.com/knorth55/app_manager.git
-    version: fetch15 
+    uri: https://github.com/708yamaguchi/app_manager.git
+    version: signal-timeout-fetch15
 - git:
     local-name: RobotWebTools/rosbridge_suite
     uri: https://github.com/RobotWebTools/rosbridge_suite.git
@@ -33,10 +39,16 @@
 #     local-name: jsk-ros-pkg/jsk_common
 #     uri: https://github.com/jsk-ros-pkg/jsk_common.git
 #     version: master
+# Use knorth55 fetch15 branch after the following PR is merged.
+# https://github.com/knorth55/jsk_common/pull/11
+# - git:
+#     local-name: jsk-ros-pkg/jsk_common
+#     uri: https://github.com/knorth55/jsk_common.git
+#     version: fetch15
 - git:
     local-name: jsk-ros-pkg/jsk_common
-    uri: https://github.com/knorth55/jsk_common.git
-    version: fetch15
+    uri: https://github.com/708yamaguchi/jsk_common.git
+    version: rosbag-tools-fetch15
 # we need to use the development branch (fetch15 branch in knorth55's fork)
 # until it is merged to master
 - git:
@@ -64,10 +76,16 @@
     local-name: jsk-ros-pkg/jsk_robot
     uri: https://github.com/knorth55/jsk_robot.git
     version: fetch15
+# Use knorth55 master branch after the following PR is merged.
+# https://github.com/knorth55/app_manager_utils/pull/54
+# - git:
+#     local-name: knorth55/app_manager_utils
+#     uri: https://github.com/knorth55/app_manager_utils
+#     version: master
 - git:
     local-name: knorth55/app_manager_utils
-    uri: https://github.com/knorth55/app_manager_utils
-    version: master
+    uri: https://github.com/708yamaguchi/app_manager_utils
+    version: rosbag-converter
 - git:
     local-name: mikeferguson/robot_calibration
     uri: https://github.com/mikeferguson/robot_calibration.git

From 95801c19dbcfa1fd229b0e96b4d9645da61dc7b8 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 2 Jun 2022 19:20:00 +0900
Subject: [PATCH 221/323] [jsk_fetch_startup] Remove unused topic_hz_converter

---
 .../apps/go_to_kitchen/go_to_kitchen.xml      | 21 -------------------
 1 file changed, 21 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index e32ed91c39..229bd5f8b0 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -10,27 +10,6 @@
     <param name="score_thresh" type="double" value="0.60" /> <!-- default: 0.6 -->
   </node>
 
-  <!-- Image topic hz converter for better synchronization betweeen audio and video-->
-  <node name="head_camera_image_hz_converter"
-        pkg="jsk_topic_tools"
-        type="topic_hz_converter.py">
-    <remap from="~input" to="/head_camera/rgb/image_rect_color" />
-    <remap from="~output" to="/head_camera/rgb/image_rect_color/hz_converted" />
-    <rosparam>
-      desired_topic_hz: 30
-    </rosparam>
-  </node>
-
-  <node name="object_detect_image_hz_converter"
-        pkg="jsk_topic_tools"
-        type="topic_hz_converter.py">
-    <remap from="~input" to="/edgetpu_object_detector/output/image" />
-    <remap from="~output" to="/edgetpu_object_detector/output/image/hz_converted" />
-    <rosparam>
-      desired_topic_hz: 30
-    </rosparam>
-  </node>
-
   <!-- Use m5stack_ros -->
   <!-- See https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/289 -->
   <node name="rosserial_m5stack" pkg="rosserial_python" type="serial_node.py">

From e1d3f0eaf3ae335072f9cf57d882696a501035a1 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Fri, 3 Jun 2022 17:29:40 +0900
Subject: [PATCH 222/323] [jsk_fetch_startup] Use knorth55 fetch15 branch for
 jsk_common

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 10 ++--------
 1 file changed, 2 insertions(+), 8 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index a4f9e3bcaf..07fd08a81d 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -39,16 +39,10 @@
 #     local-name: jsk-ros-pkg/jsk_common
 #     uri: https://github.com/jsk-ros-pkg/jsk_common.git
 #     version: master
-# Use knorth55 fetch15 branch after the following PR is merged.
-# https://github.com/knorth55/jsk_common/pull/11
-# - git:
-#     local-name: jsk-ros-pkg/jsk_common
-#     uri: https://github.com/knorth55/jsk_common.git
-#     version: fetch15
 - git:
     local-name: jsk-ros-pkg/jsk_common
-    uri: https://github.com/708yamaguchi/jsk_common.git
-    version: rosbag-tools-fetch15
+    uri: https://github.com/knorth55/jsk_common.git
+    version: fetch15
 # we need to use the development branch (fetch15 branch in knorth55's fork)
 # until it is merged to master
 - git:

From 3e1656ab30bfd97671352e5900f42fa4e1834787 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Fri, 3 Jun 2022 17:30:34 +0900
Subject: [PATCH 223/323] [jsk_fetch_startup] Use knorth55 master branch for
 app_manager_utils

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 10 ++--------
 1 file changed, 2 insertions(+), 8 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 07fd08a81d..94371a43ac 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -70,16 +70,10 @@
     local-name: jsk-ros-pkg/jsk_robot
     uri: https://github.com/knorth55/jsk_robot.git
     version: fetch15
-# Use knorth55 master branch after the following PR is merged.
-# https://github.com/knorth55/app_manager_utils/pull/54
-# - git:
-#     local-name: knorth55/app_manager_utils
-#     uri: https://github.com/knorth55/app_manager_utils
-#     version: master
 - git:
     local-name: knorth55/app_manager_utils
-    uri: https://github.com/708yamaguchi/app_manager_utils
-    version: rosbag-converter
+    uri: https://github.com/knorth55/app_manager_utils
+    version: master
 - git:
     local-name: mikeferguson/robot_calibration
     uri: https://github.com/mikeferguson/robot_calibration.git

From d31d79c4bae8c394e237ac1cdb4f58d850bb20c8 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Fri, 3 Jun 2022 19:21:54 +0900
Subject: [PATCH 224/323] [jsk_fetch_startup] Use ROS_HOSTNAME and
 ROS_MASTER_URI=http://localhost:11311

---
 jsk_fetch_robot/jsk_fetch_startup/config/config.bash          | 4 ++--
 .../supervisor_scripts/jsk-app-scheduler.conf                 | 2 +-
 .../jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf      | 2 +-
 .../supervisor_scripts/jsk-fetch-startup-outside.conf         | 2 +-
 .../supervisor_scripts/jsk-fetch-startup.conf                 | 2 +-
 .../jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf      | 2 +-
 .../supervisor_scripts/jsk-human-pose-estimator.conf          | 2 +-
 .../supervisor_scripts/jsk-network-monitor-outside.conf       | 2 +-
 .../supervisor_scripts/jsk-network-monitor.conf               | 2 +-
 .../supervisor_scripts/jsk-object-detector.conf               | 2 +-
 .../supervisor_scripts/jsk-panorama-human-pose-estimator.conf | 2 +-
 .../supervisor_scripts/jsk-panorama-object-detector.conf      | 2 +-
 .../jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf | 2 +-
 .../jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf    | 2 +-
 .../jsk_fetch_startup/supervisor_scripts/robot-outside.conf   | 2 +-
 .../jsk_fetch_startup/supervisor_scripts/robot.conf           | 2 +-
 16 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
index 2fbacb8d1f..43ae1bbf35 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -20,7 +20,7 @@ if [ $(hostname) = 'fetch15' ]; then
   export RS_SERIAL_NO_L515_HEAD="";
 
   export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0";
-  export NETWORK_DEFAULT_ROS_INTERFACE="133.11.216.217";
+  export NETWORK_DEFAULT_ROS_INTERFACE="localhost";
   export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2";
 elif [ $(hostname) = 'fetch1075' ]; then
   export DEFAULT_SPEAKER=2;
@@ -41,6 +41,6 @@ elif [ $(hostname) = 'fetch1075' ]; then
   export RS_SERIAL_NO_L515_HEAD="";
 
   export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1";
-  export NETWORK_DEFAULT_ROS_INTERFACE="133.11.216.218";
+  export NETWORK_DEFAULT_ROS_INTERFACE="localhost";
   export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2";
 fi
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf
index 91d9ceac86..8de89e02e4 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf
@@ -1,5 +1,5 @@
 [program:jsk-app-scheduler]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 ; autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
index cd93a425b1..79cd2be0f0 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
@@ -1,5 +1,5 @@
 [program:jsk-dialog]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen "
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen "
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 ; autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf
index 616e824d5f..e9966ce881 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf
@@ -1,5 +1,5 @@
 [program:jsk-fetch-startup-outside]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=false
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
index 1cdd2ed50d..2a43de39d4 100644
--- 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
@@ -1,5 +1,5 @@
 [program:jsk-fetch-startup]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
index 0325da1b22..b44ebd55cf 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
@@ -1,5 +1,5 @@
 [program:jsk-gdrive]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 ; autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
index cd794862c7..25fa60f0a8 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
@@ -1,6 +1,6 @@
 [program:jsk-human-pose-estimator]
 ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait"
 
 stopsignal=TERM
 ; directory=/home/fetch/ros/coral_ws
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf
index e27f9645ed..1058ba57af 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf
@@ -1,5 +1,5 @@
 [program:jsk-network-monitor-outside]
-command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
+command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
 stopsignal=TERM
 autostart=false
 autorestart=false
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
index f9949696b0..7d8a4b6621 100644
--- 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
@@ -1,5 +1,5 @@
 [program:jsk-network-monitor]
-command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
+command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
 stopsignal=TERM
 autostart=true
 autorestart=false
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
index 5688491b3c..516e1caa80 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
@@ -1,6 +1,6 @@
 [program:jsk-object-detector]
 ; 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 device_id:=1 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && 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 device_id:=1 --screen --wait"
 
 stopsignal=TERM
 ; directory=/home/fetch/ros/coral_ws
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
index f07778b651..139af6c42f 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
@@ -1,6 +1,6 @@
 [program:jsk-panorama-human-pose-estimator]
 ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
 
 stopsignal=TERM
 ; directory=/home/fetch/ros/coral_ws
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
index dd7111436d..bc320c5486 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
@@ -1,6 +1,6 @@
 [program:jsk-panorama-object-detector]
 ; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output 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 device_id:=1 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output 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 device_id:=1 --screen --wait"
 
 stopsignal=TERM
 ; directory=/home/fetch/ros/coral_ws
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
index 9bf1a76169..05377f460c 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
@@ -1,5 +1,5 @@
 [program:jsk-rfcomm-bind]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch jsk_robot_startup rfcomm_bind.launch --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch jsk_robot_startup rfcomm_bind.launch --wait"
 
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
index 95539f2543..0cf97a4327 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
@@ -1,5 +1,5 @@
 [program:jsk-shutdown]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_robot_startup shutdown.py --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_robot_startup shutdown.py --wait"
 
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf
index f5a6196858..0ce0afc615 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf
@@ -1,5 +1,5 @@
 [program:robot-outside]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && 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=false
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
index b4db414f79..11ca006f09 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
@@ -1,5 +1,5 @@
 [program:robot]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rossetip $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && 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

From 5a373edd76188c68e934ce38191984563e525b4e Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 7 Jun 2022 17:18:38 +0900
Subject: [PATCH 225/323] [jsk_fetch_startup] Use launch instead of single
 roseus in welcome_to_jsk app

---
 .../jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app   | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app b/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app
index 210ba6e4bd..ded1914d18 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/welcome_to_jsk/welcome_to_jsk.app
@@ -1,7 +1,6 @@
 display: Welcome to jsk
 platform: fetch
-run: welcome_to_jsk_fetch/welcome-to-jsk.l
-run_args: '"(progn (init) (give-bag))"'
+launch: jsk_fetch_startup/welcome_to_jsk.xml
 interface: jsk_fetch_startup/welcome_to_jsk.interface
 icon: jsk_fetch_startup/welcome_to_jsk.png
 plugins:

From 9ea557fd95b71c8e5938fd1bdc573727065a84fa Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 7 Jun 2022 17:21:53 +0900
Subject: [PATCH 226/323] [jsk_fetch_startup] Update rosinstall for welcome to
 jsk demo

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 94371a43ac..98c9baec9b 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -45,10 +45,16 @@
     version: fetch15
 # we need to use the development branch (fetch15 branch in knorth55's fork)
 # until it is merged to master
+# Use knorth55/jsk_demos fetch15 branch after the following PR is merged
+# https://github.com/knorth55/jsk_demos/pull/25
+# - git:
+#     local-name: jsk-ros-pkg/jsk_demos
+#     uri: https://github.com/knorth55/jsk_demos.git
+#     version: fetch15
 - git:
     local-name: jsk-ros-pkg/jsk_demos
-    uri: https://github.com/knorth55/jsk_demos.git
-    version: fetch15
+    uri: https://github.com/708yamaguchi/jsk_demos.git
+    version: welcome-to-jsk-fetch15
 - git:
     local-name: jsk-ros-pkg/jsk_pr2eus
     uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git

From 73db6cbf52f86708dc12dbf7ec191bb01b46295a Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 7 Jun 2022 17:38:55 +0900
Subject: [PATCH 227/323] [jsk_fetch_startup] Reset rosinstall because upstream
 PR is merged

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 10 ++--------
 1 file changed, 2 insertions(+), 8 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 98c9baec9b..94371a43ac 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -45,16 +45,10 @@
     version: fetch15
 # we need to use the development branch (fetch15 branch in knorth55's fork)
 # until it is merged to master
-# Use knorth55/jsk_demos fetch15 branch after the following PR is merged
-# https://github.com/knorth55/jsk_demos/pull/25
-# - git:
-#     local-name: jsk-ros-pkg/jsk_demos
-#     uri: https://github.com/knorth55/jsk_demos.git
-#     version: fetch15
 - git:
     local-name: jsk-ros-pkg/jsk_demos
-    uri: https://github.com/708yamaguchi/jsk_demos.git
-    version: welcome-to-jsk-fetch15
+    uri: https://github.com/knorth55/jsk_demos.git
+    version: fetch15
 - git:
     local-name: jsk-ros-pkg/jsk_pr2eus
     uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git

From 0297850db4ed22603c61111cef23d1bf9f7fe5b6 Mon Sep 17 00:00:00 2001
From: Guilherme Affonso <guilherme.c.affonso@gmail.com>
Date: Tue, 7 Jun 2022 10:54:06 +0900
Subject: [PATCH 228/323] Add roseus_resume interrupt and resume apps

---
 .../jsk_robot_startup/apps/robot_apps.installed  |   4 ++++
 .../roseus_resume_interrupt.app                  |   6 ++++++
 .../roseus_resume_interrupt.interface            |   2 ++
 .../roseus_resume_interrupt.png                  | Bin 0 -> 3470 bytes
 .../roseus_resume_resume.app                     |   6 ++++++
 .../roseus_resume_resume.interface               |   2 ++
 .../roseus_resume_resume.png                     | Bin 0 -> 3760 bytes
 7 files changed, 20 insertions(+)
 create mode 100644 jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.app
 create mode 100644 jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.interface
 create mode 100644 jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.png
 create mode 100644 jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.app
 create mode 100644 jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.interface
 create mode 100644 jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.png

diff --git a/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed b/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed
index e142d9282c..378c08693f 100644
--- a/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed
+++ b/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed
@@ -3,3 +3,7 @@ apps:
     display: Personal use 
   - app: jsk_robot_startup/check_use_sim_time
     display: Check /use_sim_time param
+  - app: jsk_robot_startup/roseus_resume_interrupt
+    display: Interrupt
+  - app: jsk_robot_startup/roseus_resume_resume
+    display: Resume
diff --git a/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.app b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.app
new file mode 100644
index 0000000000..d6ea2dad0f
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.app
@@ -0,0 +1,6 @@
+display: Interrupt
+platform: all
+run: rostopic/rostopic
+run_args: "pub -1 /roseus_resume/interrupt std_msgs/Empty"
+interface: jsk_robot_startup/roseus_resume_interrupt.interface
+icon: jsk_robot_startup/roseus_resume_interrupt.png
diff --git a/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.interface b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.interface
new file mode 100644
index 0000000000..044105d644
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.interface
@@ -0,0 +1,2 @@
+published_topics: {}
+subscribed_topics: {}
diff --git a/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.png b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.png
new file mode 100644
index 0000000000000000000000000000000000000000..352d08ee47ecaf8e17c5eaf96dc93327205a7b21
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diff --git a/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.app b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.app
new file mode 100644
index 0000000000..c21b0d3a49
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.app
@@ -0,0 +1,6 @@
+display: Resume
+platform: all
+run: rostopic/rostopic
+run_args: "pub -1 /roseus_resume/resume std_msgs/Empty"
+interface: jsk_robot_startup/roseus_resume_resume.interface
+icon: jsk_robot_startup/roseus_resume_resume.png
diff --git a/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.interface b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.interface
new file mode 100644
index 0000000000..044105d644
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.interface
@@ -0,0 +1,2 @@
+published_topics: {}
+subscribed_topics: {}
diff --git a/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.png b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.png
new file mode 100644
index 0000000000000000000000000000000000000000..235869778e3256af8b684e15f5f7b0a67e6dd4a8
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zXGNy;>9fwe+>R5)Y2}p73DA#_Skjc&zZPM}zyJ$j6r~Ae=FuB$Ga%p*@k7?n-mm<f
zgdGb5Eb!tTjp`F8k!=KCEeO9woH<GmXlx9ySQD}Vb#Oh7rX}c6YYZGXQ4U!PZq&kK
z*SKS4fCZvd%Y2D5?w~i~874y5d`JqBH#G0R$=DeHil8?@Ir7|0RdS!y<+Xu19Osr^
z-}T-_PJsayYXVmaHy@SW<WUQomqyn1JSnO1i)QkqF$j1T#HYjn%j?0efcqFZ2ap$P
zzSTF;kxeIs3rZZkdwbE}TQ=6(W~vOZlNk<>guB&^lFM`nz5FT~Vt+vG%p0D}ooxQ(
zHhp<v+rR)jHwvvHxeE?Ts#`p9(AjfqSZ@lnhiohwL_CvFEgzr$jrMM9U>g}=)#h*`
z?3+AuC>4wL5rq?f0|;0}L4#I~6VBDn-?qgkaV^8ng#ota#Fk!2V}Q~Wo!EGd0VcL#
zrO|B+P@19>8?Q0I#5Sxnx{U!!Q*>hEH3pd2hLuLQF+gdGPHeo!02AA=(&#n@C{59c
ajrV^DLAIYaTMJVF0000<MNUMnLSTab&j08D

literal 0
HcmV?d00001


From 2747f1eb43e34437e18c4c66b1d1a49327627eef Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 7 Jun 2022 23:07:16 +0900
Subject: [PATCH 229/323] [jsk_fetch_startup] Add hz_measure node to monitor
 rgb/depth topics

---
 .../config/fetch_analyzers.yaml                | 14 +-------------
 .../config/sanity_targets.yaml                 |  2 --
 .../jsk_fetch_startup/launch/fetch_sensors.xml | 18 ++++++++++++++++++
 3 files changed, 19 insertions(+), 15 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/fetch_analyzers.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/fetch_analyzers.yaml
index f4847a4cba..d6b18c8111 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/fetch_analyzers.yaml
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/fetch_analyzers.yaml
@@ -102,7 +102,7 @@ analyzers:
         path: Head Camera
         timeout: 5.0
         startswith: 'head_camera'
-        num_items: 2
+        num_items: 4
       imu:
         type: diagnostic_aggregator/GenericAnalyzer
         path: IMU
@@ -154,18 +154,6 @@ analyzers:
         contains: '/audio'
         timeout: 100
         discard_stale: true
-      head_depth_image:
-        type: diagnostic_aggregator/GenericAnalyzer
-        path: HeadDepthImage
-        contains: '/head_camera/depth/image_raw'
-        timeout: 100
-        discard_stale: true
-      head_rgb_image:
-        type: diagnostic_aggregator/GenericAnalyzer
-        path: HeadRGBImage
-        contains: '/head_camera/rgb/image_raw'
-        timeout: 100
-        discard_stale: true
   nodes:
     type: diagnostic_aggregator/AnalyzerGroup
     path: Nodes
diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/sanity_targets.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/sanity_targets.yaml
index 6b8ce4ff93..24a3521055 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/sanity_targets.yaml
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/sanity_targets.yaml
@@ -2,8 +2,6 @@ topics:
   - /audio
   - /edgetpu_human_pose_estimator/output/image/compressed
   - /edgetpu_object_detector/output/image/compressed
-  - /head_camera/depth/image_raw
-  - /head_camera/rgb/image_raw
 
 nodes:
   - /head_camera/head_camera_nodelet_manager
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml
index 43d79040b6..2649c370e9 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml
@@ -16,6 +16,15 @@
 
   <group ns="head_camera">
     <group ns="depth_registered">
+      <node name="hz_measure"
+            pkg="nodelet" type="nodelet"
+            args="load jsk_topic_tools/HzMeasure /$(arg manager)" >
+        <remap from="~input" to="hw_registered/image_rect_raw" />
+        <remap from="~output" to="hw_registered/image_rect_raw/measured_hz" />
+        <rosparam subst_value="true" >
+          warning_hz: 5
+        </rosparam>
+      </node>
       <node name="resize_cloud"
             pkg="nodelet" type="nodelet"
             args="load jsk_pcl/ResizePointsPublisher /$(arg manager)"
@@ -81,6 +90,15 @@
     </group>
     <group ns="rgb"
            if="$(arg throttle_head_rgb)">
+      <node name="hz_measure"
+            pkg="nodelet" type="nodelet"
+            args="load jsk_topic_tools/HzMeasure /$(arg manager)" >
+        <remap from="~input" to="image_raw" />
+        <remap from="~output" to="image_raw/measured_hz" />
+        <rosparam subst_value="true" >
+          warning_hz: 5
+        </rosparam>
+      </node>
       <node name="throttle_camera_info"
             pkg="nodelet" type="nodelet"
             args="load jsk_topic_tools/LightweightThrottle /$(arg manager)"

From b302b57899158d155d6b61ba8d29cedf83f4147b Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 7 Jun 2022 23:29:14 +0900
Subject: [PATCH 230/323] [jsk_fetch_startup/sanity_diagnostics] Make
 clear_params true

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

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 74f2cfba29..24d6bffefa 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -343,7 +343,8 @@
   </node>
 
   <!-- Publish /diagnostics based on topics and nodes sanity check -->
-  <node name="sanity_diagnostics" pkg="jsk_tools" type="sanity_diagnostics.py">
+  <node name="sanity_diagnostics" pkg="jsk_tools" type="sanity_diagnostics.py"
+        clear_params="true" >
     <rosparam command="load" file="$(find jsk_fetch_startup)/config/sanity_targets.yaml" />
     <rosparam subst_value="true">
       duration: 60

From 19e409db5e75a0a7d9bf3812ee8006797781bf62 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 7 Jun 2022 23:32:41 +0900
Subject: [PATCH 231/323] [jsk_fetch_startup/diagnostics_aggregator] Make
 clear_params true

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

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 24d6bffefa..5c83460ac5 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -105,7 +105,8 @@
 
   <!-- diagnostic aggregator -->
   <node pkg="diagnostic_aggregator" type="aggregator_node"
-        name="diag_agg" args="CPP" output="screen" >
+        name="diag_agg" args="CPP" output="screen"
+        clear_params="true" >
     <rosparam command="load" file="$(find jsk_fetch_startup)/config/fetch_analyzers.yaml" />
   </node>
 

From b447e320ea880c9f2a0bfbda2dc08e6c9427876d Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Wed, 8 Jun 2022 18:58:59 +0900
Subject: [PATCH 232/323] [jsk_fetch_startup] enable google chat

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch     | 11 +++++++++++
 jsk_fetch_robot/jsk_fetch_startup/package.xml         |  4 ++++
 2 files changed, 15 insertions(+)

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 5c83460ac5..f2caa749fc 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -6,6 +6,7 @@
   <arg name="launch_insta360" default="true" />
   <arg name="launch_app_scheduler" default="true" />
   <arg name="launch_dialogflow" default="true" />
+  <arg name="launch_google_chat" default="true" />
   <arg name="launch_gdrive_server" default="true" />
   <arg name="launch_edgetpu_human_pose_estimator" default="true" />
   <arg name="launch_edgetpu_object_detector" default="true" />
@@ -151,6 +152,16 @@
     <arg name="hostname" value="$(arg hostname)" />
   </include>
 
+  <!-- google chat -->
+  <include if="$(arg launch_google_chat)"
+           file="$(find google_chat_ros)/launch/google_chat.launch">
+    <arg name="use_yaml" value="true" />
+    <arg name="recieving_mode" value="url" />
+    <arg name="yaml_file" value="/var/lib/robot/google_chat.yaml" />
+    <arg name="gdrive_upload_service" value="/gdrive_server/upload" />
+    <arg name="to_dialogflow_client" value="true" />    
+  </include>
+
   <!-- gdrive_ros -->
   <include if="$(arg launch_gdrive_server)"
            file="$(find gdrive_ros)/launch/gdrive_server.launch">
diff --git a/jsk_fetch_robot/jsk_fetch_startup/package.xml b/jsk_fetch_robot/jsk_fetch_startup/package.xml
index 9031016111..5e2944ee70 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/package.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/package.xml
@@ -67,6 +67,10 @@
   <run_depend>julius_ros</run_depend>
   <run_depend version_gte="2.1.13">respeaker_ros</run_depend>
 
+  <!-- for fetch communication -->
+  <run_depend>dialogflow_task_executive</run_depend>
+  <run_depend>google_chat_ros</run_depend>
+
   <!-- for rwt_nav -->
   <run_depend>robot_pose_publisher</run_depend>
 

From ddbb0909262b7a554d72ec35e49d4de328237cf2 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Wed, 8 Jun 2022 22:54:34 +0900
Subject: [PATCH 233/323] [jsk_fetch_startup] fix typo in google_chat_ros

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

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 f2caa749fc..b6145181af 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -156,10 +156,10 @@
   <include if="$(arg launch_google_chat)"
            file="$(find google_chat_ros)/launch/google_chat.launch">
     <arg name="use_yaml" value="true" />
-    <arg name="recieving_mode" value="url" />
+    <arg name="receiving_mode" value="url" />
     <arg name="yaml_file" value="/var/lib/robot/google_chat.yaml" />
     <arg name="gdrive_upload_service" value="/gdrive_server/upload" />
-    <arg name="to_dialogflow_client" value="true" />    
+    <arg name="to_dialogflow_client" value="true" />
   </include>
 
   <!-- gdrive_ros -->

From a5cc944f5be7329edfba768aeeca196e2df4878d Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 16 Jun 2022 10:05:52 +0900
Subject: [PATCH 234/323] [jsk_fetch_startup] add use_audible_warning arg and
 make args in supervisor_job to be loaded from roslaunch

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch  | 14 ++++++++------
 .../supervisor_scripts/jsk-fetch-startup.conf      |  2 +-
 2 files changed, 9 insertions(+), 7 deletions(-)

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 b6145181af..e3f4762836 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -12,18 +12,18 @@
   <arg name="launch_edgetpu_object_detector" default="true" />
 
   <arg name="use_voice_text" default="false" />
-  <arg name="default_speaker" default="2" />
-  <arg name="default_english_speaker" default="kal" />
-  <arg name="default_warning_speaker" default="kal" />
+  <arg name="default_speaker" default="$(OPTENV DEFAULT_SPEAKER_ 2)" />
+  <arg name="default_english_speaker" default="$(OPTENV DEFAULT_ENGLISH_SPEAKER kal)" />
+  <arg name="default_warning_speaker" default="$(OPTENV DEFAULT_ENGLISH_SPEAKER kal)" />
   <arg name="fetch_lifelog" default="true" />
-  <arg name="boot_sound" default="false" />
+  <arg name="boot_sound" default="true" />
   <arg name="map_frame" default="eng2" />
   <arg name="map_file" default="$(find jsk_maps)/raw_maps/eng2-7f-0.05.yaml"/>
   <arg name="keepout_map_file" default="$(find jsk_maps)/raw_maps/eng2-7f-0.05_keepout.yaml" />
   <arg name="use_build_map" default="false" />
   <arg name="use_keepout" default="true" />
   <arg name="fetch_switchbot" default="true" />
-  <arg name="network_interface" default="wlan0" />
+  <arg name="network_interface" default="$(OPTENV NETWORK_DEFAULT_WIFI_INTERFACE wlan0)" />
 
   <arg name="battery_warning" default="true" />
   <arg name="nav_speak" default="true" />
@@ -34,6 +34,7 @@
   <arg name="network_detector" default="true" />
   <arg name="network_status" default="true" />
   <arg name="use_speech_recognition" default="true" />
+  <arg name="use_audible_warning" default="true" />
 
   <param name="robot/type" value="fetch" />
   <param name="robot/name" command='bash -c "hostname | xargs echo -n"' />
@@ -342,7 +343,8 @@
   <node name="audible_warning"
         pkg="jsk_tools" type="audible_warning.py"
         clear_params="true"
-        output="screen" >
+        output="screen"
+        if="$(arg use_audible_warning)" >
     <remap from="/robotsound" to="/sound_play" />
     <rosparam command="load" file="$(find jsk_fetch_startup)/config/warning_blacklist.yaml" />
     <rosparam subst_value="true">
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
index 2a43de39d4..4005efea8d 100644
--- 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
@@ -1,5 +1,5 @@
 [program:jsk-fetch-startup]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true

From d5deacb9a37d6306de4e4e0fdacfe6256e41c8a5 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 16 Jun 2022 10:08:44 +0900
Subject: [PATCH 235/323] [jsk_fetch_startup] fix

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch         | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

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 e3f4762836..4e4c33335d 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -12,9 +12,9 @@
   <arg name="launch_edgetpu_object_detector" default="true" />
 
   <arg name="use_voice_text" default="false" />
-  <arg name="default_speaker" default="$(OPTENV DEFAULT_SPEAKER_ 2)" />
-  <arg name="default_english_speaker" default="$(OPTENV DEFAULT_ENGLISH_SPEAKER kal)" />
-  <arg name="default_warning_speaker" default="$(OPTENV DEFAULT_ENGLISH_SPEAKER kal)" />
+  <arg name="default_speaker" default="$(optenv DEFAULT_SPEAKER 2)" />
+  <arg name="default_english_speaker" default="$(optenv DEFAULT_ENGLISH_SPEAKER kal)" />
+  <arg name="default_warning_speaker" default="$(optenv DEFAULT_ENGLISH_SPEAKER kal)" />
   <arg name="fetch_lifelog" default="true" />
   <arg name="boot_sound" default="true" />
   <arg name="map_frame" default="eng2" />
@@ -23,7 +23,7 @@
   <arg name="use_build_map" default="false" />
   <arg name="use_keepout" default="true" />
   <arg name="fetch_switchbot" default="true" />
-  <arg name="network_interface" default="$(OPTENV NETWORK_DEFAULT_WIFI_INTERFACE wlan0)" />
+  <arg name="network_interface" default="$(optenv NETWORK_DEFAULT_WIFI_INTERFACE wlan0)" />
 
   <arg name="battery_warning" default="true" />
   <arg name="nav_speak" default="true" />

From 3e8f9252a3c2285fb193520136c1299d9589e5f2 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 15 Jun 2022 11:40:12 +0900
Subject: [PATCH 236/323] [jsk_fetch_startup] Wait for a certain time in
 get-battery-charge-state

---
 .../euslisp/navigation-utils.l                | 29 +++++++++++++++----
 1 file changed, 24 insertions(+), 5 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 7b6ec6f817..0b0c3e0826 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -133,11 +133,30 @@
   (send (send *undock-action* :get-result) :undocked))
 
 
-(defun get-battery-charging-state (&key (timeout 1500))
+(defun get-battery-charging-state (&key (timeout 1500) (dock nil))
+  """
+  Get battery charging state
+  Args:
+    - key
+      timeout: Set waiting time for topic.
+      dock: Set t when docking to get right result.
+  """
    (let* ((msg (one-shot-subscribe "/battery_state" power_msgs::batterystate :timeout timeout))
-          (is-charging (if msg (send msg :is_charging))))
+          (is-charging (if msg (send msg :is_charging)))
+          (start-get-state-time (send (ros::time-now) :sec))
+          (duration 0))
      ;; You may fail to subscribe /battery_state
      ;; because of message md5 difference between melodic and indigo.
+     ;; If /battery_state is subscribed before /battery_state becomes true
+     ;; while dock succeeds, the result will not be correct,
+     ;; so wait for a certain time when docking.
+     (when dock
+       (while (and (< duration (/ timeout 1000)) (not is-charging))
+         (setq msg (one-shot-subscribe "/battery_state"
+                                       power_msgs::BatteryState
+                                       :timeout timeout))
+         (if msg (setq is-charging (send msg :is_charging)))
+         (setq duration (- (send (ros::time-now) :sec) start-get-state-time))))
      (if (not msg) (return-from get-battery-charging-state nil))
      (if is-charging :charging :discharging)))
 
@@ -525,7 +544,7 @@ Args:
     ;; change the inflation_radius
     (restore-params)
     (send-kitchen-mail)
-    (setq success-battery-charging (equal (get-battery-charging-state) :charging))
+    (setq success-battery-charging (equal (get-battery-charging-state :dock t) :charging))
     (and success-go-to-kitchen success-auto-dock success-battery-charging)))
 
 
@@ -630,12 +649,12 @@ Args:
             (:finish
               '(lambda (userdata)
                  (let ((success-battery-charging
-                         (equal (get-battery-charging-state) :charging))
+                         (equal (get-battery-charging-state :dock t) :charging))
                        (success-auto-dock (cdr (assoc 'success-auto-dock userdata)))
                        (success-go-to-kitchen
                          (cdr (assoc 'success-go-to-kitchen userdata))))
                    (restore-params)
-		   (send-kitchen-mail)
+                   (send-kitchen-mail)
                    (and success-go-to-kitchen success-auto-dock success-battery-charging)))))
           '(:init)
           '(t nil))))

From 4c089073f6ecb23af2101d53cb5c30ba95b8b24f Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 15 Jun 2022 15:25:03 +0900
Subject: [PATCH 237/323] [jsk_fetch_startup] split method into two; add
 wait-until-is-charging

---
 .../euslisp/navigation-utils.l                | 43 +++++++++++--------
 1 file changed, 25 insertions(+), 18 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 0b0c3e0826..8d8ada7843 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -132,35 +132,40 @@
     (return-from undock nil))
   (send (send *undock-action* :get-result) :undocked))
 
+(defun wait-until-is-charging (&key timeout 10)
+  """
+  Wait for updating battery charging state especially when robots dock.
+  Args:
+    - key
+      timeout [sec]: Set waiting time for updating /battery_state topic
 
-(defun get-battery-charging-state (&key (timeout 1500) (dock nil))
+  ;; If /battery_state is subscribed before /battery_state becomes true
+  ;; while dock succeeds, the result will not be correct,
+  ;; so wait for a certain time when docking.
+  """
+  (let ((msg nil)
+        (is-charging nil)
+        (duration 0)
+        (start-time (send (ros::time-now) :sec)))
+    (while (and (< duration timeout) (not is-charging))
+      (setq msg (one-shot-subscribe "/battery_state" power_msgs::BatteryState))
+      (if msg (setq is-charging (send msg :is_charging)))
+      (setq duration (- (send (ros::time-now) :sec) start-time)))))
+
+(defun get-battery-charging-state (&key (timeout 1500))
   """
   Get battery charging state
   Args:
     - key
       timeout: Set waiting time for topic.
-      dock: Set t when docking to get right result.
   """
    (let* ((msg (one-shot-subscribe "/battery_state" power_msgs::batterystate :timeout timeout))
-          (is-charging (if msg (send msg :is_charging)))
-          (start-get-state-time (send (ros::time-now) :sec))
-          (duration 0))
+          (is-charging (if msg (send msg :is_charging))))
      ;; You may fail to subscribe /battery_state
      ;; because of message md5 difference between melodic and indigo.
-     ;; If /battery_state is subscribed before /battery_state becomes true
-     ;; while dock succeeds, the result will not be correct,
-     ;; so wait for a certain time when docking.
-     (when dock
-       (while (and (< duration (/ timeout 1000)) (not is-charging))
-         (setq msg (one-shot-subscribe "/battery_state"
-                                       power_msgs::BatteryState
-                                       :timeout timeout))
-         (if msg (setq is-charging (send msg :is_charging)))
-         (setq duration (- (send (ros::time-now) :sec) start-get-state-time))))
      (if (not msg) (return-from get-battery-charging-state nil))
      (if is-charging :charging :discharging)))
 
-
 (defun go-to-spot (name &key (relative-pos nil) (relative-rot nil) (undock-rotate nil) (clear-costmap t))
   "Move the robot to the spot defined in /spots_marker_array topic. The reason for using relative-pos and relative-rot instead of relative-coords is that it is easier to understand if relative-pos and relative-rot are specified in the different coords (specifically, world (map) and local (spot) coords respectively). For detail, see https://github.com/jsk-ros-pkg/jsk_robot/pull/1458#pullrequestreview-1039654868
 Args:
@@ -544,7 +549,8 @@ Args:
     ;; change the inflation_radius
     (restore-params)
     (send-kitchen-mail)
-    (setq success-battery-charging (equal (get-battery-charging-state :dock t) :charging))
+    (setq success-battery-charging (progn (wait-until-is-charging)
+                                          (equal (get-battery-charging-state) :charging))
     (and success-go-to-kitchen success-auto-dock success-battery-charging)))
 
 
@@ -649,7 +655,8 @@ Args:
             (:finish
               '(lambda (userdata)
                  (let ((success-battery-charging
-                         (equal (get-battery-charging-state :dock t) :charging))
+                        (progn (wait-until-is-charging)
+                               (equal (get-battery-charging-state) :charging)))
                        (success-auto-dock (cdr (assoc 'success-auto-dock userdata)))
                        (success-go-to-kitchen
                          (cdr (assoc 'success-go-to-kitchen userdata))))

From f0bbab03c89a0f720e89fa810b7f181b36dc98b0 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 15 Jun 2022 16:15:13 +0900
Subject: [PATCH 238/323] [jsk_fetch_startup] Fix about keyword argument

---
 jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 8d8ada7843..8da0663ce1 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -132,7 +132,7 @@
     (return-from undock nil))
   (send (send *undock-action* :get-result) :undocked))
 
-(defun wait-until-is-charging (&key timeout 10)
+(defun wait-until-is-charging (&key (timeout 10))
   """
   Wait for updating battery charging state especially when robots dock.
   Args:
@@ -550,7 +550,7 @@ Args:
     (restore-params)
     (send-kitchen-mail)
     (setq success-battery-charging (progn (wait-until-is-charging)
-                                          (equal (get-battery-charging-state) :charging))
+                                          (equal (get-battery-charging-state) :charging)))
     (and success-go-to-kitchen success-auto-dock success-battery-charging)))
 
 

From 4b10ba36b10b2e504dbb19e4dc3c69ef4e131bf2 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 15 Jun 2022 16:16:21 +0900
Subject: [PATCH 239/323] [jsk_fetch_startup] Return charging state in
 wait-until-is-charging

---
 .../euslisp/navigation-utils.l                | 19 ++++++++++++-------
 1 file changed, 12 insertions(+), 7 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 8da0663ce1..898a8be4ab 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -143,14 +143,19 @@
   ;; while dock succeeds, the result will not be correct,
   ;; so wait for a certain time when docking.
   """
-  (let ((msg nil)
-        (is-charging nil)
-        (duration 0)
-        (start-time (send (ros::time-now) :sec)))
-    (while (and (< duration timeout) (not is-charging))
-      (setq msg (one-shot-subscribe "/battery_state" power_msgs::BatteryState))
+  (let* ((msg nil)
+         (is-charging nil)
+         (duration 0)
+         (start-time (send (ros::time-now) :sec)))
+    (while (not is-charging)
+      (when (> duration timeout)
+        (ros::ros-warn "Skip waiting for charging state because of timeout")
+        (return-from wait-until-is-charging :timeout))
+      (setq msg (one-shot-subscribe "/battery_state" power_msgs::BatteryState
+                                    :timeout 1000))
       (if msg (setq is-charging (send msg :is_charging)))
-      (setq duration (- (send (ros::time-now) :sec) start-time)))))
+      (setq duration (- (send (ros::time-now) :sec) start-time)))
+    :charging))
 
 (defun get-battery-charging-state (&key (timeout 1500))
   """

From 9a1abafd05a48ab292f04ccfa6190c17c8f7d636 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 16 Jun 2022 17:36:11 +0900
Subject: [PATCH 240/323] [jsk_fetch_startup] disable point cloud of l515

---
 .../jsk_fetch_startup/launch/fetch_realsense_bringup.launch     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
index e500b5740c..afbedb15e5 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
@@ -96,7 +96,7 @@
       <arg name="depth_width"           value="640"/>
       <arg name="depth_height"          value="480"/>
       <arg name="clip_distance"         value="-2"/>
-      <arg name="enable_pointcloud"     value="true"/>
+      <arg name="enable_pointcloud"     value="false"/>
       <arg name="enable_infra"          value="true"/>
       <arg name="respawn"              value="$(arg respawn)"/>
     </include>

From f521524bd5fa5d89e99435429aa5f5506cf40154 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 16 Jun 2022 17:36:53 +0900
Subject: [PATCH 241/323] [jsk_fetch_startup] enable l515 for fetch1075

---
 jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
index 43ae1bbf35..db9f9eb944 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -37,8 +37,8 @@ elif [ $(hostname) = 'fetch1075' ]; then
   export RS_SERIAL_NO_D435_FRONTLEFT="";
   # Disable L515 to reduce fetch's CPU usage
   # Use L515 after finding a way to reduce L515 CPU usage like ConnectionBasedTransport
-  # export RS_SERIAL_NO_L515_HEAD="f0232270";
-  export RS_SERIAL_NO_L515_HEAD="";
+  export RS_SERIAL_NO_L515_HEAD="f0232270";
+  #export RS_SERIAL_NO_L515_HEAD="";
 
   export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1";
   export NETWORK_DEFAULT_ROS_INTERFACE="localhost";

From 23e1468f9e3ecd82b220b1d46abcd807d819e08a Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Fri, 17 Jun 2022 17:08:07 +0900
Subject: [PATCH 242/323] [jsk_fetch_startup] Use
 jsk_pcl_ros/container_occupancy_detector in kithchen demo

---
 .../jsk_fetch_startup/euslisp/navigation-utils.l |  2 +-
 .../launch/trashbin_occupancy_detector.launch    | 16 +++++++---------
 2 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 898a8be4ab..be66fe8d0d 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -385,7 +385,7 @@ Args:
                   (format nil "CO2 concentration is ~A ppm" (send msg :data))))))
 
 (defun notify-trashcan-occupancy (&key (location "kitchen"))
-  (let* ((msg (one-shot-subscribe "/trashbin_occupancy_detector/trashbin/occupancy"
+ (let* ((msg (one-shot-subscribe "/trashbin_occupancy_detector/container/occupancies"
                                   jsk_recognition_msgs::BoundingBoxArray
                                   :timeout 3000))
          (occupancy (if msg (send (elt (send msg :boxes) 0) :value)))
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
index 97d02e1a22..d889ecc2f2 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
@@ -3,7 +3,7 @@
   <arg name="IMAGE_INPUT" default="/head_camera/rgb/throttled/image_rect_color"/>
   <arg name="IMAGE_CAMERAINFO" default="/head_camera/rgb/camera_info"/>
   <arg name="CENTROID_FRAME" default="target"/>
-  <arg name="DEFAULT_NAMESPACE" default="/trashbin_occupancy_detector"/>
+  <arg name="DEFAULT_NAMESPACE" default="trashbin_occupancy_detector"/>
   <arg name="FILTER_NAME_SUFFIX" default=""/>
   <arg name="OUTPUT" default="trashbin_handle/hsi_output$(arg FILTER_NAME_SUFFIX)"/>
 
@@ -142,14 +142,12 @@
     </node>
   </group>
 
-  <node pkg="jsk_fetch_startup" type="container_occupancy_detector"
-        name="container_occupancy_detector"
-        output="screen" respawn="true">
-    <remap from="input_boxes" to="$(arg DEFAULT_NAMESPACE)/trashbin/boxes" />
-    <remap from="input_cloud" to="$(arg POINTCLOUD_INPUT)" />
-    <remap from="debug_cloud" to="$(arg POINTCLOUD_INPUT)/debug/points" />
-    <remap from="output_boxes" to="$(arg DEFAULT_NAMESPACE)/trashbin/occupancy" />
-  </node>
+  <include file="$(find jsk_pcl_ros)/launch/container_occupancy_detector.launch">
+    <arg name="POINTCLOUD_INPUT" value="$(arg POINTCLOUD_INPUT)" />
+    <arg name="CONTAINER_BOXES_INPUT" value="$(arg DEFAULT_NAMESPACE)/trashbin/boxes" />
+    <arg name="DEFAULT_NAMESPACE" value="$(arg DEFAULT_NAMESPACE)"/>
+    <arg name="manager" value="$(arg manager)" />
+  </include>
 
   <!-- CURRENTLY IT DOESN'T WORK WELL... -->
   <node name="burnable_trashbin_label_extractor" pkg="jsk_perception"

From 56efcfe67fbbf5533c2dbc1d430e46f9141bbd77 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Fri, 17 Jun 2022 17:29:33 +0900
Subject: [PATCH 243/323] [jsk_fetch_startup] Update minimum euclidean cluster
 to support quater pointcloud

---
 .../jsk_fetch_startup/launch/trashbin_occupancy_detector.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
index d889ecc2f2..76030da7cd 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/trashbin_occupancy_detector.launch
@@ -57,7 +57,7 @@
       <remap from="~input" to="$(arg OUTPUT)" />
       <rosparam>
         tolerance: 0.02
-        min_size: 100
+        min_size: 20
         vital_rate: 0.1
       </rosparam>
     </node>

From ef1a998597fec506ac5aff29cc89fabbf3e86ebc Mon Sep 17 00:00:00 2001
From: Guilherme Affonso <guilherme.c.affonso@gmail.com>
Date: Tue, 7 Jun 2022 18:15:20 +0900
Subject: [PATCH 244/323] (fetch) Install roseus_resume interruption handler on
 fetch-init

---
 jsk_fetch_robot/fetcheus/fetch-interface.l | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l
index cd1c635f12..a7572935dd 100644
--- a/jsk_fetch_robot/fetcheus/fetch-interface.l
+++ b/jsk_fetch_robot/fetcheus/fetch-interface.l
@@ -1,6 +1,7 @@
 (require "package://fetcheus/fetch-utils.l")
 (require "package://pr2eus/robot-interface.l")
 (require "package://pr2eus_moveit/euslisp/robot-moveit.l")
+(require "package://roseus_resume/euslisp/interruption-handler.l")
 
 (ros::load-ros-package "fetcheus")
 (ros::load-ros-package "fetch_driver_msgs")
@@ -516,6 +517,14 @@ Example: (send self :gripper :position) => 0.00"
       (ros::ros-warn ";; could not find \"apply_planning_scene\" skip creating *co*~%")))
   (unless (boundp '*ri*) (setq *ri* (instance fetch-interface :init)))
 
+  (warning-message 3 "Installing interruption handler...~%")
+  (roseus_resume:install-interruption-handler *ri*
+   gripper-action
+   move-base-action
+   move-base-trajectory-action)
+  (roseus_resume:install-default-intervention *ri*)
+  (warning-message 3 "...done.~%")
+
   (ros::spin-once)
   (send *ri* :spin-once)
 

From 8f10a06dd993351d9068bed1b44e6c32c36b457a Mon Sep 17 00:00:00 2001
From: Guilherme Affonso <guilherme.c.affonso@gmail.com>
Date: Tue, 7 Jun 2022 10:54:06 +0900
Subject: [PATCH 245/323] (fetch) Add eus10 and roseus_resume to .rosinstall

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 21 ++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 94371a43ac..efcf96c3fb 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -155,3 +155,24 @@
     local-name: jsk-ros-pkg/coral_usb_ros
     uri: https://github.com/jsk-ros-pkg/coral_usb_ros.git
     version: master
+# eus10 and roseus_resume
+- git:
+    local-name: euslisp/Euslisp
+    uri: https://github.com/Affonso-Gui/EusLisp.git
+    version: eus10
+- git:
+    local-name: jsk-ros-pkg/jsk_roseus
+    uri: https://github.com/Affonso-Gui/jsk_roseus.git
+    version: eus-handler-bt-resume
+- git:
+    local-name: euslisp/jskeus
+    uri: https://github.com/euslisp/jskeus.git
+    version: master
+- git:
+    local-name: jsk-ros-pkg/geneus
+    uri: https://github.com/jsk-ros-pkg/geneus.git
+    version: master
+- git:
+    local-name: roseus_resume
+    uri: https://github.com/Affonso-Gui/roseus_resume.git
+    version: eus10

From 278ee0d92ec9d526a052be8c3c231d5f01ff390e Mon Sep 17 00:00:00 2001
From: Guilherme Affonso <guilherme.c.affonso@gmail.com>
Date: Thu, 23 Jun 2022 22:55:11 +0900
Subject: [PATCH 246/323] (fetcheus) Move install-interruption-handler to :init

---
 jsk_fetch_robot/fetcheus/fetch-interface.l | 16 +++++++---------
 1 file changed, 7 insertions(+), 9 deletions(-)

diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l
index a7572935dd..d3efc0bb3e 100644
--- a/jsk_fetch_robot/fetcheus/fetch-interface.l
+++ b/jsk_fetch_robot/fetcheus/fetch-interface.l
@@ -40,7 +40,13 @@
            (instance ros::simple-action-client :init
                      "/query_controller_states"
                      robot_controllers_msgs::QueryControllerStatesAction))
-     ))
+
+     (roseus_resume:install-interruption-handler self
+         gripper-action
+         move-base-action
+         move-base-trajectory-action)
+     (roseus_resume:install-default-intervention self)
+     t))
   (:state (&rest args)
    "We do not have :wait-until-update option for :state :worldcoords.
 In other cases, :state calls with :wait-until-update by default, since Fetch publishes /joint_states from body and gripper at almost same frequency.
@@ -517,14 +523,6 @@ Example: (send self :gripper :position) => 0.00"
       (ros::ros-warn ";; could not find \"apply_planning_scene\" skip creating *co*~%")))
   (unless (boundp '*ri*) (setq *ri* (instance fetch-interface :init)))
 
-  (warning-message 3 "Installing interruption handler...~%")
-  (roseus_resume:install-interruption-handler *ri*
-   gripper-action
-   move-base-action
-   move-base-trajectory-action)
-  (roseus_resume:install-default-intervention *ri*)
-  (warning-message 3 "...done.~%")
-
   (ros::spin-once)
   (send *ri* :spin-once)
 

From 741e02c3bc2047465b8d4e5cd8ed3b177141e664 Mon Sep 17 00:00:00 2001
From: Guilherme Affonso <guilherme.c.affonso@gmail.com>
Date: Fri, 24 Jun 2022 15:35:57 +0900
Subject: [PATCH 247/323] (fetch) Fix realsense 2.3.0 bug in
 base_realsense_node.cpp

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index efcf96c3fb..f14d40daba 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -134,10 +134,17 @@
 # If you upgrade realsense-ros version, please upgrade librealsense packages.
 # Currently, realsense-ros 2.3.0 (source) and librealsense 2.45.0 (apt) works
 # https://github.com/IntelRealSense/librealsense/issues/10304#issuecomment-1067354378
+# realsense_camera has a problem in src/base_realsense_node.cpp which prevents it from build (find_if -> std::find_if)
+# https://github.com/IntelRealSense/realsense-ros/issues/910
+# Using Affonso-Gui/realsense e155795440b29d4edb78827ac0d1f50e4aad8750 for now
 - git:
     local-name: IntelRealSense/realsense-ros
-    uri: https://github.com/IntelRealSense/realsense-ros.git
-    version: 2.3.0
+    uri: https://github.com/Affonso-Gui/realsense.git
+    version: fetch15
+# - git:
+#     local-name: IntelRealSense/realsense-ros
+#     uri: https://github.com/IntelRealSense/realsense-ros.git
+#     version: 2.3.0
 # Until PRs below merged, we need to use develop branch
 #   - https://github.com/fetchrobotics/fetch_open_auto_dock/pull/9
 #   - https://github.com/fetchrobotics/fetch_open_auto_dock/pull/8

From 8f048c59040417355d72b0394d4417c404fc8680 Mon Sep 17 00:00:00 2001
From: Guilherme Affonso <guilherme.c.affonso@gmail.com>
Date: Fri, 24 Jun 2022 17:05:07 +0900
Subject: [PATCH 248/323] (fetch) Update app_manager version to enable
 interrupt/resume apps

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index f14d40daba..f1cfac56eb 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -3,14 +3,19 @@
 
 # Use knorth55 fetch15 branch after the following PR is merged.
 # https://github.com/knorth55/app_manager/pull/2
+# https://github.com/knorth55/app_manager/pull/3
 # - git:
 #     local-name: PR2/app_manager
 #     uri: https://github.com/knorth55/app_manager.git
 #     version: fetch15
+# - git:
+#     local-name: PR2/app_manager
+#     uri: https://github.com/708yamaguchi/app_manager.git
+#     version: signal-timeout-fetch15
 - git:
     local-name: PR2/app_manager
-    uri: https://github.com/708yamaguchi/app_manager.git
-    version: signal-timeout-fetch15
+    uri: https://github.com/Affonso-Gui/app_manager.git
+    version: fetch15
 - git:
     local-name: RobotWebTools/rosbridge_suite
     uri: https://github.com/RobotWebTools/rosbridge_suite.git

From 613261c0637f663c82c1ea41075863fde850196a Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Sat, 25 Jun 2022 15:12:31 +0900
Subject: [PATCH 249/323] [jsk_fetch_startup] move container occupancy detector
 to jsk_pcl_ros

---
 .../jsk_fetch_startup/CMakeLists.txt          |  11 --
 jsk_fetch_robot/jsk_fetch_startup/package.xml |   3 +
 .../src/container_occupancy_detector.cpp      | 126 ------------------
 3 files changed, 3 insertions(+), 137 deletions(-)
 delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp

diff --git a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt
index 29683126ba..20cade468e 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt
+++ b/jsk_fetch_robot/jsk_fetch_startup/CMakeLists.txt
@@ -21,11 +21,8 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_ros
   tf2_eigen
   tf2_msgs
-  pcl_ros
-  pcl_conversions
 )
 find_package(Boost REQUIRED COMPONENTS)
-find_package(PCL 1.8 REQUIRED)
 
 ###################################
 ## catkin specific configuration ##
@@ -41,18 +38,10 @@ catkin_add_env_hooks(99.jsk_fetch_startup SHELLS bash zsh sh
 include_directories(
   ${catkin_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
-  ${PCL_INCLUDE_DIRS}
 )
 add_executable(trashbins_pose_estimator src/trashbins_pose_estimator.cpp)
 target_link_libraries(trashbins_pose_estimator
   ${catkin_LIBRARIES}
-  ${PCL_LIBRARIES}
-)
-add_executable(container_occupancy_detector src/container_occupancy_detector.cpp)
-target_link_libraries(container_occupancy_detector
-  ${catkin_LIBRARIES}
-  ${PCL_LIBRARIES}
-  ${Boost_LIBRARIES}
 )
 
 #############
diff --git a/jsk_fetch_robot/jsk_fetch_startup/package.xml b/jsk_fetch_robot/jsk_fetch_startup/package.xml
index 5e2944ee70..0a031ea04e 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/package.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/package.xml
@@ -74,6 +74,9 @@
   <!-- for rwt_nav -->
   <run_depend>robot_pose_publisher</run_depend>
 
+  <!-- for container occupancy detection -->
+  <run_depend>jsk_pcl_ros</run_depend>
+
   <test_depend>rostest</test_depend>
 
   <export>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp b/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp
deleted file mode 100644
index 9203bfe01a..0000000000
--- a/jsk_fetch_robot/jsk_fetch_startup/src/container_occupancy_detector.cpp
+++ /dev/null
@@ -1,126 +0,0 @@
-#include <limits>
-
-#include <boost/shared_ptr.hpp>
-
-#include <pcl_conversions/pcl_conversions.h>
-#include <pcl/common/common.h>
-#include <pcl/filters/crop_box.h>
-#include <pcl/filters/passthrough.h>
-
-#include <ros/ros.h>
-#include <ros/console.h>
-#include <sensor_msgs/PointCloud2.h>
-#include <jsk_recognition_msgs/BoundingBoxArray.h>
-#include <geometry_msgs/Point.h>
-#include <geometry_msgs/Quaternion.h>
-#include <geometry_msgs/TransformStamped.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#include <tf2_sensor_msgs/tf2_sensor_msgs.h>
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/buffer.h>
-#include <tf2/transform_datatypes.h>
-#include <tf2_eigen/tf2_eigen.h>
-
-const float FLOAT_MIN = std::numeric_limits<float>::min();
-const float FLOAT_MAX = std::numeric_limits<float>::max();
-
-class ContainerOccupancyDetector{
-private:
-  std::string _inputBoxes, _inputCloud, _debugCloud, _outputBoxes;
-  ros::Subscriber _containerBoxesSub, _pointCloudSub;
-  ros::Publisher _debugPointPub, _occupancyPub;
-  geometry_msgs::Quaternion defaultOrientation;
-  jsk_recognition_msgs::BoundingBoxArray _containerBoxes;
-  sensor_msgs::PointCloud2 _transformedCloudMsg;
-  tf2_ros::Buffer _tfBuffer;
-  tf2_ros::TransformListener* _tfListener;
-
-public:
-  // constructor
-  ContainerOccupancyDetector(ros::NodeHandle &_nh, ros::NodeHandle &_pnh){
-    this->_tfListener = new tf2_ros::TransformListener(_tfBuffer);
-    this->_containerBoxesSub = _nh.subscribe("input_boxes", 10, &ContainerOccupancyDetector::CalculateOccupancyCB, this);
-    this->_pointCloudSub = _nh.subscribe("input_cloud", 10, &ContainerOccupancyDetector::PointCloudTransformCB, this);
-    this->_debugPointPub = _nh.advertise<sensor_msgs::PointCloud2>("debug_cloud", 10);
-    this->_occupancyPub = _nh.advertise<jsk_recognition_msgs::BoundingBoxArray>("output_boxes", 10);
-    // init default orientation const
-    this->defaultOrientation.w = 1.0;
-    this->defaultOrientation.x = 0.0;
-    this->defaultOrientation.y = 0.0;
-    this->defaultOrientation.z = 0.0;    
-  };
-  // destructor
-  ~ContainerOccupancyDetector(){
-    delete this->_tfListener;
-    ROS_INFO("Killing node...");
-  };
-
-  void PointCloudTransformCB(const sensor_msgs::PointCloud2::ConstPtr& msg){
-    geometry_msgs::TransformStamped transformStamped;
-    try {
-      transformStamped = _tfBuffer.lookupTransform("base_link", msg->header.frame_id, msg->header.stamp, ros::Duration(10.0));
-      tf2::doTransform(*msg, this->_transformedCloudMsg, transformStamped);
-      this->_debugPointPub.publish(this->_transformedCloudMsg);
-    } catch(tf2::TransformException &ex) {
-      ROS_WARN("Failed to transform tf");
-      ROS_WARN("%s", ex.what());
-    }
-  };
-
-  void CalculateOccupancyCB(const jsk_recognition_msgs::BoundingBoxArray& msg){
-    const sensor_msgs::PointCloud2 inputCloud = _transformedCloudMsg;
-    pcl::PCLPointCloud2 pclPC2;
-    pcl::PointCloud<pcl::PointXYZ>::Ptr pclCloud(new pcl::PointCloud<pcl::PointXYZ>);
-    jsk_recognition_msgs::BoundingBoxArray boxOccupancy = msg;
-    if (!inputCloud.data.empty()){
-      // convert to PCL cloud
-      pcl_conversions::toPCL(inputCloud, pclPC2);
-      pcl::fromPCLPointCloud2(pclPC2, *pclCloud);
-      for (int i = 0; i < msg.boxes.size(); i++) {
-        // calculate each bounding boxes
-        // pcl::PassThrough<pcl::PointXYZ> filter;
-        pcl::CropBox<pcl::PointXYZ> boxFilter;
-        pcl::PointCloud<pcl::PointXYZ>::Ptr boxFilteredCloud(
-            new pcl::PointCloud<pcl::PointXYZ>);
-        pcl::PointXYZ minPt, maxPt;
-        float occupancy;
-        boxFilter.setMin(Eigen::Vector4f((msg.boxes.at(i).pose.position.x -
-                                          msg.boxes.at(i).dimensions.x / 2.0),
-                                         (msg.boxes.at(i).pose.position.y -
-                                          msg.boxes.at(i).dimensions.y / 2.0),
-                                         FLOAT_MIN, 1.0f));
-        boxFilter.setMax(Eigen::Vector4f((msg.boxes.at(i).pose.position.x +
-                                          msg.boxes.at(i).dimensions.x / 2.0),
-                                         (msg.boxes.at(i).pose.position.y +
-                                          msg.boxes.at(i).dimensions.y / 2.0),
-                                         FLOAT_MAX, 1.0f));
-        boxFilter.setInputCloud(pclCloud);
-        boxFilter.filter(*boxFilteredCloud);
-        pcl::getMinMax3D(*boxFilteredCloud, minPt, maxPt);
-        ROS_DEBUG_STREAM(
-            "box_id: " << i << " box_pos: " << msg.boxes.at(i).pose.position
-                       << " box_height: "
-                       << msg.boxes.at(i).pose.position.z +
-                              msg.boxes.at(i).dimensions.z / 2.0
-                       << " maxPt.z: " << maxPt.z);
-        occupancy = maxPt.z / (msg.boxes.at(i).pose.position.z +
-                               msg.boxes.at(i).dimensions.z / 2.0);
-        // if some point clouds in boundingbox over bounding height
-        // TODO publish occupancy instead
-        boxOccupancy.boxes.at(i).value = occupancy;
-      }
-      this->_occupancyPub.publish(boxOccupancy);
-    } else {
-      ROS_WARN("No input point clouds.");
-    }
-    
-  };
-};
-
-int main(int argc, char **argv){
-  ros::init(argc, argv, "container_occupancy_detector");
-  ros::NodeHandle nh;
-  ros::NodeHandle pnh("~");
-  ContainerOccupancyDetector node(nh, pnh);
-  ros::spin();
-}

From 75f81ff1cdf8042fd7f5cf081c23112d05418b37 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 27 Jun 2022 14:17:20 +0900
Subject: [PATCH 250/323] [jsk_fetch_startup] add -f to ln in
 install_supervisor.sh

---
 .../jsk_fetch_startup/config/install_supervisor.sh        | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
index f1229d57a2..d97642994f 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
@@ -9,13 +9,13 @@ set -x
 
 cd $jsk_fetch_startup/supervisor_scripts
 for file in $(ls *.conf); do
-    sudo ln -s $jsk_fetch_startup/supervisor_scripts/$file /etc/supervisor/conf.d/$file
+    sudo ln -sf $jsk_fetch_startup/supervisor_scripts/$file /etc/supervisor/conf.d/$file
 done
 sudo supervisorctl reread
 # Enable jsk_dstat job to save the csv log under /var/log
-ln -s /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv
+ln -sf /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv
 
-sudo ln -s $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash
-sudo ln -s $jsk_fetch_startup/config/config.bash /var/lib/robot/config_outside.bash
+sudo ln -sf $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash
+sudo ln -sf $jsk_fetch_startup/config/config.bash /var/lib/robot/config_outside.bash
 
 set +x

From 8143295bc847b418acfaf1d8a5778b6a4d18b625 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 28 Jun 2022 19:40:50 +0900
Subject: [PATCH 251/323] [jsk_fetch_startup] remove unused supervisor conf

---
 .../jsk-human-pose-estimator.conf                 | 15 ---------------
 .../supervisor_scripts/jsk-object-detector.conf   | 15 ---------------
 .../jsk-panorama-human-pose-estimator.conf        | 15 ---------------
 .../jsk-panorama-object-detector.conf             | 15 ---------------
 4 files changed, 60 deletions(-)
 delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
 delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
 delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
 delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
deleted file mode 100644
index 25fa60f0a8..0000000000
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
+++ /dev/null
@@ -1,15 +0,0 @@
-[program:jsk-human-pose-estimator]
-; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch coral_usb edgetpu_human_pose_estimator.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color device_id:=0 --screen --wait"
-
-stopsignal=TERM
-; directory=/home/fetch/ros/coral_ws
-directory=/home/fetch/ros/melodic
-; autostart=true
-autostart=false
-autorestart=false
-stdout_logfile=/var/log/ros/jsk-human-pose-estimator.log
-stderr_logfile=/var/log/ros/jsk-human-pose-estimator.log
-user=fetch
-environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1
-priority=200
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
deleted file mode 100644
index 516e1caa80..0000000000
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
+++ /dev/null
@@ -1,15 +0,0 @@
-[program:jsk-object-detector]
-; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_object_detector.launch INPUT_IMAGE:=/head_camera/rgb/image_rect_color model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && 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 device_id:=1 --screen --wait"
-
-stopsignal=TERM
-; directory=/home/fetch/ros/coral_ws
-directory=/home/fetch/ros/melodic
-; autostart=true
-autostart=false
-autorestart=false
-stdout_logfile=/var/log/ros/jsk-object-detector.log
-stderr_logfile=/var/log/ros/jsk-object-detector.log
-user=fetch
-environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1
-priority=200
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
deleted file mode 100644
index 139af6c42f..0000000000
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-human-pose-estimator.conf
+++ /dev/null
@@ -1,15 +0,0 @@
-[program:jsk-panorama-human-pose-estimator]
-; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch coral_usb edgetpu_panorama_human_pose_estimator.launch nodename:=edgetpu_human_pose_estimator INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output device_id:=0 --screen --wait"
-
-stopsignal=TERM
-; directory=/home/fetch/ros/coral_ws
-directory=/home/fetch/ros/melodic
-; You can set "autostart=true" if "autostart=false" in jsk-human-pose-estimator.conf
-autostart=false
-autorestart=false
-stdout_logfile=/var/log/ros/jsk-panorama-human-pose-estimator.log
-stderr_logfile=/var/log/ros/jsk-panorama-human-pose-estimator.log
-user=fetch
-environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1
-priority=200
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
deleted file mode 100644
index bc320c5486..0000000000
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-panorama-object-detector.conf
+++ /dev/null
@@ -1,15 +0,0 @@
-[program:jsk-panorama-object-detector]
-; command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/coral_ws/devel/setup.bash && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output model_file:=/home/fetch/.ros/data/coral_usb/mobilenet_v2_ssd_73b2_kitchen_finetuning_20200528.tflite label_file:=/home/fetch/.ros/data/coral_usb/73b2_kitchen_labels.txt device_id:=1 --screen --wait"
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch coral_usb edgetpu_panorama_object_detector.launch nodename:=edgetpu_object_detector INPUT_IMAGE:=/dual_fisheye_to_panorama/quater/output 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 device_id:=1 --screen --wait"
-
-stopsignal=TERM
-; directory=/home/fetch/ros/coral_ws
-directory=/home/fetch/ros/melodic
-; You can set "autostart=true" if "autostart=false" in jsk-object-detector.conf
-autostart=false
-autorestart=false
-stdout_logfile=/var/log/ros/jsk-panorama-object-detector.log
-stderr_logfile=/var/log/ros/jsk-panorama-object-detector.log
-user=fetch
-environment=ROSCONSOLE_FORMAT="[${severity}] [${time}] [${node}:${logger}]: ${message}",PYTHONUNBUFFERED=1
-priority=200

From 0375c4cb276c92bb5a7fcc95b6c99768ca8c0589 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 28 Jun 2022 23:03:47 +0900
Subject: [PATCH 252/323] [jsk_fetch_robot] add pull request url to rosinstall

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index f1cfac56eb..4f88f2e259 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -39,6 +39,7 @@
     version: fetch15
 # we need to use the development branch until PR below are merged.
 #  - https://github.com/jsk-ros-pkg/jsk_common/pull/1719
+#  - https://github.com/jsk-ros-pkg/jsk_common/pull/1746
 # Waiting 2.2.12 release
 # - git:
 #     local-name: jsk-ros-pkg/jsk_common

From 56cf56418b64f1f47724ea1b9900292c2be07a05 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 28 Jun 2022 23:11:35 +0900
Subject: [PATCH 253/323] [jsk_fetch_startup] update supervisor conf to use
 rossetclient instead of setting ROS_HOSTNAME directory

---
 .../jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf | 2 +-
 .../jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf        | 2 +-
 .../supervisor_scripts/jsk-fetch-startup-outside.conf           | 2 +-
 .../jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf | 2 +-
 .../jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf        | 2 +-
 .../supervisor_scripts/jsk-network-monitor-outside.conf         | 2 +-
 .../supervisor_scripts/jsk-network-monitor.conf                 | 2 +-
 .../jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf   | 2 +-
 .../jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf      | 2 +-
 .../jsk_fetch_startup/supervisor_scripts/robot-outside.conf     | 2 +-
 jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf | 2 +-
 11 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf
index 8de89e02e4..23dcfcb3be 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf
@@ -1,5 +1,5 @@
 [program:jsk-app-scheduler]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch app_scheduler app_scheduler.launch yaml_path:=/var/lib/robot/app_schedule.yaml --wait --screen"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 ; autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
index 79cd2be0f0..50db8b9ed5 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf
@@ -1,5 +1,5 @@
 [program:jsk-dialog]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen "
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup wait_app_manager.bash && roslaunch jsk_fetch_startup fetch_dialogflow_task_executive.launch run_app_manager:=false webhook_server:=true hostname:=$(hostname) --wait --screen "
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 ; autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf
index e9966ce881..463ddf138e 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup-outside.conf
@@ -1,5 +1,5 @@
 [program:jsk-fetch-startup-outside]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true default_speaker:=$DEFAULT_SPEAKER default_english_speaker:=$DEFAULT_ENGLISH_SPEAKER default_warning_speaker:=$DEFAULT_WARNING_SPEAKER network_interface:=$NETWORK_DEFAULT_WIFI_INTERFACE --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=false
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
index 4005efea8d..69eb29af34 100644
--- 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
@@ -1,5 +1,5 @@
 [program:jsk-fetch-startup]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
index b44ebd55cf..dd8e281cda 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf
@@ -1,5 +1,5 @@
 [program:jsk-gdrive]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch gdrive_ros gdrive_server.launch --wait --screen respawn:=true"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 ; autostart=true
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf
index 1058ba57af..2dbd597ae2 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor-outside.conf
@@ -1,5 +1,5 @@
 [program:jsk-network-monitor-outside]
-command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
+command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
 stopsignal=TERM
 autostart=false
 autorestart=false
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf
index 7d8a4b6621..30e1578f91 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf
@@ -1,5 +1,5 @@
 [program:jsk-network-monitor]
-command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
+command=/bin/bash -c ". /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup network_monitor.py --interface $NETWORK_DEFAULT_WIFI_INTERFACE --profile $NETWORK_DEFAULT_PROFILE_ID"
 stopsignal=TERM
 autostart=true
 autorestart=false
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
index 05377f460c..b80954f2ab 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-rfcomm-bind.conf
@@ -1,5 +1,5 @@
 [program:jsk-rfcomm-bind]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && roslaunch jsk_robot_startup rfcomm_bind.launch --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && roslaunch jsk_robot_startup rfcomm_bind.launch --wait"
 
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
index 0cf97a4327..7eceb2ba5b 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
@@ -1,5 +1,5 @@
 [program:jsk-shutdown]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_robot_startup shutdown.py --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_robot_startup shutdown.py --wait"
 
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf
index 0ce0afc615..90f32f5811 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot-outside.conf
@@ -1,5 +1,5 @@
 [program:robot-outside]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config_outside.bash ];then . /var/lib/robot/config_outside.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=false
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
index 11ca006f09..0b33af1409 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
@@ -1,5 +1,5 @@
 [program:robot]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && export ROS_HOSTNAME=$(hostname) && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && 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

From 70d2f9df5941dd979fd72d5e438fa0b6fd0ad36c Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 28 Jun 2022 23:11:53 +0900
Subject: [PATCH 254/323] [jsk_fetch_startup] update
 NETWORK_DEFAULT_ROS_INTERFACE

---
 jsk_fetch_robot/jsk_fetch_startup/config/config.bash         | 4 ++--
 jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
index db9f9eb944..7795bd4834 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -20,7 +20,7 @@ if [ $(hostname) = 'fetch15' ]; then
   export RS_SERIAL_NO_L515_HEAD="";
 
   export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0";
-  export NETWORK_DEFAULT_ROS_INTERFACE="localhost";
+  export NETWORK_DEFAULT_ROS_INTERFACE="fetch15";
   export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2";
 elif [ $(hostname) = 'fetch1075' ]; then
   export DEFAULT_SPEAKER=2;
@@ -41,6 +41,6 @@ elif [ $(hostname) = 'fetch1075' ]; then
   #export RS_SERIAL_NO_L515_HEAD="";
 
   export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1";
-  export NETWORK_DEFAULT_ROS_INTERFACE="localhost";
+  export NETWORK_DEFAULT_ROS_INTERFACE="fetch1075";
   export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2";
 fi
diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash
index 011a2f64c1..007560b460 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config_outside.bash
@@ -7,6 +7,6 @@ SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]:-$0}"; )" &> /dev/null &&
 if [ $(hostname) = 'fetch15' ]; then
   export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside";
 elif [ $(hostname) = 'fetch1075' ]; then
-  export NETWORK_DEFAULT_ROS_INTERFACE="wlan0";
+  export NETWORK_DEFAULT_ROS_INTERFACE="fetch1075.local";
   export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside";
 fi

From 61c519801221ba53ea1223a55ea46ca9b0688d69 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 28 Jun 2022 23:47:16 +0900
Subject: [PATCH 255/323] [jsk_fetch_startup] update description of
 NETWORK_DEFAULT_ROS_INTERFACE

---
 jsk_fetch_robot/jsk_fetch_startup/README.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md
index 8978b82201..d7dcfcd4a4 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/README.md
+++ b/jsk_fetch_robot/jsk_fetch_startup/README.md
@@ -85,8 +85,8 @@ descriptions of each variable are below.
 - `NETWORK_DEFAULT_PROFILE_ID`
   + Network manager profile ID for network management scripts (`network_monitor.py`)
 + `NETWORK_DEFAULT_ROS_INTERFACE`
-  + Network interface or IP address which is used for ROS connection.
-  + `rossetip $NETWORK_DEFAULT_ROS_INTERFACE` is executed to set `ROS_IP`.
+  + Network interface or IP address or hostname which is used for ROS connection.
+  + `rossetclient $NETWORK_DEFAULT_ROS_INTERFACE` is executed to set `ROS_IP`.
 
 It is also recommended to add lines below to each users's bashrc in the robot PC.
 

From 2c346f20671cf0b7ca33ea3ab12f5232cae1026f Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 28 Jun 2022 23:47:26 +0900
Subject: [PATCH 256/323] [jsk_fetch_startup] update description of
 NETWORK_DEFAULT_ROS_INTERFACE

---
 jsk_fetch_robot/jsk_fetch_startup/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md
index d7dcfcd4a4..d23cac2634 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/README.md
+++ b/jsk_fetch_robot/jsk_fetch_startup/README.md
@@ -86,7 +86,7 @@ descriptions of each variable are below.
   + Network manager profile ID for network management scripts (`network_monitor.py`)
 + `NETWORK_DEFAULT_ROS_INTERFACE`
   + Network interface or IP address or hostname which is used for ROS connection.
-  + `rossetclient $NETWORK_DEFAULT_ROS_INTERFACE` is executed to set `ROS_IP`.
+  + `rossetclient $NETWORK_DEFAULT_ROS_INTERFACE` is executed to set `ROS_IP` or `ROS_HOSTNAME`.
 
 It is also recommended to add lines below to each users's bashrc in the robot PC.
 

From 12fd0046adb776c691f18827cd33d30081418cfb Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 28 Jun 2022 23:57:26 +0900
Subject: [PATCH 257/323] [jsk_fetch_startup] add sudo to install_supervisor.sh

---
 jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
index d97642994f..b4a73ddaf9 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
@@ -13,7 +13,7 @@ for file in $(ls *.conf); do
 done
 sudo supervisorctl reread
 # Enable jsk_dstat job to save the csv log under /var/log
-ln -sf /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv
+sudo ln -sf /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv
 
 sudo ln -sf $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash
 sudo ln -sf $jsk_fetch_startup/config/config.bash /var/lib/robot/config_outside.bash

From b2182c1f684061b15757c68b3668fdbf279f6242 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 29 Jun 2022 00:19:18 +0900
Subject: [PATCH 258/323] [jsk_fetch_startup] fix symlink

---
 jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
index b4a73ddaf9..6a35d559c0 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
@@ -16,6 +16,6 @@ sudo supervisorctl reread
 sudo ln -sf /home/fetch/Documents/jsk_dstat.csv /var/log/ros/jsk-dstat.csv
 
 sudo ln -sf $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash
-sudo ln -sf $jsk_fetch_startup/config/config.bash /var/lib/robot/config_outside.bash
+sudo ln -sf $jsk_fetch_startup/config/config_outside.bash /var/lib/robot/config_outside.bash
 
 set +x

From 19a65ea91e2a636584f79468ef71b79255556720 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 29 Jun 2022 00:29:55 +0900
Subject: [PATCH 259/323] [fetcheus] remove headbox collision objects methods

---
 jsk_fetch_robot/fetcheus/fetch-interface.l | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l
index d3efc0bb3e..a3bd444dcb 100644
--- a/jsk_fetch_robot/fetcheus/fetch-interface.l
+++ b/jsk_fetch_robot/fetcheus/fetch-interface.l
@@ -30,10 +30,8 @@
      (setq moveit-robot (instance fetch-robot :init))
      (send self :set-moveit-environment (instance fetch-moveit-environment :init :robot moveit-robot))
      (when (and (boundp '*co*) default-collision-object)
-       (send self :delete-headbox-collision-object)
        (send self :delete-keepout-collision-object)
        (send self :delete-ground-collision-object)
-       (send self :add-headbox-collision-object)
        (send self :add-keepout-collision-object)
        (send self :add-ground-collision-object))
      (setq fetch-controller-action
@@ -250,18 +248,6 @@ Example: (send self :gripper :position) => 0.00"
   (:delete-workspace ()
     (send *co* :delete-attached-object-by-id "workspace")
     (send *co* :delete-object-by-id "workspace"))
-  (:add-headbox-collision-object ()
-    (let ()
-      ;; fetch must be :reset-pose when we run this method
-      (setq *fetch-headbox* (make-cube 100 201 120))
-      (send *fetch-headbox* :move-coords (send robot :head_pan_link_lk :worldcoords)
-                                         (send robot :base_link_lk :worldcoords))
-      (send *fetch-headbox* :translate #f(33.75 0 150) (send robot :head_pan_link_lk :worldcoords))
-      (send *co* :add-attached-object *fetch-headbox* "head_pan_link"
-                 :frame_id "head_pan_link"
-                 :object_id "fetchheadbox")))
-  (:delete-headbox-collision-object ()
-    (send *co* :delete-attached-object-by-id "fetchheadbox"))
   (:add-keepout-collision-object ()
     (let ((cube (make-cube 200 350 10))
           (keepout (make-cylinder 300 10)))

From f14dc602ede5b44fceec94c21c013b2e5cf42369 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 29 Jun 2022 00:32:44 +0900
Subject: [PATCH 260/323] [jsk_fetch_startup] disable head box of fetch15

---
 jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
index 7795bd4834..4463923467 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -7,7 +7,7 @@ if [ $(hostname) = 'fetch15' ]; then
   export DEFAULT_WARNING_SPEAKER=cmu_us_fem.flitevox;
 
   export USE_BASE_CAMERA_MOUNT=true;
-  export USE_HEAD_BOX=true;
+  export USE_HEAD_BOX=false;
   export USE_HEAD_L515=true;
   export USE_INSTA360_STAND=true;
 

From c2706afdb7b5dcb9be6a29981e07ed9caf8b0671 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Fri, 1 Jul 2022 04:16:39 +0900
Subject: [PATCH 261/323] [jsk_fetch_startup] Remove rosserial in go_to_kitchen
 demo

---
 .../apps/go_to_kitchen/go_to_kitchen.xml                 | 9 ---------
 1 file changed, 9 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
index 229bd5f8b0..33dcfe3d80 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml
@@ -10,15 +10,6 @@
     <param name="score_thresh" type="double" value="0.60" /> <!-- default: 0.6 -->
   </node>
 
-  <!-- Use m5stack_ros -->
-  <!-- See https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/289 -->
-  <node name="rosserial_m5stack" pkg="rosserial_python" type="serial_node.py">
-    <rosparam>
-      port: /dev/rfcomm0 <!-- See /var/lib/robot/rfcomm_devices.yaml -->
-      baud: 115200
-    </rosparam>
-  </node>
-
   <!-- Trash can occupancy detector -->
   <include file="$(find jsk_fetch_startup)/launch/trashbin_occupancy_detector.launch" />
 

From 2ce1b3fad261baeaeac14150aec3f1c9a0f5e254 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 4 Jul 2022 11:36:53 +0900
Subject: [PATCH 262/323] [jsk_fetch_startup] update default network config
 temporaliry

---
 jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
index 4463923467..5f0013d276 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -21,7 +21,9 @@ if [ $(hostname) = 'fetch15' ]; then
 
   export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0";
   export NETWORK_DEFAULT_ROS_INTERFACE="fetch15";
-  export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2";
+  # Comment out until Access point is back
+  #export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2";
+  export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside";
 elif [ $(hostname) = 'fetch1075' ]; then
   export DEFAULT_SPEAKER=2;
   export DEFAULT_ENGLISH_SPEAKER=cmu_us_slt.flitevox;
@@ -42,5 +44,7 @@ elif [ $(hostname) = 'fetch1075' ]; then
 
   export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1";
   export NETWORK_DEFAULT_ROS_INTERFACE="fetch1075";
-  export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2";
+  # Comment out until Access point is back
+  #export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2";
+  export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside";
 fi

From 4649a0ac6457f7807f1b86c84bb9c0e926061acc Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 4 Jul 2022 13:13:56 +0900
Subject: [PATCH 263/323] [jsk_fetch_startup] enable low resolution mode of
 insta360 air

---
 .../launch/fetch_insta360_melodic.launch               | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch
index d7b863ae23..16968689af 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch
@@ -7,11 +7,13 @@
     <!-- To check the valid formats, -->
     <!-- $ sudo apt-get install v4l-utils -->
     <!-- $ v4l2-ctl -d /dev/insta360 -\-list-formats-ext -->
-    <arg name="height" value="736" />
-    <arg name="width" value="1472" />
+    <arg name="height" value="1088" />
+    <arg name="width" value="2176" />
     <arg name="throttle" value="true" />
+    <arg name="throttled_rate" value="1.0" />
     <!-- for melodic -->
     <arg name="use_usb_cam" value="false" />
+    <arg name="panorama_resolution_mode" value="low" />
   </include>
 
   <group ns="dual_fisheye_to_panorama">
@@ -23,8 +25,8 @@
       <remap from="~image" to="quater/output" />
       <remap from="~camera_info" to="quater/camera_info" />
       <rosparam>
-        scale_width: 0.25
-        scale_height: 0.25
+        scale_width: 0.5
+        scale_height: 0.5
       </rosparam>
     </node>
   </group>

From 8cf7f24e36d301cfe3315910fcc9a872b3dfda0b Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 4 Jul 2022 14:26:54 +0900
Subject: [PATCH 264/323] [jsk_fetch_startup] increase insta360 rate

---
 .../jsk_fetch_startup/launch/fetch_insta360_melodic.launch      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch
index 16968689af..9958ed71f2 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_insta360_melodic.launch
@@ -10,7 +10,7 @@
     <arg name="height" value="1088" />
     <arg name="width" value="2176" />
     <arg name="throttle" value="true" />
-    <arg name="throttled_rate" value="1.0" />
+    <arg name="throttled_rate" value="10.0" />
     <!-- for melodic -->
     <arg name="use_usb_cam" value="false" />
     <arg name="panorama_resolution_mode" value="low" />

From 61195a992839040343a54c8d7318de8020161ad4 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 4 Jul 2022 19:05:33 +0900
Subject: [PATCH 265/323] [jsk_fetch_startup] remove /tmp/update_workspace.sh
 after updating

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index 868f0cd1b2..5646eb2875 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -2,3 +2,4 @@
 
 cp $(rospack find jsk_fetch_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh
 /tmp/update_workspace.sh $@
+rm /tmp/update_workspace.sh

From f61b2aed4bf12433c5d7f4349420b5847325b7e4 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 5 Jul 2022 05:21:18 +0900
Subject: [PATCH 266/323] [jsk_fetch_startup] Ignore rosserial audible warning
 because it automatically reconnects

---
 jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml
index ed684b0de8..d095743c69 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml
@@ -3,6 +3,7 @@ blacklist:
   - name: "/Other/amcl: Standard deviation"
   - name: "/Other/jsk_joy_node: Joystick Driver Status"
   - name: "/Other/l515_head l515_head_realsense2_camera_.*: Frequency Status"
+  - name: "/Other/rosserial_python"
   - name: "/Peripherals/PS3 Controller"
   - name: "/Sensors/IMU/IMU.*"
   - name: "/SoundPlay/sound_play.*"

From 550cac8feb4389c9c91f1dccf6b23b473ae09b76 Mon Sep 17 00:00:00 2001
From: Guilherme Affonso <guilherme.c.affonso@gmail.com>
Date: Wed, 6 Jul 2022 09:56:09 +0900
Subject: [PATCH 267/323] (fetch) Add roseus_bt dependencies

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 4f88f2e259..513cff962a 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -189,3 +189,8 @@
     local-name: roseus_resume
     uri: https://github.com/Affonso-Gui/roseus_resume.git
     version: eus10
+# roseus_bt
+- git:
+    local-name: BehaviorTree.ROS
+    uri: https://github.com/BehaviorTree/BehaviorTree.ROS
+    version: master

From 0a596ff14a9168b9ccd4fc29dbda155ba114a9d3 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Wed, 6 Jul 2022 18:28:56 +0900
Subject: [PATCH 268/323] [jsk_fetch_startup/go_to_kitchen.app] Increase the
 speed of bag_to_video.py by setting compress to false.

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index 0a59d5bc50..8ed3b287ee 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -14,7 +14,7 @@ plugins:
     launch_args:
       rosbag_path: /tmp
       rosbag_title: go_to_kitchen_rosbag.bag
-      compress: true
+      compress: false
       rosbag_topic_names:
         - /rosout
         - /tf

From 9f9f9b4767939967bcf0665f4fa001dca4e6c2dd Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Wed, 6 Jul 2022 18:30:38 +0900
Subject: [PATCH 269/323] [jsk_fetch_startup/go_to_kitchen.app] Speed up
 bag_to_video.py by setting fps to 5.

---
 .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index 8ed3b287ee..32b9d51050 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -63,7 +63,7 @@ plugins:
       rosbag_path: /tmp
       rosbag_title: go_to_kitchen_rosbag.bag
       image_topic_name: /edgetpu_object_detector/output/image/compressed
-      image_fps: 30
+      image_fps: 5
       audio_topic_name: /audio
       audio_sample_rate: 16000
       audio_channels: 1

From bda7560b3903ab6c899d1f22f65e00eb5dae1f68 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 6 Jul 2022 23:34:04 +0900
Subject: [PATCH 270/323] update jsk_fetch.rosinstall.melodic

---
 jsk_fetch_robot/jsk_fetch.rosinstall.melodic | 18 +++---------------
 1 file changed, 3 insertions(+), 15 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 513cff962a..11cf98a74e 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -1,20 +1,8 @@
 # This is rosinstall file for melodic PC inside fetch.
 # $ ln -s $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/$ROS_DISTRO/src/.rosinstall
-
-# Use knorth55 fetch15 branch after the following PR is merged.
-# https://github.com/knorth55/app_manager/pull/2
-# https://github.com/knorth55/app_manager/pull/3
-# - git:
-#     local-name: PR2/app_manager
-#     uri: https://github.com/knorth55/app_manager.git
-#     version: fetch15
-# - git:
-#     local-name: PR2/app_manager
-#     uri: https://github.com/708yamaguchi/app_manager.git
-#     version: signal-timeout-fetch15
 - git:
     local-name: PR2/app_manager
-    uri: https://github.com/Affonso-Gui/app_manager.git
+    uri: https://github.com/knorth55/app_manager.git
     version: fetch15
 - git:
     local-name: RobotWebTools/rosbridge_suite
@@ -175,8 +163,8 @@
     version: eus10
 - git:
     local-name: jsk-ros-pkg/jsk_roseus
-    uri: https://github.com/Affonso-Gui/jsk_roseus.git
-    version: eus-handler-bt-resume
+    uri: https://github.com/knorth55/jsk_roseus.git
+    version: fetch15
 - git:
     local-name: euslisp/jskeus
     uri: https://github.com/euslisp/jskeus.git

From aca8c23923e272bf1a149d805c311adea0ac9834 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Fri, 8 Jul 2022 03:49:54 +0900
Subject: [PATCH 271/323] [jsk_fetch_startup/audible_warning] Tweet audible
 warning with image

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch   | 13 +++++++++++++
 1 file changed, 13 insertions(+)

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 4e4c33335d..e8bd67d4ea 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -356,6 +356,19 @@
     </rosparam>
   </node>
 
+  <group ns="audible_warning" >
+    <!-- tweet with image -->
+    <node name="publish_to_tweet_server"
+          pkg="topic_tools" type="transform"
+          args="/audible_warning/output/original_text
+                /tweet_image_server/tweet/goal
+                rostwitter/TweetActionGoal
+                --wait-for-start
+                'rostwitter.msg.TweetActionGoal(goal=rostwitter.msg.TweetGoal(text=&quot;[Audible warning] &quot; + m.data, image=True, image_topic_name=&quot;/edgetpu_human_pose_estimator/output/image&quot;))'
+                --import rostwitter">
+    </node>
+  </group>
+
   <!-- Publish /diagnostics based on topics and nodes sanity check -->
   <node name="sanity_diagnostics" pkg="jsk_tools" type="sanity_diagnostics.py"
         clear_params="true" >

From 4ee2e594178b0a8a520bcb44c985b55bd4a66c80 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Mon, 18 Jul 2022 17:14:03 +0900
Subject: [PATCH 272/323] [jsk_fetch_startup] Add option to change L515
 resolution

---
 .../launch/fetch_realsense_bringup.launch     | 21 +++++++++++++++----
 1 file changed, 17 insertions(+), 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
index afbedb15e5..f7cc7bf4cf 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
@@ -7,6 +7,19 @@
   <arg name="RS_SERIAL_NO_D435_FRONTLEFT" default="" />
   <arg name="RS_SERIAL_NO_L515_HEAD" default="" />
 
+  <arg name="l515_high_resolution" default="true" />
+  <!-- Available profiles can be shown by $ rs-enumerate-devices -->
+  <!-- L515 high resolution -->
+  <arg name="l515_color_width" default="1920" if="$(arg l515_high_resolution)" />
+  <arg name="l515_color_height" default="1080" if="$(arg l515_high_resolution)" />
+  <arg name="l515_depth_width" default="640" if="$(arg l515_high_resolution)" />
+  <arg name="l515_depth_height" default="480" if="$(arg l515_high_resolution)" />
+  <!-- L515 low resolution -->
+  <arg name="l515_color_width" default="640" unless="$(arg l515_high_resolution)" />
+  <arg name="l515_color_height" default="480" unless="$(arg l515_high_resolution)" />
+  <arg name="l515_depth_width" default="320" unless="$(arg l515_high_resolution)" />
+  <arg name="l515_depth_height" default="240" unless="$(arg l515_high_resolution)" />
+
   <!-- t265 -->
   <group ns="t265" if="$(eval arg('RS_SERIAL_NO_T265') != '')">
     <rosparam>
@@ -91,10 +104,10 @@
       <arg name="initial_reset"         value="true"/>
       <arg name="align_depth"           value="true"/>
       <arg name="filters"               value="pointcloud"/>
-      <arg name="color_width"           value="1920"/>
-      <arg name="color_height"          value="1080"/>
-      <arg name="depth_width"           value="640"/>
-      <arg name="depth_height"          value="480"/>
+      <arg name="color_width"           value="$(arg l515_color_width)"/>
+      <arg name="color_height"          value="$(arg l515_color_height)"/>
+      <arg name="depth_width"           value="$(arg l515_depth_width)"/>
+      <arg name="depth_height"          value="$(arg l515_depth_height)"/>
       <arg name="clip_distance"         value="-2"/>
       <arg name="enable_pointcloud"     value="false"/>
       <arg name="enable_infra"          value="true"/>

From 1fa27cfa11bbd53d7dc1237a30f50e9c2f5c4711 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Mon, 18 Jul 2022 17:14:19 +0900
Subject: [PATCH 273/323] [jsk_fetch_startup] Use L515 high resolution by
 default

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
index 230ed6656c..95b8c91777 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
@@ -17,6 +17,7 @@
   <arg name="RS_SERIAL_NO_D435_FRONTRIGHT" default="$(optenv RS_SERIAL_NO_D435_FRONTRIGHT)" />
   <arg name="RS_SERIAL_NO_D435_FRONTLEFT" default="$(optenv RS_SERIAL_NO_D435_FRONTLEFT)" />
   <arg name="RS_SERIAL_NO_L515_HEAD" default="$(optenv RS_SERIAL_NO_L515_HEAD)" />
+  <arg name="l515_high_resolution" default="$(optenv L515_HIGH_RESOLUTION true)" />
 
   <!-- GDB Debug Option -->
   <arg name="debug" default="false"/>
@@ -40,6 +41,7 @@
       <arg name="RS_SERIAL_NO_D435_FRONTRIGHT" value="$(arg RS_SERIAL_NO_D435_FRONTRIGHT)" />
       <arg name="RS_SERIAL_NO_D435_FRONTLEFT" value="$(arg RS_SERIAL_NO_D435_FRONTLEFT)" />
       <arg name="RS_SERIAL_NO_L515_HEAD" value="$(arg RS_SERIAL_NO_L515_HEAD)" />
+      <arg name="l515_high_resolution" value="$(arg l515_high_resolution)" />
   </include>
 
   <!-- Odometry -->

From f56a0cb2e021565e18fb39e6ea99dce03a7b7a24 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Mon, 18 Jul 2022 17:14:34 +0900
Subject: [PATCH 274/323] [jsk_fetch_startup] Use L515 low resolution mode for
 fetch1075 because of USB 2 connection

---
 jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
index 5f0013d276..a2afa74855 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -41,6 +41,8 @@ elif [ $(hostname) = 'fetch1075' ]; then
   # Use L515 after finding a way to reduce L515 CPU usage like ConnectionBasedTransport
   export RS_SERIAL_NO_L515_HEAD="f0232270";
   #export RS_SERIAL_NO_L515_HEAD="";
+  # Currently, fetch1075 uses USB 2 for L515, so high resolution mode is not available.
+  export L515_HIGH_RESOLUTION=false;
 
   export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1";
   export NETWORK_DEFAULT_ROS_INTERFACE="fetch1075";

From 0b0f04f71a553cb050a8231a70571e1c721ba0e9 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 20 Jul 2022 16:44:11 +0900
Subject: [PATCH 275/323] [jsk_fetch_robot] add eus10 catkinize script to
 readme

---
 jsk_fetch_robot/README.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/jsk_fetch_robot/README.md b/jsk_fetch_robot/README.md
index 732edbd5a6..71e62c2de0 100644
--- a/jsk_fetch_robot/README.md
+++ b/jsk_fetch_robot/README.md
@@ -45,6 +45,9 @@ wstool init .
 wstool set --git jsk-ros-pkg/jsk_robot https://github.com/jsk-ros-pkg/jsk_robot.git -y
 wstool merge -t . https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_fetch_robot/jsk_fetch_user.rosinstall.$ROS_DISTRO
 wstool update -t .
+# To use eus10, furuschev script is required.
+wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_roseus/master/setup_upstream.sh -O /tmp/setup_upstream.sh
+bash /tmp/setup_upstream.sh -w . -p jsk-ros-pkg/geneus -p euslisp/jskeus
 source /opt/ros/$ROS_DISTRO/setup.bash
 rosdep install -y -r --from-paths . --ignore-src
 cd ../

From 81b8a6764a0aff9686e25648a0a386ecf71a7772 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 21 Jul 2022 09:52:46 +0900
Subject: [PATCH 276/323] [jsk_fetch_robot] update README.md

---
 jsk_fetch_robot/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/README.md b/jsk_fetch_robot/README.md
index 71e62c2de0..9a838c5d6f 100644
--- a/jsk_fetch_robot/README.md
+++ b/jsk_fetch_robot/README.md
@@ -47,7 +47,7 @@ wstool merge -t . https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master
 wstool update -t .
 # To use eus10, furuschev script is required.
 wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_roseus/master/setup_upstream.sh -O /tmp/setup_upstream.sh
-bash /tmp/setup_upstream.sh -w . -p jsk-ros-pkg/geneus -p euslisp/jskeus
+bash /tmp/setup_upstream.sh -w ../ -p jsk-ros-pkg/geneus -p euslisp/jskeus
 source /opt/ros/$ROS_DISTRO/setup.bash
 rosdep install -y -r --from-paths . --ignore-src
 cd ../

From 4d9c21decfa1c7109fc47629a3285be276cbc0f4 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 21 Jul 2022 11:28:44 +0900
Subject: [PATCH 277/323] remove unnecessary t in prog1

---
 jsk_fetch_robot/fetcheus/fetch-interface.l | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l
index a3bd444dcb..94393cae21 100644
--- a/jsk_fetch_robot/fetcheus/fetch-interface.l
+++ b/jsk_fetch_robot/fetcheus/fetch-interface.l
@@ -43,8 +43,7 @@
          gripper-action
          move-base-action
          move-base-trajectory-action)
-     (roseus_resume:install-default-intervention self)
-     t))
+     (roseus_resume:install-default-intervention self)))
   (:state (&rest args)
    "We do not have :wait-until-update option for :state :worldcoords.
 In other cases, :state calls with :wait-until-update by default, since Fetch publishes /joint_states from body and gripper at almost same frequency.

From d4fbe91b629015cfeb2092f5e71d52a6aa5571fa Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Sat, 30 Jul 2022 17:29:01 +0900
Subject: [PATCH 278/323] [jsk_fetch_startup] Use symbolic link for udev rules
 file, as well as supervisor configs

---
 .../jsk_fetch_startup/config/install_udev.sh         | 12 ++----------
 1 file changed, 2 insertions(+), 10 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh
index b079e114a4..f3cec97ba1 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh
@@ -4,14 +4,6 @@ jsk_fetch_startup=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`"/.. > /dev/null &&
 
 cd $jsk_fetch_startup/udev_rules
 for file in $(ls *.rules); do
-    if [ -e /etc/udev/rules.d/$file ]; then
-        file_bk=$file.$(date "+%Y%m%d_%H%M%S")
-        sudo cp /etc/udev/rules.d/$file /etc/udev/rules.d/$file_bk
-        echo "backup /etc/udev/rules.d/$file to /etc/udev/rules.d/$file_bk"
-    fi
-
-    sudo cp $file /etc/udev/rules.d/
-    sudo chown root:root /etc/udev/rules.d/$file
-    sudo chmod 644 /etc/udev/rules.d/$file
-    echo -e "copied jsk_fetch_startup/udev_rules/$file to /etc/udev/rules.d/$file\n"
+    sudo ln -sf $jsk_fetch_startup/udev_rules/$file /etc/udev/rules.d/$file
+    echo -e "Create symbolic link from jsk_fetch_startup/udev_rules/$file to /etc/udev/rules.d/$file\n"
 done

From bb5a0a6d2b36b429801d975bde45546cecaec0da Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Sat, 30 Jul 2022 17:52:24 +0900
Subject: [PATCH 279/323] [jsk_fetch_startup] Use L515 high resolution for
 fetch1075 because USB3 is used now

---
 jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 2 --
 1 file changed, 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
index a2afa74855..5f0013d276 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -41,8 +41,6 @@ elif [ $(hostname) = 'fetch1075' ]; then
   # Use L515 after finding a way to reduce L515 CPU usage like ConnectionBasedTransport
   export RS_SERIAL_NO_L515_HEAD="f0232270";
   #export RS_SERIAL_NO_L515_HEAD="";
-  # Currently, fetch1075 uses USB 2 for L515, so high resolution mode is not available.
-  export L515_HIGH_RESOLUTION=false;
 
   export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1";
   export NETWORK_DEFAULT_ROS_INTERFACE="fetch1075";

From fd62ce775ceb6c267babf2e622ebf590afeb0cd5 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Sat, 30 Jul 2022 18:04:01 +0900
Subject: [PATCH 280/323] [jsk_fetch_startup] Add commit about udev files
 installed by apt

---
 jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh
index f3cec97ba1..5e8e1cec43 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_udev.sh
@@ -1,5 +1,8 @@
 #!/bin/bash
 
+# 99-edgetpu-accelerator.rules and 99-realsense-libusb.rules are not tracked in jsk_fetch_startup
+# because they are installed by apt
+
 jsk_fetch_startup=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`"/.. > /dev/null && pwd)
 
 cd $jsk_fetch_startup/udev_rules

From 3a219f0fde73ba7882514741bfc93fec7efedd58 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Sat, 30 Jul 2022 23:26:16 +0900
Subject: [PATCH 281/323] [jsk_fetch_startup] Remove pointcloud from filters to
 disable publishing pointcloud

---
 .../jsk_fetch_startup/launch/fetch_realsense_bringup.launch    | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
index f7cc7bf4cf..95a60d8a5c 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
@@ -69,7 +69,6 @@
       <arg name="tf_prefix"             value="d435_front_right"/>
       <arg name="initial_reset"         value="true"/>
       <arg name="align_depth"           value="true"/>
-      <arg name="filters"               value="pointcloud"/>
       <arg name="color_width"           value="640"/>
       <arg name="color_height"          value="480"/>
       <arg name="depth_width"           value="640"/>
@@ -86,7 +85,6 @@
       <arg name="tf_prefix"             value="d435_front_left"/>
       <arg name="initial_reset"         value="true"/>
       <arg name="align_depth"           value="true"/>
-      <arg name="filters"               value="pointcloud"/>
       <arg name="color_width"           value="640"/>
       <arg name="color_height"          value="480"/>
       <arg name="depth_width"           value="640"/>
@@ -103,7 +101,6 @@
       <arg name="tf_prefix"             value="l515_head"/>
       <arg name="initial_reset"         value="true"/>
       <arg name="align_depth"           value="true"/>
-      <arg name="filters"               value="pointcloud"/>
       <arg name="color_width"           value="$(arg l515_color_width)"/>
       <arg name="color_height"          value="$(arg l515_color_height)"/>
       <arg name="depth_width"           value="$(arg l515_depth_width)"/>

From 1202479f966582faac789511c2d1d1462275da69 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 2 Aug 2022 01:03:20 +0900
Subject: [PATCH 282/323] [jsk_fetch_startup] Use nodelet for
 RealSenseNodeFactory

---
 .../launch/devices/realsense_nodelet.launch.xml             | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/devices/realsense_nodelet.launch.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/devices/realsense_nodelet.launch.xml
index a72dd3f2d1..c5993ed682 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/devices/realsense_nodelet.launch.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/devices/realsense_nodelet.launch.xml
@@ -3,6 +3,8 @@
     This launch file is copied from realsense2_camera in realsense_ros https://github.com/IntelRealSense/realsense-ros and then modified
     And it is originally distributed under Apache-2.0 License
   -->
+  <arg name="external_manager"    default="false"/>
+  <arg name="manager"             default="realsense2_camera_manager"/>
   <arg name="serial_no"           default=""/>
   <arg name="usb_port_id"         default=""/>
   <arg name="device_type"         default=""/>
@@ -10,6 +12,7 @@
   <arg name="json_file_path"      default=""/>
   <arg name="rosbag_filename"     default=""/>
   <arg name="respawn"             default="false"/>
+  <arg name="required"            default="false"/>
   <arg name="output"              default="screen"/>  <!-- [ screen | log ]-->
 
   <arg name="fisheye_width"       default="0"/>
@@ -101,11 +104,12 @@
   <arg name="initial_reset"            default="false"/>
   <arg name="unite_imu_method"         default="none"/> <!-- Options are: [none, copy, linear_interpolation] -->
 
+  <node unless="$(arg external_manager)" pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="$(arg output)" required="$(arg required)"/>
   <node
       pkg="nodelet"
       type="nodelet"
       name="$(arg tf_prefix)_realsense2_camera"
-      args="standalone realsense2_camera/RealSenseNodeFactory"
+      args="load realsense2_camera/RealSenseNodeFactory $(arg manager)"
       respawn="$(arg respawn)">
     <param name="serial_no"                type="str"  value="$(arg serial_no)"/>
     <param name="usb_port_id"              type="str"  value="$(arg usb_port_id)"/>

From 0f7f7e5f4106c1b69ad24c71633613625c113280 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 2 Aug 2022 02:03:55 +0900
Subject: [PATCH 283/323] [jsk_fetch_startup] Create L515 pointcloud with
 depth_image_proc

---
 .../launch/fetch_realsense_bringup.launch     | 28 +++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
index 95a60d8a5c..237629f164 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
@@ -1,6 +1,7 @@
 <launch>
 
   <arg name="respawn" default="true" />
+  <arg name="manager" default="realsense2_camera_manager" />
 
   <arg name="RS_SERIAL_NO_T265" default="" />
   <arg name="RS_SERIAL_NO_D435_FRONTRIGHT" default="" />
@@ -20,6 +21,11 @@
   <arg name="l515_depth_width" default="320" unless="$(arg l515_high_resolution)" />
   <arg name="l515_depth_height" default="240" unless="$(arg l515_high_resolution)" />
 
+  <!-- Args for depth registration and pointcloud -->
+  <arg name="rgb"                             default="color" />
+  <arg name="depth_registered_pub"            default="depth_registered" />
+  <arg name="depth_registered"                default="aligned_depth_to_color" />
+
   <!-- t265 -->
   <group ns="t265" if="$(eval arg('RS_SERIAL_NO_T265') != '')">
     <rosparam>
@@ -94,6 +100,8 @@
       <arg name="respawn"              value="$(arg respawn)"/>
     </include>
   </group>
+
+  <!-- L515 -->
   <group ns="l515_head" if="$(eval arg('RS_SERIAL_NO_L515_HEAD') != '')">
     <include file="$(find jsk_fetch_startup)/launch/devices/realsense_nodelet.launch.xml">
       <arg name="device_type"           value="l515"/>
@@ -115,6 +123,26 @@
         /l515_head/l500_depth_sensor/global_time_enabled: true
         /l515_head/rgb_camera/global_time_enabled: true
     </rosparam>
+    <!-- Create pointcloud with throttled RGB and depth image to reduce CPU usage -->
+    <!--
+        This launch file is copied from realsense2_camera in realsense_ros https://github.com/IntelRealSense/realsense-ros and then modified
+        And it is originally distributed under Apache-2.0 License
+    -->
+    <!-- Create rectified image -->
+    <include file="$(find rgbd_launch)/launch/includes/rgb.launch.xml">
+      <arg name="manager"                       value="/l515_head/$(arg manager)" />
+      <arg name="respawn"                       value="$(arg respawn)" />
+      <arg name="rgb"                           value="$(arg rgb)" />
+      <arg name="debayer_processing"            value="false" />
+    </include>
+    <!-- Publish registered XYZRGB point cloud with hardware registered input (ROS Realsense depth alignment) -->
+    <node pkg="nodelet" type="nodelet" name="points_xyzrgb_hw_registered"
+          args="load depth_image_proc/point_cloud_xyzrgb /l515_head/$(arg manager)" respawn="$(arg respawn)">
+      <remap from="rgb/image_rect_color"        to="$(arg rgb)/image_rect_color"        />
+      <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info"             />
+      <remap from="depth_registered/image_rect" to="$(arg depth_registered)/image_raw"  />
+      <remap from="depth_registered/points"     to="$(arg depth_registered_pub)/points" />
+    </node>
   </group>
 
 </launch>

From 343b224a3188998e3ffbc51f03d0836dd338cdcb Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 2 Aug 2022 02:38:51 +0900
Subject: [PATCH 284/323] [jsk_fetch_startup] Create L515 points from throttled
 rgb and depth images

---
 .../launch/fetch_realsense_bringup.launch     | 45 +++++++++++++++++--
 1 file changed, 42 insertions(+), 3 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
index 237629f164..755995ad96 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
@@ -25,6 +25,8 @@
   <arg name="rgb"                             default="color" />
   <arg name="depth_registered_pub"            default="depth_registered" />
   <arg name="depth_registered"                default="aligned_depth_to_color" />
+  <arg name="throttle_l515_points"            default="true" doc="Use throttled rgb and depth images to create pointcloud" />
+  <arg name="throttled_rate"                  default="5.0" doc="Rate [Hz] to publish L515 pointcloud" />
 
   <!-- t265 -->
   <group ns="t265" if="$(eval arg('RS_SERIAL_NO_T265') != '')">
@@ -135,12 +137,49 @@
       <arg name="rgb"                           value="$(arg rgb)" />
       <arg name="debayer_processing"            value="false" />
     </include>
+    <group if="$(arg throttle_l515_points)">
+      <group ns="$(arg rgb)">
+        <!-- Throttle RGB images -->
+        <node name="throttle_image"
+              pkg="nodelet" type="nodelet"
+              args="load jsk_topic_tools/LightweightThrottle /l515_head/$(arg manager)"
+              respawn="true">
+          <remap from="~input" to="image_rect_color" />
+          <remap from="~output" to="throttled/image_rect_color" />
+          <param name="update_rate" value="$(arg throttled_rate)" />
+        </node>
+        <!-- Throttle camera info -->
+        <node name="throttle_camera_info"
+              pkg="nodelet" type="nodelet"
+              args="load jsk_topic_tools/LightweightThrottle /l515_head/$(arg manager)"
+              respawn="true">
+          <remap from="~input" to="camera_info" />
+          <remap from="~output" to="throttled/camera_info" />
+          <param name="update_rate" value="$(arg throttled_rate)" />
+        </node>
+      </group>
+      <group ns="$(arg depth_registered)">
+        <!-- Throttle depth images -->
+        <node name="throttle_image"
+              pkg="nodelet" type="nodelet"
+              args="load jsk_topic_tools/LightweightThrottle /l515_head/$(arg manager)"
+              respawn="true">
+          <remap from="~input" to="image_raw" />
+          <remap from="~output" to="throttled/image_raw" />
+          <param name="update_rate" value="$(arg throttled_rate)" />
+        </node>
+      </group>
+    </group>
     <!-- Publish registered XYZRGB point cloud with hardware registered input (ROS Realsense depth alignment) -->
+    <!-- The output topic name is always /l515_head/depth_registered/points regardless of throttle option -->
     <node pkg="nodelet" type="nodelet" name="points_xyzrgb_hw_registered"
           args="load depth_image_proc/point_cloud_xyzrgb /l515_head/$(arg manager)" respawn="$(arg respawn)">
-      <remap from="rgb/image_rect_color"        to="$(arg rgb)/image_rect_color"        />
-      <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info"             />
-      <remap from="depth_registered/image_rect" to="$(arg depth_registered)/image_raw"  />
+      <remap from="rgb/image_rect_color"        to="$(arg rgb)/throttled/image_rect_color"        if="$(arg throttle_l515_points)" />
+      <remap from="rgb/image_rect_color"        to="$(arg rgb)/image_rect_color"                  unless="$(arg throttle_l515_points)" />
+      <remap from="rgb/camera_info"             to="$(arg rgb)/throttled/camera_info"             if="$(arg throttle_l515_points)" />
+      <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info"                       unless="$(arg throttle_l515_points)" />
+      <remap from="depth_registered/image_rect" to="$(arg depth_registered)/throttled/image_raw"  if="$(arg throttle_l515_points)" />
+      <remap from="depth_registered/image_rect" to="$(arg depth_registered)/image_raw"            unless="$(arg throttle_l515_points)" />
       <remap from="depth_registered/points"     to="$(arg depth_registered_pub)/points" />
     </node>
   </group>

From a102951671882e6ae863f19d6e862f9db668e382 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 2 Aug 2022 02:40:29 +0900
Subject: [PATCH 285/323] [jsk_fetch_startup] Add option to create L515 points

---
 .../launch/fetch_realsense_bringup.launch     | 107 +++++++++---------
 1 file changed, 55 insertions(+), 52 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
index 755995ad96..eac50fe952 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
@@ -22,6 +22,7 @@
   <arg name="l515_depth_height" default="240" unless="$(arg l515_high_resolution)" />
 
   <!-- Args for depth registration and pointcloud -->
+  <arg name="enable_pointcloud"               default="true" doc="If false, L515 pointcloud is not created and published" />
   <arg name="rgb"                             default="color" />
   <arg name="depth_registered_pub"            default="depth_registered" />
   <arg name="depth_registered"                default="aligned_depth_to_color" />
@@ -82,7 +83,7 @@
       <arg name="depth_width"           value="640"/>
       <arg name="depth_height"          value="480"/>
       <arg name="clip_distance"         value="-2"/>
-      <arg name="enable_pointcloud"     value="true"/>
+      <arg name="enable_pointcloud"     value="$(arg enable_pointcloud)"/>
       <arg name="respawn"              value="$(arg respawn)"/>
     </include>
   </group>
@@ -98,7 +99,7 @@
       <arg name="depth_width"           value="640"/>
       <arg name="depth_height"          value="480"/>
       <arg name="clip_distance"         value="-2"/>
-      <arg name="enable_pointcloud"     value="true"/>
+      <arg name="enable_pointcloud"     value="$(arg enable_pointcloud)"/>
       <arg name="respawn"              value="$(arg respawn)"/>
     </include>
   </group>
@@ -130,58 +131,60 @@
         This launch file is copied from realsense2_camera in realsense_ros https://github.com/IntelRealSense/realsense-ros and then modified
         And it is originally distributed under Apache-2.0 License
     -->
-    <!-- Create rectified image -->
-    <include file="$(find rgbd_launch)/launch/includes/rgb.launch.xml">
-      <arg name="manager"                       value="/l515_head/$(arg manager)" />
-      <arg name="respawn"                       value="$(arg respawn)" />
-      <arg name="rgb"                           value="$(arg rgb)" />
-      <arg name="debayer_processing"            value="false" />
-    </include>
-    <group if="$(arg throttle_l515_points)">
-      <group ns="$(arg rgb)">
-        <!-- Throttle RGB images -->
-        <node name="throttle_image"
-              pkg="nodelet" type="nodelet"
-              args="load jsk_topic_tools/LightweightThrottle /l515_head/$(arg manager)"
-              respawn="true">
-          <remap from="~input" to="image_rect_color" />
-          <remap from="~output" to="throttled/image_rect_color" />
-          <param name="update_rate" value="$(arg throttled_rate)" />
-        </node>
-        <!-- Throttle camera info -->
-        <node name="throttle_camera_info"
-              pkg="nodelet" type="nodelet"
-              args="load jsk_topic_tools/LightweightThrottle /l515_head/$(arg manager)"
-              respawn="true">
-          <remap from="~input" to="camera_info" />
-          <remap from="~output" to="throttled/camera_info" />
-          <param name="update_rate" value="$(arg throttled_rate)" />
-        </node>
-      </group>
-      <group ns="$(arg depth_registered)">
-        <!-- Throttle depth images -->
-        <node name="throttle_image"
-              pkg="nodelet" type="nodelet"
-              args="load jsk_topic_tools/LightweightThrottle /l515_head/$(arg manager)"
-              respawn="true">
-          <remap from="~input" to="image_raw" />
-          <remap from="~output" to="throttled/image_raw" />
-          <param name="update_rate" value="$(arg throttled_rate)" />
-        </node>
+    <group if="$(arg enable_pointcloud)">
+      <!-- Create rectified image -->
+      <include file="$(find rgbd_launch)/launch/includes/rgb.launch.xml">
+        <arg name="manager"                       value="/l515_head/$(arg manager)" />
+        <arg name="respawn"                       value="$(arg respawn)" />
+        <arg name="rgb"                           value="$(arg rgb)" />
+        <arg name="debayer_processing"            value="false" />
+      </include>
+      <group if="$(arg throttle_l515_points)">
+        <group ns="$(arg rgb)">
+          <!-- Throttle RGB images -->
+          <node name="throttle_image"
+                pkg="nodelet" type="nodelet"
+                args="load jsk_topic_tools/LightweightThrottle /l515_head/$(arg manager)"
+                respawn="true">
+            <remap from="~input" to="image_rect_color" />
+            <remap from="~output" to="throttled/image_rect_color" />
+            <param name="update_rate" value="$(arg throttled_rate)" />
+          </node>
+          <!-- Throttle camera info -->
+          <node name="throttle_camera_info"
+                pkg="nodelet" type="nodelet"
+                args="load jsk_topic_tools/LightweightThrottle /l515_head/$(arg manager)"
+                respawn="true">
+            <remap from="~input" to="camera_info" />
+            <remap from="~output" to="throttled/camera_info" />
+            <param name="update_rate" value="$(arg throttled_rate)" />
+          </node>
+        </group>
+        <group ns="$(arg depth_registered)">
+          <!-- Throttle depth images -->
+          <node name="throttle_image"
+                pkg="nodelet" type="nodelet"
+                args="load jsk_topic_tools/LightweightThrottle /l515_head/$(arg manager)"
+                respawn="true">
+            <remap from="~input" to="image_raw" />
+            <remap from="~output" to="throttled/image_raw" />
+            <param name="update_rate" value="$(arg throttled_rate)" />
+          </node>
+        </group>
       </group>
+      <!-- Publish registered XYZRGB point cloud with hardware registered input (ROS Realsense depth alignment) -->
+      <!-- The output topic name is always /l515_head/depth_registered/points regardless of throttle option -->
+      <node pkg="nodelet" type="nodelet" name="points_xyzrgb_hw_registered"
+            args="load depth_image_proc/point_cloud_xyzrgb /l515_head/$(arg manager)" respawn="$(arg respawn)">
+        <remap from="rgb/image_rect_color"        to="$(arg rgb)/throttled/image_rect_color"        if="$(arg throttle_l515_points)" />
+        <remap from="rgb/image_rect_color"        to="$(arg rgb)/image_rect_color"                  unless="$(arg throttle_l515_points)" />
+        <remap from="rgb/camera_info"             to="$(arg rgb)/throttled/camera_info"             if="$(arg throttle_l515_points)" />
+        <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info"                       unless="$(arg throttle_l515_points)" />
+        <remap from="depth_registered/image_rect" to="$(arg depth_registered)/throttled/image_raw"  if="$(arg throttle_l515_points)" />
+        <remap from="depth_registered/image_rect" to="$(arg depth_registered)/image_raw"            unless="$(arg throttle_l515_points)" />
+        <remap from="depth_registered/points"     to="$(arg depth_registered_pub)/points" />
+      </node>
     </group>
-    <!-- Publish registered XYZRGB point cloud with hardware registered input (ROS Realsense depth alignment) -->
-    <!-- The output topic name is always /l515_head/depth_registered/points regardless of throttle option -->
-    <node pkg="nodelet" type="nodelet" name="points_xyzrgb_hw_registered"
-          args="load depth_image_proc/point_cloud_xyzrgb /l515_head/$(arg manager)" respawn="$(arg respawn)">
-      <remap from="rgb/image_rect_color"        to="$(arg rgb)/throttled/image_rect_color"        if="$(arg throttle_l515_points)" />
-      <remap from="rgb/image_rect_color"        to="$(arg rgb)/image_rect_color"                  unless="$(arg throttle_l515_points)" />
-      <remap from="rgb/camera_info"             to="$(arg rgb)/throttled/camera_info"             if="$(arg throttle_l515_points)" />
-      <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info"                       unless="$(arg throttle_l515_points)" />
-      <remap from="depth_registered/image_rect" to="$(arg depth_registered)/throttled/image_raw"  if="$(arg throttle_l515_points)" />
-      <remap from="depth_registered/image_rect" to="$(arg depth_registered)/image_raw"            unless="$(arg throttle_l515_points)" />
-      <remap from="depth_registered/points"     to="$(arg depth_registered_pub)/points" />
-    </node>
   </group>
 
 </launch>

From 209948d467eea47d235acfc5e7ca71f16a4621c5 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 2 Aug 2022 02:41:09 +0900
Subject: [PATCH 286/323] [jsk_fetch_startup] Publish resized L515 pointcloud

---
 .../launch/fetch_realsense_bringup.launch             | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
index eac50fe952..e30aa74dac 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
@@ -184,6 +184,17 @@
         <remap from="depth_registered/image_rect" to="$(arg depth_registered)/image_raw"            unless="$(arg throttle_l515_points)" />
         <remap from="depth_registered/points"     to="$(arg depth_registered_pub)/points" />
       </node>
+      <node name="resize_cloud"
+            pkg="nodelet" type="nodelet"
+            args="load jsk_pcl/ResizePointsPublisher /l515_head/$(arg manager)"
+            respawn="true">
+        <remap from="~input" to="$(arg depth_registered_pub)/points" />
+        <remap from="~output" to="$(arg depth_registered_pub)/quater/points" />
+        <rosparam>
+          step_x: 4
+          step_y: 4
+        </rosparam>
+      </node>
     </group>
   </group>
 

From 3d77833fba6f654ff44a0f47d98026779793a5ea Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 2 Aug 2022 02:42:13 +0900
Subject: [PATCH 287/323] [jsk_fetch_startup] Fix indent

---
 .../jsk_fetch_startup/launch/fetch_realsense_bringup.launch | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
index e30aa74dac..1e0ab40556 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_realsense_bringup.launch
@@ -122,9 +122,9 @@
       <arg name="respawn"              value="$(arg respawn)"/>
     </include>
     <rosparam>
-        /l515_head/motion_module/global_time_enabled: true
-        /l515_head/l500_depth_sensor/global_time_enabled: true
-        /l515_head/rgb_camera/global_time_enabled: true
+      /l515_head/motion_module/global_time_enabled: true
+      /l515_head/l500_depth_sensor/global_time_enabled: true
+      /l515_head/rgb_camera/global_time_enabled: true
     </rosparam>
     <!-- Create pointcloud with throttled RGB and depth image to reduce CPU usage -->
     <!--

From 17c3a2efe8efa1e9d7be4a76edccee7d00bc0127 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Tue, 2 Aug 2022 02:41:54 +0900
Subject: [PATCH 288/323] [jsk_fetch_startup] Create L515 points by default

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
index 95b8c91777..16dea4af56 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch.launch
@@ -42,6 +42,7 @@
       <arg name="RS_SERIAL_NO_D435_FRONTLEFT" value="$(arg RS_SERIAL_NO_D435_FRONTLEFT)" />
       <arg name="RS_SERIAL_NO_L515_HEAD" value="$(arg RS_SERIAL_NO_L515_HEAD)" />
       <arg name="l515_high_resolution" value="$(arg l515_high_resolution)" />
+      <arg name="enable_pointcloud" value="true" />
   </include>
 
   <!-- Odometry -->

From 1e65414ce8aa68c2c2f41e5957f08524877b1d2f Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 4 Aug 2022 22:44:30 +0900
Subject: [PATCH 289/323] [jsk_fetch_startup] Extend audible warning blacklist
 to nodelet version realsense2_camera

---
 jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml
index d095743c69..d5ff0adfcc 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml
@@ -2,7 +2,7 @@ blacklist:
   - name: "/CPU/CPU Usage/my_machine CPU Usage"
   - name: "/Other/amcl: Standard deviation"
   - name: "/Other/jsk_joy_node: Joystick Driver Status"
-  - name: "/Other/l515_head l515_head_realsense2_camera_.*: Frequency Status"
+  - name: "/Other/l515_head .*realsense2_camera_.*: Frequency Status"
   - name: "/Other/rosserial_python"
   - name: "/Peripherals/PS3 Controller"
   - name: "/Sensors/IMU/IMU.*"

From 4e25bf3680b72a9597d446acd7c68101ec4d3bf1 Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Fri, 5 Aug 2022 21:19:27 +0900
Subject: [PATCH 290/323] [jsk_fetch_startup] Fix L515 head mount link pose

---
 jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro
index dd2f9b7a5e..24885a8324 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro
+++ b/jsk_fetch_robot/jsk_fetch_startup/robots/head_l515.urdf.xacro
@@ -37,7 +37,7 @@
   <link name="l515_head_link"/>
   <joint name="head_l515_virtual_joint" type="fixed">
     <origin rpy="0 0 0" xyz="0.0095 0 0.01485" />
-    <parent link="head_l515_mount_link" />
+    <parent link="head_l515_virtual_mount_link" />
     <child link="l515_head_link" />
   </joint>
 </robot>

From 32d53b5746484afaf8ae1505abd222186e970d9a Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Tue, 9 Aug 2022 17:03:32 +0900
Subject: [PATCH 291/323] [jsk_fetch_startup] seeing more place in kitchen demo

---
 .../jsk_fetch_startup/euslisp/go-to-kitchen.l |   8 +-
 .../euslisp/navigation-utils.l                | 363 +++++++++++++++---
 2 files changed, 315 insertions(+), 56 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l
index 8d096631aa..134dcfae34 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l
@@ -4,7 +4,7 @@
 (load "package://jsk_fetch_startup/euslisp/navigation-utils.l")
 
 
-(defun main (&key (tweet t) (n-dock-trial 3) (n-kitchen-trial 3) (n-trashcan-trial 3) (control-switchbot :api))
+(defun main (&key (tweet t) (n-dock-trial 3) (n-kitchen-trial 3) (n-trashcan-trial 3) (n-dock-front-trial 3) (n-tv-front-trial 3) (n-tv-desk-trial 3) (n-desk-back-trial 3) (n-desk-front-trial 3) (n-kitchen-door-front-trial 3) (control-switchbot :api))
   (when (not (boundp '*sm*))
     (go-to-kitchen-state-machine))
   (let ((result-state
@@ -12,6 +12,12 @@
                                      (n-kitchen-trial . ,n-kitchen-trial)
                                      (n-trashcan-trial . ,n-trashcan-trial)
                                      (n-dock-trial . ,n-dock-trial)
+                                     (n-dock-front-trial . ,n-dock-front-trial)
+                                     (n-tv-front-trial . ,n-tv-front-trial)
+                                     (n-tv-desk-trial . ,n-tv-desk-trial)
+                                     (n-desk-back-trial . ,n-desk-back-trial)
+                                     (n-desk-front-trial . ,n-desk-front-trial)
+                                     (n-kitchen-door-front-trial . ,n-kitchen-door-front-trial)
                                      (control-switchbot . ,control-switchbot)
                                      (initial-light-on . nil)
                                      (success-go-to-kitchen . nil)
diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index be66fe8d0d..3a3091ae88 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -16,6 +16,7 @@
 (defparameter *spots* nil)
 (defparameter *tfl* (instance ros::transform-listener :init))
 
+(ros::advertise "/kitchen_demo/photo_taken" sensor_msgs::Image 1)
 
 (let ((robot-name (ros::get-param "/robot/name")))
   (defparameter *dock-spot*
@@ -312,12 +313,10 @@ Args:
   (ros::ros-info "start going back to the dock.")
   (send *ri* :speak-jp "ドックに戻ります。" :wait t))
 
-
 (defun report-move-to-sink-front-success ()
   (ros::ros-info "arrived at the kitchen stove.")
   (send *ri* :speak-jp "キッチンのコンロの前につきました。" :wait t))
 
-
 (defun report-move-to-sink-front-failure ()
   (ros::ros-error "failed going to the kitchen.")
   (send *ri* :speak-jp "キッチンのコンロの前に行くのに失敗しました。" :wait t))
@@ -334,21 +333,65 @@ Args:
   (ros::ros-info "start going to the kitchen.")
   (send *ri* :speak-jp "キッチンに向かいます。" :wait t))
 
-
 (defun report-light-on ()
   (ros::ros-info "room light is already on.")
   (send *ri* :speak-jp "すでに電気がついています。" :wait t))
 
-
 (defun report-light-off ()
   (ros::ros-info "room light is off.")
   (send *ri* :speak-jp "電気が消えています。" :wait t))
 
-
 (defun report-auto-dock-failure ()
   (ros::ros-error "failed auto-docking")
   (send *ri* :speak-jp "ドックに失敗しました。" :wait t))
 
+(defun report-move-to-dock-front
+  (ros::ros-info "take a picture in front of the dock")
+  (send *ri* :speak-jp "ドックの前に到着しました" :wait t))
+
+(defun report-move-to-dock-front-failure
+  (ros::ros-info "failed taking a picture in front of the dock")
+  (send *ri* :speak-jp "ドックの前への移動に失敗しました" :wait t))
+
+(defun report-move-to-tv-front
+  (ros::ros-info "take a picture in front of the tv")
+  (send *ri* :speak-jp "テレビの前に到着しました" :wait t))
+
+(defun report-move-to-tv-front-failure
+  (ros::ros-info "failed taking a picture at in front of the tv")
+  (send *ri* :speak-jp "テレビの前への移動に失敗しました" :wait t))
+
+(defun report-move-to-tv-desk
+  (ros::ros-info "take a picture in front of the tv desk")
+  (send *ri* :speak-jp "テレビの机の前に到着しました" :wait t))
+
+(defun report-move-to-tv-desk-failure
+  (ros::ros-info "failed taking a picture at in front of the tv desk")
+  (send *ri* :speak-jp "テレビの机の前への移動に失敗しました" :wait t))
+
+(defun report-move-to-desk-back
+  (ros::ros-info "take a picture of tsukamoto-kun desk")
+  (send *ri* :speak-jp "奥の机の写真を撮る位置に移動しました" :wait t))
+
+(defun report-move-to-desk-back-failure
+  (ros::ros-info "failed taking a picture of tsukamoto-kun desk")
+  (send *ri* :speak-jp "奥の机の写真を撮る位置への移動に失敗しました" :wait t))
+
+(defun report-move-to-desk-front
+  (ros::ros-info "take a picture of obinata desk")
+  (send *ri* :speak-jp "手前の机の写真を撮る位置に移動しました" :wait t))
+
+(defun report-move-to-desk-front-failure
+  (ros::ros-info "failed taking a picture of obinata desk")
+  (send *ri* :speak-jp "手前の机の写真を撮る位置への移動に失敗しました" :wait t))
+
+(defun report-move-to-kitchen-door-front
+  (ros::ros-info "take a picture of kitchen in front of the door")
+  (send *ri* :speak-jp "キッチンを斜めから撮る位置に移動しました" :wait t))
+
+(defun report-move-to-kitchen-door-front-failure
+  (ros::ros-info "failed taking a picture of kitchen in front of the door")
+  (send *ri* :speak-jp "キッチンを斜めから撮る位置への移動に失敗しました" :wait t))
 
 (defun take-photo (file-name
                    &optional (image-topic "/edgetpu_object_detector/output/image"))
@@ -421,7 +464,6 @@ Args:
     (progn
       (notify-recognition :location "kitchen"))))
 
-
 (defun move-to-sink-front (&key (n-trial 1) (offset #f(400 -500 0)))
   (let ((success-move-to-sink-front nil))
     (dotimes (i n-trial)
@@ -431,6 +473,126 @@ Args:
       (when success-move-to-sink-front (return)))
     success-move-to-sink-front))
 
+(defun move-to-dock-front (&key (n-trial 1) (offset #f(400 -500 0)))
+  (let ((success-move-to-dock-front nil))
+    (dotimes (i n-trial)
+      (setq success-move-to-dock-front
+    (move-to (make-coords :pos (float-vector 5077.8 6763.237 30000.0) :rpy (float-vector 0.059 0 0)) :relative-pos offset))
+      (when success-move-to-dock-front (return)))
+    success-move-to-dock-front))
+
+(defun move-to-tv-front (&key (n-trial 1) (offset #f(400 -500 0)))
+  (let ((success-move-to-tv-front nil))
+    (dotimes (i n-trial)
+      (setq success-move-to-tv-front
+    (move-to (make-coords :pos (float-vector 5082.057 6800.628 30000.0) :rpy (float-vector 3.109 0 0)) :relative-pos offset))
+      (when success-move-to-tv-front (return)))
+    success-move-to-tv-front))
+
+(defun move-to-tv-desk (&key (n-trial 1) (offset #f(400 -500 0)))
+  (let ((success-move-to-tv-desk nil))
+    (dotimes (i n-trial)
+      (setq success-move-to-tv-desk
+    (move-to (make-coords :pos (float-vector 4035.759 7343.818 30000.0) :rpy (float-vector 1.753 0 0)) :relative-pos offset))
+      (when success-move-to-tv-desk (return)))
+    success-move-to-tv-desk))
+
+(defun move-to-desk-back (&key (n-trial 1) (offset #f(400 -500 0)))
+  (let ((success-move-to-desk-back nil))
+    (dotimes (i n-trial)
+      (setq success-move-to-desk-back
+    (move-to (make-coords :pos (float-vector 4324.417 6121.184 30000.0) :rpy (float-vector -0.845 0 0)) :relative-pos offset))
+      (when success-move-to-desk-back (return)))
+    success-move-to-desk-back))
+
+(defun move-to-desk-front (&key (n-trial 1) (offset #f(400 -500 0)))
+  (let ((success-move-to-desk-front nil))
+    (dotimes (i n-trial)
+      (setq success-move-to-desk-front
+    (move-to (make-coords :pos (float-vector 4318.808 6108.146 30000.0) :rpy (float-vector -2.231 0 0)) :relative-pos offset))
+      (when success-move-to-desk-front (return)))
+    success-move-to-desk-front))
+
+(defun move-to-kitchen-door-front (&key (n-trial 1) (offset #f(400 -500 0)))
+  (let ((success-move-to-kitchen-door-front nil))
+    (dotimes (i n-trial)
+      (setq success-move-to-kitchen-door-front
+    (move-to (make-coords :pos (float-vector 1558.69 7230.57 30000.0) :rpy (float-vector 2.296 0 0)) :relative-pos offset))
+      (when success-move-to-kitchen-door-front (return)))
+    success-move-to-kitchen-door-front))
+
+(defun inspect-dock-front (&key (tweet t))
+  (report-move-to-dock-front)
+  (send *fetch* :angle-vector #f(20.0 75.6304 80.2141 -11.4592 98.5487 0.0 95.111 0.0 0.0 0.0))
+  (send *ri* :angle-vector-raw (send *fetch* :angle-vector) 3000 :head-controller)
+  (send *ri* :wait-interpolation)
+  (if tweet
+      (progn
+        (tweet-string "I took a photo in front of the dock." :warning-time 3
+                      :with-image "/edgetpu_object_detector/output/image" :speak t)
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+          (ros::publish "/kitchen_demo/photo_taken" img)))))
+
+(defun inspect-tv-front (&key (tweet t))
+  (report-move-to-tv-front)
+  (send *fetch* :angle-vector #f(21.5608 75.5393 80.1877 -11.5039 93.586 -0.069474 95.2016 -0.006954 -47.2843 7.53289))
+  (send *ri* :angle-vector-raw (send *fetch* :angle-vector) 3000 :head-controller)
+  (send *ri* :wait-interpolation)
+  (if tweet
+      (progn
+        (tweet-string "I took a photo in front of the tv." :warning-time 3
+                      :with-image "/edgetpu_object_detector/output/image" :speak t)
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+          (ros::publish "/kitchen_demo/photo_taken" img)))))
+
+(defun inspect-tv-desk (&key (tweet t))
+  (report-move-to-tv-desk)
+  (send *fetch* :angle-vector #f(21.5684 75.5612 80.1877 -11.4819 93.608 -0.091436 95.2235 -0.006954 -2.16963 19.5739))
+  (send *ri* :angle-vector-raw (send *fetch* :angle-vector) 3000 :head-controller)
+  (send *ri* :wait-interpolation)
+  (if tweet
+      (progn
+        (tweet-string "I took a photo in front of the tv." :warning-time 3
+                      :with-image "/edgetpu_object_detector/output/image" :speak t)
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+          (ros::publish "/kitchen_demo/photo_taken" img)))))
+
+(defun inspect-desk-back (&key (tweet t))
+  (report-move-to-tv-desk)
+  (send *fetch* :angle-vector #f(21.5684 75.5832 80.1877 -11.4819 93.608 -0.04749 95.2016 -0.072829 -1.45585 10.8727))
+  (send *ri* :angle-vector-raw (send *fetch* :angle-vector) 3000 :head-controller)
+  (send *ri* :wait-interpolation)
+  (if tweet
+      (progn
+        (tweet-string "I took a photo of desks." :warning-time 3
+                      :with-image "/edgetpu_object_detector/output/image" :speak t)
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+          (ros::publish "/kitchen_demo/photo_taken" img)))))
+
+(defun inspect-desk-front (&key (tweet t))
+  (report-move-to-tv-desk)
+  (send *fetch* :angle-vector #f(21.5761 75.5173 80.2097 -11.5478 93.6519 -0.04749 95.1796 -0.006954 -1.11597 10.8288))
+  (send *ri* :angle-vector-raw (send *fetch* :angle-vector) 3000 :head-controller)
+  (send *ri* :wait-interpolation)
+  (if tweet
+      (progn
+        (tweet-string "I took a photo of desks." :warning-time 3
+                      :with-image "/edgetpu_object_detector/output/image" :speak t)
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+          (ros::publish "/kitchen_demo/photo_taken" img)))))
+
+(defun inspect-kitchen-door-front (&key (tweet t))
+  (report-move-to-tv-desk)
+  (send *fetch* :angle-vector #f(21.5608 75.5612 80.2316 -11.5039 93.586 -0.04749 95.1576 -0.050857 3.17796 16.3219))
+  (send *ri* :angle-vector-raw (send *fetch* :angle-vector) 3000 :head-controller)
+  (send *ri* :wait-interpolation)
+  (if tweet
+      (progn
+        (tweet-string "I took a photo of kitchen." :warning-time 3
+                      :with-image "/edgetpu_object_detector/output/image" :speak t)
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+          (ros::publish "/kitchen_demo/photo_taken" img)))))
+
 (defun inspect-trashcan (&key (tweet t))
   (report-move-to-trashcan-front)
   (send *fetch* :head :neck-p :joint-angle 40)
@@ -566,8 +728,39 @@ Args:
             (:report-start-go-to-kitchen -> :get-light-on)
             (:get-light-on -> :report-light-on)
             (:get-light-on !-> :room-light-on)
-            (:report-light-on -> :move-to-sink-front)
-            (:room-light-on -> :move-to-sink-front)
+            (:report-light-on -> :move-to-dock-front)
+            (:room-light-on -> :move-to-dock-front)
+
+            (:move-to-dock-front -> :inspect-dock-front)
+            (:move-to-dock-front !-> :report-move-to-dock-front-failure)
+            (:inspect-dock-front -> :move-to-tv-front)
+            (:report-move-to-dock-front-failure -> :move-to-tv-front)
+
+            (:move-to-tv-front -> :inspect-tv-front)
+            (:move-to-tv-front !-> :report-move-to-tv-front-failure)
+            (:inspect-tv-front -> :move-to-tv-desk)
+            (:report-move-to-tv-front-failure -> :move-to-tv-desk)
+
+            (:move-to-tv-desk -> :inspect-tv-desk)
+            (:move-to-tv-desk !-> :report-move-to-tv-desk-failure)
+            (:inspect-tv-desk -> :move-to-desk-back)
+            (:report-move-to-tv-desk-failure -> :move-to-desk-back)
+
+            (:move-to-desk-back -> :inspect-desk-back)
+            (:move-to-desk-back !-> :report-move-to-desk-back-failure)
+            (:inspect-desk-back -> :move-to-desk-front)
+            (:report-move-to-desk-back-failure -> :move-to-desk-front)
+
+            (:move-to-desk-front -> :inspect-desk-front)
+            (:move-to-desk-front !-> :report-move-to-desk-front-failure)
+            (:inspect-desk-front -> :move-to-kitchen-door-front)
+            (:report-move-to-desk-front-failure -> :move-to-kitchen-door-front)
+
+            (:move-to-kitchen-door-front -> :inspect-kitchen-door-front)
+            (:move-to-kitchen-door-front !-> :report-move-to-kitchen-door-front-failure)
+            (:inspect-kitchen-door-front -> :move-to-sink-front)
+            (:report-move-to-kitchen-door-front-failure -> :move-to-sink-front)
+
             (:move-to-sink-front -> :inspect-kitchen)
             (:move-to-sink-front !-> :report-move-to-sink-front-failure)
             ;;(:inspect-kitchen -> :auto-dock)
@@ -610,63 +803,123 @@ Args:
                    (report-light-off)
                    (room-light-on :control-switchbot control-switchbot)
                    t)))
-            (:move-to-sink-front
-              '(lambda (userdata)
-                 (let* ((n-trial (cdr (assoc 'n-kitchen-trial userdata)))
-                        (success (move-to-sink-front :n-trial n-trial)))
-                   (setf (cdr (assoc 'success-go-to-kitchen userdata)) success)
+            (:move-to-dock-front
+             '(lambda (userdata)
+                 (let* ((n-trial (cdr (assoc 'n-dock-front-trial userdata)))
+                        (success (move-to-dock-front :n-trial n-trial)))
+                   (setf (cdr (assoc 'success-go-to-dock-front userdata)) success)
                    success)))
+            (:inspect-dock-front
+             '(lambda (userdata)
+               (inspect-dock-front :tweet (cdr (assoc 'tweet userdata)))
+               t))
+            (:move-to-tv-front
+             '(lambda (userdata)
+               (let* ((n-trial (cdr (assoc 'n-tv-front-trial userdata)))
+                      (success (move-to-tv-front :n-trial n-trial)))
+                 (setf (cdr (assoc 'success-go-to-tv-front userdata)) success)
+                 success)))
+            (:inspect-tv-front
+             '(lambda (userdata)
+               (inspect-tv-front :tweet (cdr (assoc 'tweet userdata)))
+               t))
+            (:move-to-tv-desk
+             '(lambda (userdata)
+               (let* ((n-trial (cdr (assoc 'n-tv-desk-trial userdata)))
+                      (success (move-to-tv-desk :n-trial n-trial)))
+                 (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success)
+                 success)))
+            (:inspect-tv-desk
+             '(lambda (userdata)
+               (inspect-tv-desk :tweet (cdr (assoc 'tweet userdata)))
+               t))
+            (:move-to-desk-back
+             '(lambda (userdata)
+               (let* ((n-trial (cdr (assoc 'n-desk-back-trial userdata)))
+                      (success (move-to-desk-back :n-trial n-trial)))
+                 (setf (cdr (assoc 'success-go-to-desk-back userdata)) success)
+                 success)))
+            (:inspect-desk-back
+             '(lambda (userdata)
+               (inspect-desk-back :tweet (cdr (assoc 'tweet userdata)))
+               t))
+            (:move-to-desk-front
+             '(lambda (userdata)
+               (let* ((n-trial (cdr (assoc 'n-desk-front-trial userdata)))
+                      (success (move-to-desk-front :n-trial n-trial)))
+                 (setf (cdr (assoc 'success-go-to-desk-front userdata)) success)
+                 success)))
+            (:inspect-desk-front
+             '(lambda (userdata)
+               (inspect-desk-front :tweet (cdr (assoc 'tweet userdata)))
+               t))
+            (:move-to-kitchen-door-front
+             '(lambda (userdata)
+               (let* ((n-trial (cdr (assoc 'n-kitchen-door-front-trial userdata)))
+                      (success (move-to-kitchen-door-front :n-trial n-trial)))
+                 (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success)
+                 success)))
+            (:inspect-kitchen-door-front
+             '(lambda (userdata)
+               (inspect-kitchen-door-front :tweet (cdr (assoc 'tweet userdata)))
+               t))
+            (:move-to-sink-front
+             '(lambda (userdata)
+               (let* ((n-trial (cdr (assoc 'n-kitchen-trial userdata)))
+                      (success (move-to-sink-front :n-trial n-trial)))
+                 (setf (cdr (assoc 'success-go-to-kitchen userdata)) success)
+                 success)))
             (:inspect-kitchen
-              '(lambda (userdata)
-                 (inspect-kitchen :tweet (cdr (assoc 'tweet userdata)))
-                 t))
+             '(lambda (userdata)
+               (inspect-kitchen :tweet (cdr (assoc 'tweet userdata)))
+               t))
             (:report-move-to-sink-front-failure
-              '(lambda (userdata)
-                 (report-move-to-sink-front-failure)
-                 t))
+             '(lambda (userdata)
+               (report-move-to-sink-front-failure)
+               t))
             (:move-to-trashcan-front
-              '(lambda (userdata)
-                 (let* ((n-trial (cdr (assoc 'n-trashcan-trial userdata)))
-                        (success (move-to-trashcan-front :n-trial n-trial)))
-                   (setf (cdr (assoc 'success-go-to-trashcan userdata)) success)
-                   success)))
+             '(lambda (userdata)
+               (let* ((n-trial (cdr (assoc 'n-trashcan-trial userdata)))
+                      (success (move-to-trashcan-front :n-trial n-trial)))
+                 (setf (cdr (assoc 'success-go-to-trashcan userdata)) success)
+                 success)))
             (:inspect-trashcan
-              '(lambda (userdata)
-                 (inspect-trashcan :tweet (cdr (assoc 'tweet userdata)))
-                 t))
+             '(lambda (userdata)
+               (inspect-trashcan :tweet (cdr (assoc 'tweet userdata)))
+               t))
             (:report-move-to-trashcan-front-failure
-              '(lambda (userdata)
-                 (report-move-to-trashcan-front-failure)
-                 t))
+             '(lambda (userdata)
+               (report-move-to-trashcan-front-failure)
+               t))
             (:auto-dock
-              '(lambda (userdata)
-                 (report-auto-dock)
-                 (let* ((n-trial (cdr (assoc 'n-dock-trial userdata)))
-                        (success (auto-dock :n-trial n-trial :clear-costmap nil)))
-                   (setf (cdr (assoc 'success-auto-dock userdata)) success)
-                   success)))
+             '(lambda (userdata)
+               (report-auto-dock)
+               (let* ((n-trial (cdr (assoc 'n-dock-trial userdata)))
+                      (success (auto-dock :n-trial n-trial :clear-costmap nil)))
+                 (setf (cdr (assoc 'success-auto-dock userdata)) success)
+                 success)))
             (:auto-dock-failure
-              '(lambda (userdata)
-                 (report-auto-dock-failure)
-                 t))
+             '(lambda (userdata)
+               (report-auto-dock-failure)
+               t))
             (:room-light-off
-              '(lambda (userdata)
-                 (let ((success-auto-dock (cdr (assoc 'success-auto-dock userdata)))
-                       (initial-light-on (cdr (assoc 'initial-light-on userdata)))
-                       (control-switchbot (cdr (assoc 'control-switchbot userdata))))
-                   (if (and success-auto-dock (not initial-light-on))
+             '(lambda (userdata)
+               (let ((success-auto-dock (cdr (assoc 'success-auto-dock userdata)))
+                     (initial-light-on (cdr (assoc 'initial-light-on userdata)))
+                     (control-switchbot (cdr (assoc 'control-switchbot userdata))))
+                 (if (and success-auto-dock (not initial-light-on))
                      (room-light-off :control-switchbot control-switchbot)))
-                 t))
+               t))
             (:finish
-              '(lambda (userdata)
-                 (let ((success-battery-charging
-                        (progn (wait-until-is-charging)
-                               (equal (get-battery-charging-state) :charging)))
-                       (success-auto-dock (cdr (assoc 'success-auto-dock userdata)))
-                       (success-go-to-kitchen
-                         (cdr (assoc 'success-go-to-kitchen userdata))))
-                   (restore-params)
-                   (send-kitchen-mail)
-                   (and success-go-to-kitchen success-auto-dock success-battery-charging)))))
+             '(lambda (userdata)
+               (let ((success-battery-charging
+                      (progn (wait-until-is-charging)
+                             (equal (get-battery-charging-state) :charging)))
+                     (success-auto-dock (cdr (assoc 'success-auto-dock userdata)))
+                     (success-go-to-kitchen
+                      (cdr (assoc 'success-go-to-kitchen userdata))))
+                 (restore-params)
+                 (send-kitchen-mail)
+                 (and success-go-to-kitchen success-auto-dock success-battery-charging)))))
           '(:init)
           '(t nil))))

From 63354fe05bd5df9e9169f98c69faeb7719146dec Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Fri, 12 Aug 2022 14:48:03 +0900
Subject: [PATCH 292/323] [jsk_fetch_startup] publish what photo has been taken
 in kitchen demo

---
 .../apps/go_to_kitchen/go_to_kitchen.app       |  1 +
 .../euslisp/navigation-utils.l                 | 18 +++++++++++-------
 2 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index 32b9d51050..48e797cb66 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -41,6 +41,7 @@ plugins:
         - /head_camera/depth_registered/throttled/camera_info
         - /head_camera/rgb/throttled/image_rect_color/compressed
         - /head_camera/depth_registered/throttled/image_rect/compressedDepth
+        - /photo_taken
         - /server_name/smach/container_init
         - /server_name/smach/container_status
         - /server_name/smach/container_structure
diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 3a3091ae88..3fda1fb81d 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -16,7 +16,7 @@
 (defparameter *spots* nil)
 (defparameter *tfl* (instance ros::transform-listener :init))
 
-(ros::advertise "/kitchen_demo/photo_taken" sensor_msgs::Image 1)
+(ros::advertise "/photo_taken" sensor_msgs::Image 1)
 
 (let ((robot-name (ros::get-param "/robot/name")))
   (defparameter *dock-spot*
@@ -459,6 +459,8 @@ Args:
       ;; sink
       (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3
                     :with-image "/edgetpu_object_detector/output/image" :speak t)
+      (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+        (ros::publish "/photo_taken" img))
       (take-photo "kitchen_sink.jpg")
       (notify-recognition :location "kitchen sink"))
     (progn
@@ -531,7 +533,7 @@ Args:
         (tweet-string "I took a photo in front of the dock." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
         (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
-          (ros::publish "/kitchen_demo/photo_taken" img)))))
+          (ros::publish "/photo_taken" img)))))
 
 (defun inspect-tv-front (&key (tweet t))
   (report-move-to-tv-front)
@@ -543,7 +545,7 @@ Args:
         (tweet-string "I took a photo in front of the tv." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
         (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
-          (ros::publish "/kitchen_demo/photo_taken" img)))))
+          (ros::publish "/photo_taken" img)))))
 
 (defun inspect-tv-desk (&key (tweet t))
   (report-move-to-tv-desk)
@@ -555,7 +557,7 @@ Args:
         (tweet-string "I took a photo in front of the tv." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
         (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
-          (ros::publish "/kitchen_demo/photo_taken" img)))))
+          (ros::publish "/photo_taken" img)))))
 
 (defun inspect-desk-back (&key (tweet t))
   (report-move-to-tv-desk)
@@ -567,7 +569,7 @@ Args:
         (tweet-string "I took a photo of desks." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
         (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
-          (ros::publish "/kitchen_demo/photo_taken" img)))))
+          (ros::publish "/photo_taken" img)))))
 
 (defun inspect-desk-front (&key (tweet t))
   (report-move-to-tv-desk)
@@ -579,7 +581,7 @@ Args:
         (tweet-string "I took a photo of desks." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
         (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
-          (ros::publish "/kitchen_demo/photo_taken" img)))))
+          (ros::publish "/photo_taken" img)))))
 
 (defun inspect-kitchen-door-front (&key (tweet t))
   (report-move-to-tv-desk)
@@ -591,7 +593,7 @@ Args:
         (tweet-string "I took a photo of kitchen." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
         (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
-          (ros::publish "/kitchen_demo/photo_taken" img)))))
+          (ros::publish "/photo_taken" img)))))
 
 (defun inspect-trashcan (&key (tweet t))
   (report-move-to-trashcan-front)
@@ -609,6 +611,8 @@ Args:
         (send *ri* :wait-interpolation)
         (tweet-string "I took a photo of 73B2 trash can inside." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+          (ros::publish "/photo_taken" img))
         (take-photo "trashcan_inside.jpg")
         (notify-recognition :location "trash cans inside")
         (notify-trashcan-occupancy :location "trash can")

From 0bb52e493cff0adebb70488f0c1da63fd2616137 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Fri, 12 Aug 2022 18:11:54 +0900
Subject: [PATCH 293/323] [jsk_fetch_startup] fix bugs

---
 .../jsk_fetch_startup/euslisp/go-to-kitchen.l |  6 ++
 .../euslisp/navigation-utils.l                | 77 ++++++++++++-------
 2 files changed, 57 insertions(+), 26 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l
index 134dcfae34..d610d09c00 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l
@@ -20,6 +20,12 @@
                                      (n-kitchen-door-front-trial . ,n-kitchen-door-front-trial)
                                      (control-switchbot . ,control-switchbot)
                                      (initial-light-on . nil)
+                                     (success-go-to-dock-front . nil)
+                                     (success-go-to-tv-front . nil)
+                                     (success-go-to-tv-desk . nil)
+                                     (success-go-to-desk-back . nil)
+                                     (success-go-to-desk-front . nil)
+                                     (success-go-to-tv-desk . nil)
                                      (success-go-to-kitchen . nil)
                                      (success-go-to-trashcan . nil)
                                      (success-auto-dock . nil))
diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 3fda1fb81d..4027eafdd8 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -345,51 +345,51 @@ Args:
   (ros::ros-error "failed auto-docking")
   (send *ri* :speak-jp "ドックに失敗しました。" :wait t))
 
-(defun report-move-to-dock-front
+(defun report-move-to-dock-front ()
   (ros::ros-info "take a picture in front of the dock")
   (send *ri* :speak-jp "ドックの前に到着しました" :wait t))
 
-(defun report-move-to-dock-front-failure
+(defun report-move-to-dock-front-failure ()
   (ros::ros-info "failed taking a picture in front of the dock")
   (send *ri* :speak-jp "ドックの前への移動に失敗しました" :wait t))
 
-(defun report-move-to-tv-front
+(defun report-move-to-tv-front ()
   (ros::ros-info "take a picture in front of the tv")
   (send *ri* :speak-jp "テレビの前に到着しました" :wait t))
 
-(defun report-move-to-tv-front-failure
+(defun report-move-to-tv-front-failure ()
   (ros::ros-info "failed taking a picture at in front of the tv")
   (send *ri* :speak-jp "テレビの前への移動に失敗しました" :wait t))
 
-(defun report-move-to-tv-desk
+(defun report-move-to-tv-desk ()
   (ros::ros-info "take a picture in front of the tv desk")
   (send *ri* :speak-jp "テレビの机の前に到着しました" :wait t))
 
-(defun report-move-to-tv-desk-failure
+(defun report-move-to-tv-desk-failure ()
   (ros::ros-info "failed taking a picture at in front of the tv desk")
   (send *ri* :speak-jp "テレビの机の前への移動に失敗しました" :wait t))
 
-(defun report-move-to-desk-back
+(defun report-move-to-desk-back ()
   (ros::ros-info "take a picture of tsukamoto-kun desk")
   (send *ri* :speak-jp "奥の机の写真を撮る位置に移動しました" :wait t))
 
-(defun report-move-to-desk-back-failure
+(defun report-move-to-desk-back-failure ()
   (ros::ros-info "failed taking a picture of tsukamoto-kun desk")
   (send *ri* :speak-jp "奥の机の写真を撮る位置への移動に失敗しました" :wait t))
 
-(defun report-move-to-desk-front
+(defun report-move-to-desk-front ()
   (ros::ros-info "take a picture of obinata desk")
   (send *ri* :speak-jp "手前の机の写真を撮る位置に移動しました" :wait t))
 
-(defun report-move-to-desk-front-failure
+(defun report-move-to-desk-front-failure ()
   (ros::ros-info "failed taking a picture of obinata desk")
   (send *ri* :speak-jp "手前の机の写真を撮る位置への移動に失敗しました" :wait t))
 
-(defun report-move-to-kitchen-door-front
+(defun report-move-to-kitchen-door-front ()
   (ros::ros-info "take a picture of kitchen in front of the door")
   (send *ri* :speak-jp "キッチンを斜めから撮る位置に移動しました" :wait t))
 
-(defun report-move-to-kitchen-door-front-failure
+(defun report-move-to-kitchen-door-front-failure ()
   (ros::ros-info "failed taking a picture of kitchen in front of the door")
   (send *ri* :speak-jp "キッチンを斜めから撮る位置への移動に失敗しました" :wait t))
 
@@ -459,7 +459,7 @@ Args:
       ;; sink
       (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3
                     :with-image "/edgetpu_object_detector/output/image" :speak t)
-      (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+      (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
         (ros::publish "/photo_taken" img))
       (take-photo "kitchen_sink.jpg")
       (notify-recognition :location "kitchen sink"))
@@ -479,7 +479,7 @@ Args:
   (let ((success-move-to-dock-front nil))
     (dotimes (i n-trial)
       (setq success-move-to-dock-front
-    (move-to (make-coords :pos (float-vector 5077.8 6763.237 30000.0) :rpy (float-vector 0.059 0 0)) :relative-pos offset))
+    (send *ri* :move-to (make-coords :pos (float-vector 5077.8 6763.237 30000.0) :rpy (float-vector 0.059 0 0)) :relative-pos offset))
       (when success-move-to-dock-front (return)))
     success-move-to-dock-front))
 
@@ -487,7 +487,7 @@ Args:
   (let ((success-move-to-tv-front nil))
     (dotimes (i n-trial)
       (setq success-move-to-tv-front
-    (move-to (make-coords :pos (float-vector 5082.057 6800.628 30000.0) :rpy (float-vector 3.109 0 0)) :relative-pos offset))
+    (send *ri* :move-to (make-coords :pos (float-vector 5082.057 6800.628 30000.0) :rpy (float-vector 3.109 0 0)) :relative-pos offset))
       (when success-move-to-tv-front (return)))
     success-move-to-tv-front))
 
@@ -495,7 +495,7 @@ Args:
   (let ((success-move-to-tv-desk nil))
     (dotimes (i n-trial)
       (setq success-move-to-tv-desk
-    (move-to (make-coords :pos (float-vector 4035.759 7343.818 30000.0) :rpy (float-vector 1.753 0 0)) :relative-pos offset))
+    (send *ri* :move-to (make-coords :pos (float-vector 4035.759 7343.818 30000.0) :rpy (float-vector 1.753 0 0)) :relative-pos offset))
       (when success-move-to-tv-desk (return)))
     success-move-to-tv-desk))
 
@@ -503,7 +503,7 @@ Args:
   (let ((success-move-to-desk-back nil))
     (dotimes (i n-trial)
       (setq success-move-to-desk-back
-    (move-to (make-coords :pos (float-vector 4324.417 6121.184 30000.0) :rpy (float-vector -0.845 0 0)) :relative-pos offset))
+    (send *ri* :move-to (make-coords :pos (float-vector 4324.417 6121.184 30000.0) :rpy (float-vector -0.845 0 0)) :relative-pos offset))
       (when success-move-to-desk-back (return)))
     success-move-to-desk-back))
 
@@ -511,7 +511,7 @@ Args:
   (let ((success-move-to-desk-front nil))
     (dotimes (i n-trial)
       (setq success-move-to-desk-front
-    (move-to (make-coords :pos (float-vector 4318.808 6108.146 30000.0) :rpy (float-vector -2.231 0 0)) :relative-pos offset))
+    (send *ri* :move-to (make-coords :pos (float-vector 4318.808 6108.146 30000.0) :rpy (float-vector -2.231 0 0)) :relative-pos offset))
       (when success-move-to-desk-front (return)))
     success-move-to-desk-front))
 
@@ -519,7 +519,7 @@ Args:
   (let ((success-move-to-kitchen-door-front nil))
     (dotimes (i n-trial)
       (setq success-move-to-kitchen-door-front
-    (move-to (make-coords :pos (float-vector 1558.69 7230.57 30000.0) :rpy (float-vector 2.296 0 0)) :relative-pos offset))
+    (send *ri* :move-to (make-coords :pos (float-vector 1558.69 7230.57 30000.0) :rpy (float-vector 2.296 0 0)) :relative-pos offset))
       (when success-move-to-kitchen-door-front (return)))
     success-move-to-kitchen-door-front))
 
@@ -532,7 +532,7 @@ Args:
       (progn
         (tweet-string "I took a photo in front of the dock." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
-        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
           (ros::publish "/photo_taken" img)))))
 
 (defun inspect-tv-front (&key (tweet t))
@@ -544,7 +544,7 @@ Args:
       (progn
         (tweet-string "I took a photo in front of the tv." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
-        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
           (ros::publish "/photo_taken" img)))))
 
 (defun inspect-tv-desk (&key (tweet t))
@@ -556,7 +556,7 @@ Args:
       (progn
         (tweet-string "I took a photo in front of the tv." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
-        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
           (ros::publish "/photo_taken" img)))))
 
 (defun inspect-desk-back (&key (tweet t))
@@ -568,7 +568,7 @@ Args:
       (progn
         (tweet-string "I took a photo of desks." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
-        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
           (ros::publish "/photo_taken" img)))))
 
 (defun inspect-desk-front (&key (tweet t))
@@ -580,7 +580,7 @@ Args:
       (progn
         (tweet-string "I took a photo of desks." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
-        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
           (ros::publish "/photo_taken" img)))))
 
 (defun inspect-kitchen-door-front (&key (tweet t))
@@ -592,7 +592,7 @@ Args:
       (progn
         (tweet-string "I took a photo of kitchen." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
-        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
           (ros::publish "/photo_taken" img)))))
 
 (defun inspect-trashcan (&key (tweet t))
@@ -611,7 +611,7 @@ Args:
         (send *ri* :wait-interpolation)
         (tweet-string "I took a photo of 73B2 trash can inside." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
-        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw")))
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
           (ros::publish "/photo_taken" img))
         (take-photo "trashcan_inside.jpg")
         (notify-recognition :location "trash cans inside")
@@ -783,6 +783,7 @@ Args:
           '((:init
               '(lambda (userdata)
                  (fetch-init)
+		 (undock)
                  (send *ri* :clear-costmap)
                  (store-params)
                  (inflation-loose)
@@ -817,6 +818,10 @@ Args:
              '(lambda (userdata)
                (inspect-dock-front :tweet (cdr (assoc 'tweet userdata)))
                t))
+            (:report-move-to-dock-front-failure
+             '(lambda (userdata)
+               (report-move-to-dock-front-failure)
+               t))
             (:move-to-tv-front
              '(lambda (userdata)
                (let* ((n-trial (cdr (assoc 'n-tv-front-trial userdata)))
@@ -827,6 +832,10 @@ Args:
              '(lambda (userdata)
                (inspect-tv-front :tweet (cdr (assoc 'tweet userdata)))
                t))
+            (:report-move-to-tv-front-failure
+             '(lambda (userdata)
+               (report-move-to-tv-front-failure)
+               t))
             (:move-to-tv-desk
              '(lambda (userdata)
                (let* ((n-trial (cdr (assoc 'n-tv-desk-trial userdata)))
@@ -837,6 +846,10 @@ Args:
              '(lambda (userdata)
                (inspect-tv-desk :tweet (cdr (assoc 'tweet userdata)))
                t))
+            (:report-move-to-tv-desk-failure
+             '(lambda (userdata)
+               (report-move-to-tv-desk-failure)
+               t))
             (:move-to-desk-back
              '(lambda (userdata)
                (let* ((n-trial (cdr (assoc 'n-desk-back-trial userdata)))
@@ -847,6 +860,10 @@ Args:
              '(lambda (userdata)
                (inspect-desk-back :tweet (cdr (assoc 'tweet userdata)))
                t))
+            (:report-move-to-desk-back-failure
+             '(lambda (userdata)
+               (report-move-to-desk-back-failure)
+               t))
             (:move-to-desk-front
              '(lambda (userdata)
                (let* ((n-trial (cdr (assoc 'n-desk-front-trial userdata)))
@@ -857,6 +874,10 @@ Args:
              '(lambda (userdata)
                (inspect-desk-front :tweet (cdr (assoc 'tweet userdata)))
                t))
+            (:report-move-to-desk-front-failure
+             '(lambda (userdata)
+               (report-move-to-desk-front-failure)
+               t))
             (:move-to-kitchen-door-front
              '(lambda (userdata)
                (let* ((n-trial (cdr (assoc 'n-kitchen-door-front-trial userdata)))
@@ -867,6 +888,10 @@ Args:
              '(lambda (userdata)
                (inspect-kitchen-door-front :tweet (cdr (assoc 'tweet userdata)))
                t))
+            (:report-move-to-kitchen-door-front-failure
+             '(lambda (userdata)
+               (report-move-to-kitchen-door-front-failure)
+               t))
             (:move-to-sink-front
              '(lambda (userdata)
                (let* ((n-trial (cdr (assoc 'n-kitchen-trial userdata)))

From ec815cca050b7cec0c42f4ee2334f9d4867e64da Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Mon, 15 Aug 2022 00:31:03 +0900
Subject: [PATCH 294/323] [jsk_fetch_startup] publish
 /head_camera/rgb/image_rect_color as /photo_taken topic

---
 .../jsk_fetch_startup/euslisp/navigation-utils.l | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 4027eafdd8..a297930ea6 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -459,7 +459,7 @@ Args:
       ;; sink
       (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3
                     :with-image "/edgetpu_object_detector/output/image" :speak t)
-      (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
+      (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image)))
         (ros::publish "/photo_taken" img))
       (take-photo "kitchen_sink.jpg")
       (notify-recognition :location "kitchen sink"))
@@ -532,7 +532,7 @@ Args:
       (progn
         (tweet-string "I took a photo in front of the dock." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
-        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image)))
           (ros::publish "/photo_taken" img)))))
 
 (defun inspect-tv-front (&key (tweet t))
@@ -544,7 +544,7 @@ Args:
       (progn
         (tweet-string "I took a photo in front of the tv." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
-        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image)))
           (ros::publish "/photo_taken" img)))))
 
 (defun inspect-tv-desk (&key (tweet t))
@@ -556,7 +556,7 @@ Args:
       (progn
         (tweet-string "I took a photo in front of the tv." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
-        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image)))
           (ros::publish "/photo_taken" img)))))
 
 (defun inspect-desk-back (&key (tweet t))
@@ -568,7 +568,7 @@ Args:
       (progn
         (tweet-string "I took a photo of desks." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
-        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image)))
           (ros::publish "/photo_taken" img)))))
 
 (defun inspect-desk-front (&key (tweet t))
@@ -580,7 +580,7 @@ Args:
       (progn
         (tweet-string "I took a photo of desks." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
-        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image)))
           (ros::publish "/photo_taken" img)))))
 
 (defun inspect-kitchen-door-front (&key (tweet t))
@@ -592,7 +592,7 @@ Args:
       (progn
         (tweet-string "I took a photo of kitchen." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
-        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image)))
           (ros::publish "/photo_taken" img)))))
 
 (defun inspect-trashcan (&key (tweet t))
@@ -611,7 +611,7 @@ Args:
         (send *ri* :wait-interpolation)
         (tweet-string "I took a photo of 73B2 trash can inside." :warning-time 3
                       :with-image "/edgetpu_object_detector/output/image" :speak t)
-        (let ((img (one-shot-subscribe "/head_camera/rgb/image_raw" sensor_msgs::Image)))
+        (let ((img (one-shot-subscribe "/head_camera/rgb/image_rect_color" sensor_msgs::Image)))
           (ros::publish "/photo_taken" img))
         (take-photo "trashcan_inside.jpg")
         (notify-recognition :location "trash cans inside")

From 439db2046d5ce84a4f0560f9756859ed2c2f4839 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Tue, 16 Aug 2022 22:50:52 +0900
Subject: [PATCH 295/323] [jsk_fetch_startup] add rate arg to rosbag play

---
 jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch
index 1fdab69f5f..725e006ada 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch
@@ -12,6 +12,7 @@
   <arg name="duration" default="" if="$(eval duration_time == 0)" />
   <arg name="audio_play" default="false" />
   <arg name="audio_device" default="" />
+  <arg name="rate" default="1.0" />
 
   <arg name="RGB_CAMERA_INFO" value="/head_camera/rgb/throttled/camera_info" />
   <arg name="RGB_IMAGE" value="/head_camera/rgb/throttled/image_rect_color" />
@@ -104,7 +105,7 @@
 
   <!-- rosbag player -->
   <node pkg="rosbag" type="play" name="rosbag_play"
-        args="$(arg rosbag) $(arg loop_flag) --clock --start $(arg start_time) $(arg duration)" output="screen" />
+        args="$(arg rosbag) $(arg loop_flag) --clock --start $(arg start_time) $(arg duration) -r $(arg rate)" output="screen" />
 
   <node pkg="rviz" type="rviz" name="$(anon rviz)" if="$(arg gui)"
         args="-d $(find jsk_fetch_startup)/config/jsk_startup.rviz" />

From 4c6ce94310021c02b64d557b5751a3080d9c7808 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 15 Aug 2022 14:37:00 +0900
Subject: [PATCH 296/323] [fetcheus] add :point-head method

---
 jsk_fetch_robot/fetcheus/fetch-interface.l | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l
index 94393cae21..cfbf71ca06 100644
--- a/jsk_fetch_robot/fetcheus/fetch-interface.l
+++ b/jsk_fetch_robot/fetcheus/fetch-interface.l
@@ -9,7 +9,7 @@
 
 (defclass fetch-interface
   :super robot-move-base-interface
-  :slots (gripper-action moveit-robot fetch-controller-action)
+  :slots (gripper-action moveit-robot fetch-controller-action point-head-action)
   )
 
 (defmethod fetch-interface
@@ -38,6 +38,10 @@
            (instance ros::simple-action-client :init
                      "/query_controller_states"
                      robot_controllers_msgs::QueryControllerStatesAction))
+     (setq point-head-action
+           (instance ros::simple-action-client :init
+                     "/head_controller/point_head"
+                     control_msgs::PointHeadAction))
 
      (roseus_resume:install-interruption-handler self
          gripper-action
@@ -195,6 +199,17 @@ Example usage:
   (:stop-grasp
     (&rest args &key &allow-other-keys)
     (send* self :go-grasp :pos 0.1 args))
+  (:point-head (pos &key (frame-id "base_link") (wait t))
+    (let ((goal (instance control_msgs::PointHeadGoal :init)))
+      (send goal :target :header :stamp (ros::time-now))
+      (send goal :target :header :frame_id frame-id)
+      (send goal :target :point (ros::pos->tf-point pos))
+      (if wait
+          (send point-head-action :send-goal goal)
+        (send point-head-action :send-goal-and-wait goal)
+        )
+      )
+    )
   (:go-grasp
     (&key (pos 0) (effort 50) (wait t))
     (when (send self :simulation-modep)

From dddc2f89d77e7fe6a86f548127e19d9088d52cac Mon Sep 17 00:00:00 2001
From: Aoi Nakane <nakane@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 18 Aug 2022 03:00:29 +0900
Subject: [PATCH 297/323] [jsk_robot_startup] Speak when shut down or reboot
 (#319)

---
 .../jsk_robot_startup/scripts/shutdown.py             | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py b/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py
index 085bed021a..287fec08c5 100755
--- a/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py
+++ b/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py
@@ -1,10 +1,11 @@
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 
 import os
 import rospy
+from sound_play.libsoundplay import SoundClient
 from std_msgs.msg import Empty
 
-
 class Shutdown(object):
     """
     This node shuts down or reboots the robot itself
@@ -24,15 +25,22 @@ class Shutdown(object):
 
     def __init__(self):
         rospy.loginfo('Start shutdown node.')
+        self.client_jp = SoundClient(sound_action='/robotsound_jp', blocking=True)
         rospy.Subscriber('shutdown', Empty, self.shutdown)
         rospy.Subscriber('reboot', Empty, self.reboot)
         self.shutdown_command = rospy.get_param(
             '~shutdown_command', '/sbin/shutdown -h now')
         self.reboot_command = rospy.get_param(
             '~reboot_command', '/sbin/shutdown -r now')
+        self.volume = rospy.get_param('~volume', 1.0)
+
+    def speak(self, client, speech_text, lang='jp'):
+        client.say(speech_text, voice=lang, volume=self.volume, replace=False)
+        return client.actionclient.get_result()
 
     def shutdown(self, msg):
         rospy.loginfo('Shut down robot.')
+        self.speak(self.client_jp, 'シャットダウンします。')
         ret = os.system(self.shutdown_command)
         if ret != 0:
             rospy.logerr("Failed to call '$ {}'. Check authentication.".format(
@@ -40,6 +48,7 @@ def shutdown(self, msg):
 
     def reboot(self, msg):
         rospy.loginfo('Reboot robot.')
+        self.speak(self.client_jp, '再起動します。')
         ret = os.system(self.reboot_command)
         if ret != 0:
             rospy.logerr("Failed to call '$ {}'. Check authentication.".format(

From 21070d3e54479bb28779f2db9038b47d9f46ce5e Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Thu, 18 Aug 2022 16:39:07 +0900
Subject: [PATCH 298/323] [jsk_fetch_startup] Supervisor save the
 log-wifi-link.sh log (#323)

---
 .../jsk_fetch_startup/scripts/log-wifi-link.sh            | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh
index c888d2a903..2c10f5d0c4 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh
@@ -1,7 +1,6 @@
 #!/bin/bash
 
 IFACE=wlan0
-OUTPATH=/var/log/wifi.log
 INTERVAL=10
 
 wifi_status(){
@@ -14,11 +13,6 @@ wifi_status(){
     echo "$(date -Iseconds),$ssid,$freq,$signal,$level,$noise,$bitrate"
 }
 
-OUTDIR=$(dirname $OUTPATH)
-if [ ! -d $OUTDIR ]; then
-    mkdir -p $OUTDIR
-fi
-
 print_help(){
     echo "Usage: $0 [-i INTERVAL (default: 10)] [-I IFACE (default: wlan0)]"
     exit 1
@@ -34,6 +28,6 @@ do
 done
 
 while true; do
-    wifi_status >> $OUTPATH
+    wifi_status
     sleep $INTERVAL
 done

From dade382bdd8eaab1ca9e2c4ff19c5648524b4ca4 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Sun, 14 Aug 2022 18:05:35 +0900
Subject: [PATCH 299/323] [fetcheus] update args

---
 jsk_fetch_robot/fetcheus/fetch-interface.l | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l
index cfbf71ca06..57d64fb419 100644
--- a/jsk_fetch_robot/fetcheus/fetch-interface.l
+++ b/jsk_fetch_robot/fetcheus/fetch-interface.l
@@ -13,7 +13,7 @@
   )
 
 (defmethod fetch-interface
-  (:init (&key (default-collision-object t) &rest args)
+  (:init (&rest args &key (default-collision-object t) &allow-other-keys)
    (prog1 (send-super* :init :robot fetch-robot :base-frame-id "base_link" :odom-topic "/odom_combined" :base-controller-action-name nil args)
      (send self :add-controller :arm-controller)
      (send self :add-controller :torso-controller)

From 0824a0cffb42455e50a59646bbdb53f6f3f210e2 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 18 Aug 2022 10:16:54 +0900
Subject: [PATCH 300/323] [jsk_fetch_startup] make sanshiro-73B2 default

---
 jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
index 5f0013d276..4463923467 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -21,9 +21,7 @@ if [ $(hostname) = 'fetch15' ]; then
 
   export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0";
   export NETWORK_DEFAULT_ROS_INTERFACE="fetch15";
-  # Comment out until Access point is back
-  #export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2";
-  export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside";
+  export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2";
 elif [ $(hostname) = 'fetch1075' ]; then
   export DEFAULT_SPEAKER=2;
   export DEFAULT_ENGLISH_SPEAKER=cmu_us_slt.flitevox;
@@ -44,7 +42,5 @@ elif [ $(hostname) = 'fetch1075' ]; then
 
   export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1";
   export NETWORK_DEFAULT_ROS_INTERFACE="fetch1075";
-  # Comment out until Access point is back
-  #export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2";
-  export NETWORK_DEFAULT_PROFILE_ID="sanshiro-outside";
+  export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2";
 fi

From e453b534193d34ca0cf9f0274c366f69378f1e3d Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 22 Aug 2022 17:57:11 +0900
Subject: [PATCH 301/323] [jsk_fetch_startup] update log-wifi-link.sh

---
 .../jsk_fetch_startup/scripts/log-wifi-link.sh   | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh
index 2c10f5d0c4..ef42c3e5e0 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh
@@ -2,6 +2,9 @@
 
 IFACE=wlan0
 INTERVAL=10
+PING_COUNT=3
+PING_TIMEOUT=1
+PING_TARGET="www.google.com"
 
 wifi_status(){
     local ssid=$(iw $IFACE link | grep SSID | cut -d: -f2)
@@ -10,7 +13,13 @@ wifi_status(){
     local level=$(cat /proc/net/wireless | grep $IFACE | awk '{print $4}')
     local noise=$(cat /proc/net/wireless | grep $IFACE | awk '{print $5}')
     local bitrate=$(iw $IFACE link | grep bitrate | cut -d':' -f2)
-    echo "$(date -Iseconds),$ssid,$freq,$signal,$level,$noise,$bitrate"
+    local ping_result_raw=$(ping -I $IFACE $PING_TARGET -c $PING_COUNT -W $PING_TIMEOUT | tail -n 1)
+    if [ -z "$ping_result_raw" ]; then
+        local ping_result_duration=999
+    else
+        local ping_result_duration=$(echo $ping_result_raw | cut -d " " -f 4 | cut -d "/" -f 2)
+    fi
+    echo "$(date -Iseconds),$ssid,$freq,$signal,$level,$noise,$bitrate,$ping_result_duration"
 }
 
 print_help(){
@@ -18,11 +27,14 @@ print_help(){
     exit 1
 }
 
-while getopts hi:I: o
+while getopts hi:I:c:W:t: o
 do
     case "$o" in
         i)  INTERVAL=$OPTARG;;
         I)  IFACE="$OPTARG";;
+        c)  PING_COUNT=$OPTARG;;
+        W)  PING_TIMEOUT=$OPTARG;;
+        t)  PING_TARGET="$OPTARG";;
         h)  print_help;;
     esac
 done

From 601643bb628924b24ed133b6dca84c295c23f851 Mon Sep 17 00:00:00 2001
From: Iori Yanokura <ab.ioryz@gmail.com>
Date: Tue, 23 Aug 2022 00:50:58 +0900
Subject: [PATCH 302/323] Fixed audible warning when runstop is enabled. (#329)

---
 .../jsk_fetch_startup/config/warning_blacklist.yaml         | 6 ++++--
 .../jsk_fetch_startup/launch/fetch_bringup.launch           | 4 +++-
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml
index d5ff0adfcc..54dc6a28f6 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/warning_blacklist.yaml
@@ -8,6 +8,8 @@ blacklist:
   - name: "/Sensors/IMU/IMU.*"
   - name: "/SoundPlay/sound_play.*"
 run_stop_blacklist:
-  - name: "\\w*_(mcb|breaker)"
-  - name: "Mainboard"
+  - name: "/Motor Control Boards/.*_(mcb|breaker)"
+  - name: "/System/Mainboard/Mainboard"
     message: "Runstop pressed"
+  - name: "/Breakers/.*"
+    message: "Disabled."
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 e8bd67d4ea..fdbeff1360 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -352,7 +352,9 @@
       run_stop_condition: "m.runstopped is True"
       seconds_to_start_speaking: 60
       speak_interval: 600
-      language: $(arg default_warning_speaker) 
+      language: $(arg default_warning_speaker)
+      ignore_time_after_runstop_is_enabled: 5.0  <!-- Time to ignore diagnostics after runstop is enabled (e.g. m.runstopped is True). -->
+      ignore_time_after_runstop_is_disabled: 5.0  <!-- Time to ignore diagnostics after runstop is enabled (e.g. m.runstopped is True). -->
     </rosparam>
   </node>
 

From 94c73fa61ec0220b48656bb6e84a2b4b5eed3cc4 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Mon, 22 Aug 2022 12:12:51 +0900
Subject: [PATCH 303/323] [jsk_fetch_startup] Add description tag for
 kitchen-demo userdata

---
 .../euslisp/navigation-utils.l                | 34 ++++++++++++++++++-
 1 file changed, 33 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index a297930ea6..1d7327f603 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -792,133 +792,161 @@ Args:
             (:report-start-go-to-kitchen
               '(lambda (userdata)
                  (report-start-go-to-kitchen)
+                 (set-alist 'description "キッチンを見に行くよ" userdata)
                  t))
             (:get-light-on
               '(lambda (userdata)
                  (let ((light-on (get-light-on)))
                    (setf (cdr (assoc 'initial-light-on userdata)) light-on)
+                   (set-alist 'description "電気がついているか確認したよ" userdata)
                    light-on)))
             (:report-light-on
               '(lambda (userdata)
                  (report-light-on)
+                 (set-alist 'description "電気がついていたよ" userdata)
                  t))
             (:room-light-on
               '(lambda (userdata)
                  (let ((control-switchbot (cdr (assoc 'control-switchbot userdata))))
                    (report-light-off)
                    (room-light-on :control-switchbot control-switchbot)
+                   (set-alist 'description "電気をつけたよ" userdata)
                    t)))
             (:move-to-dock-front
              '(lambda (userdata)
                  (let* ((n-trial (cdr (assoc 'n-dock-front-trial userdata)))
                         (success (move-to-dock-front :n-trial n-trial)))
                    (setf (cdr (assoc 'success-go-to-dock-front userdata)) success)
+                   (set-alist 'description "ドックの前に移動したよ" userdata)
                    success)))
             (:inspect-dock-front
              '(lambda (userdata)
                (inspect-dock-front :tweet (cdr (assoc 'tweet userdata)))
+               (set-alist 'description "ドックの前の様子を見たよ" userdata)
                t))
             (:report-move-to-dock-front-failure
              '(lambda (userdata)
                (report-move-to-dock-front-failure)
+               (set-alist 'description "ドックの前に移動できなかったよ" userdata)
                t))
             (:move-to-tv-front
              '(lambda (userdata)
                (let* ((n-trial (cdr (assoc 'n-tv-front-trial userdata)))
                       (success (move-to-tv-front :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-tv-front userdata)) success)
+                 (set-alist 'description "テレビの前に移動したよ" userdata)
                  success)))
             (:inspect-tv-front
              '(lambda (userdata)
                (inspect-tv-front :tweet (cdr (assoc 'tweet userdata)))
+               (set-alist 'description "テレビの前の様子を見たよ" userdata)
                t))
             (:report-move-to-tv-front-failure
              '(lambda (userdata)
                (report-move-to-tv-front-failure)
+               (set-alist 'description "テレビの前に移動できなかったよ" userdata)
                t))
             (:move-to-tv-desk
              '(lambda (userdata)
                (let* ((n-trial (cdr (assoc 'n-tv-desk-trial userdata)))
                       (success (move-to-tv-desk :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success)
+                 (set-alist 'description "机の前に移動したよ" userdata)
                  success)))
             (:inspect-tv-desk
              '(lambda (userdata)
                (inspect-tv-desk :tweet (cdr (assoc 'tweet userdata)))
+               (set-alist 'description "机の様子を確認したよ" userdata)
                t))
             (:report-move-to-tv-desk-failure
              '(lambda (userdata)
                (report-move-to-tv-desk-failure)
+               (set-alist 'description "机の前に移動できなかったよ" userdata)
                t))
             (:move-to-desk-back
              '(lambda (userdata)
                (let* ((n-trial (cdr (assoc 'n-desk-back-trial userdata)))
                       (success (move-to-desk-back :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-desk-back userdata)) success)
+                 (set-alist 'description "部屋の後ろに移動したよ" userdata)
                  success)))
             (:inspect-desk-back
              '(lambda (userdata)
                (inspect-desk-back :tweet (cdr (assoc 'tweet userdata)))
+               (set-alist 'description "部屋の後ろを確認したよ" userdata)
                t))
             (:report-move-to-desk-back-failure
              '(lambda (userdata)
                (report-move-to-desk-back-failure)
+               (set-alist 'description "部屋の後ろに移動できなかったよ" userdata)
                t))
             (:move-to-desk-front
              '(lambda (userdata)
                (let* ((n-trial (cdr (assoc 'n-desk-front-trial userdata)))
                       (success (move-to-desk-front :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-desk-front userdata)) success)
+                 (set-alist 'description "部屋の前に移動したよ" userdata)
                  success)))
             (:inspect-desk-front
              '(lambda (userdata)
                (inspect-desk-front :tweet (cdr (assoc 'tweet userdata)))
+               (set-alist 'description "部屋の前を確認したよ" userdata)
                t))
             (:report-move-to-desk-front-failure
              '(lambda (userdata)
                (report-move-to-desk-front-failure)
+               (set-alist 'description "部屋の前に移動できなかったよ" userdata)
                t))
             (:move-to-kitchen-door-front
              '(lambda (userdata)
                (let* ((n-trial (cdr (assoc 'n-kitchen-door-front-trial userdata)))
                       (success (move-to-kitchen-door-front :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success)
+                 (set-alist 'description "ドアの前に移動したよ" userdata)
                  success)))
             (:inspect-kitchen-door-front
              '(lambda (userdata)
                (inspect-kitchen-door-front :tweet (cdr (assoc 'tweet userdata)))
+               (set-alist 'description "ドアの前からキッチンの様子を見たよ" userdata)
                t))
             (:report-move-to-kitchen-door-front-failure
              '(lambda (userdata)
                (report-move-to-kitchen-door-front-failure)
+               (set-alist 'description "ドアの前に移動できなかったよ" userdata)
                t))
             (:move-to-sink-front
              '(lambda (userdata)
                (let* ((n-trial (cdr (assoc 'n-kitchen-trial userdata)))
                       (success (move-to-sink-front :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-kitchen userdata)) success)
+                 (set-alist 'description "キッチンに向かったよ" userdata)
                  success)))
             (:inspect-kitchen
              '(lambda (userdata)
                (inspect-kitchen :tweet (cdr (assoc 'tweet userdata)))
+               (set-alist 'description "キッチンの様子を見たよ" userdata)
                t))
             (:report-move-to-sink-front-failure
              '(lambda (userdata)
                (report-move-to-sink-front-failure)
+               (set-alist 'description "キッチンに行けなかったよ" userdata)
                t))
             (:move-to-trashcan-front
              '(lambda (userdata)
                (let* ((n-trial (cdr (assoc 'n-trashcan-trial userdata)))
                       (success (move-to-trashcan-front :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-trashcan userdata)) success)
+                 (set-alist 'description "ゴミ箱の前に向かったよ" userdata)
                  success)))
             (:inspect-trashcan
              '(lambda (userdata)
                (inspect-trashcan :tweet (cdr (assoc 'tweet userdata)))
+               (set-alist 'description "ゴミ箱の前に行けなかったよ" userdata)
                t))
             (:report-move-to-trashcan-front-failure
              '(lambda (userdata)
                (report-move-to-trashcan-front-failure)
+               (set-alist 'description "ゴミ箱の前に行けなかったよ" userdata)
                t))
             (:auto-dock
              '(lambda (userdata)
@@ -926,10 +954,12 @@ Args:
                (let* ((n-trial (cdr (assoc 'n-dock-trial userdata)))
                       (success (auto-dock :n-trial n-trial :clear-costmap nil)))
                  (setf (cdr (assoc 'success-auto-dock userdata)) success)
+                 (set-alist 'description "帰ってきたよ" userdata)
                  success)))
             (:auto-dock-failure
              '(lambda (userdata)
                (report-auto-dock-failure)
+               (set-alist 'description "帰ってこられなかったよ" userdata)
                t))
             (:room-light-off
              '(lambda (userdata)
@@ -937,7 +967,8 @@ Args:
                      (initial-light-on (cdr (assoc 'initial-light-on userdata)))
                      (control-switchbot (cdr (assoc 'control-switchbot userdata))))
                  (if (and success-auto-dock (not initial-light-on))
-                     (room-light-off :control-switchbot control-switchbot)))
+                     (room-light-off :control-switchbot control-switchbot))
+                 (set-alist 'description "電気を消したよ" userdata))
                t))
             (:finish
              '(lambda (userdata)
@@ -949,6 +980,7 @@ Args:
                       (cdr (assoc 'success-go-to-kitchen userdata))))
                  (restore-params)
                  (send-kitchen-mail)
+                 (set-alist 'description "キッチンデモを終えるよ" userdata)
                  (and success-go-to-kitchen success-auto-dock success-battery-charging)))))
           '(:init)
           '(t nil))))

From c9b9ac8cfb328cea38ac74c8d17be69e08abe63f Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Mon, 22 Aug 2022 13:13:08 +0900
Subject: [PATCH 304/323] [jsk_fetch_startup/kitchen-demo] Add image tag for
 kitchen-demo userdata

---
 .../euslisp/navigation-utils.l                | 39 ++++++++++++++++++-
 1 file changed, 38 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 1d7327f603..b3f7943038 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -4,6 +4,7 @@
 (require :state-machine "package://roseus_smach/src/state-machine.l")
 (require :state-machine-ros "package://roseus_smach/src/state-machine-ros.l")
 (require :state-machine-utils "package://roseus_smach/src/state-machine-utils.l")
+(require :base64 "lib/llib/base64.l")
 
 (ros::load-ros-manifest "fetch_auto_dock_msgs")
 (ros::load-ros-manifest "jsk_robot_startup")
@@ -676,6 +677,8 @@ Args:
     (ros::publish "email" msg)
     ))
 
+(defun image-cb (msg)
+  (setq *image* msg))
 
 (defun go-to-kitchen (&key (tweet t) (n-dock-trial 1) (n-kitchen-trial 1)
                            (control-switchbot :api))
@@ -788,22 +791,27 @@ Args:
                  (store-params)
                  (inflation-loose)
                  (clear-app-notification)
+                 (ros::subscribe "/edgetpu_object_detector/output/image/compressed"
+                                 sensor_msgs::CompressedImage #'image-cb)
                  t))
             (:report-start-go-to-kitchen
               '(lambda (userdata)
                  (report-start-go-to-kitchen)
                  (set-alist 'description "キッチンを見に行くよ" userdata)
+                 (set-alist 'image "" userdata)
                  t))
             (:get-light-on
               '(lambda (userdata)
                  (let ((light-on (get-light-on)))
                    (setf (cdr (assoc 'initial-light-on userdata)) light-on)
                    (set-alist 'description "電気がついているか確認したよ" userdata)
+                   (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                    light-on)))
             (:report-light-on
               '(lambda (userdata)
                  (report-light-on)
                  (set-alist 'description "電気がついていたよ" userdata)
+                 (set-alist 'image "" userdata)
                  t))
             (:room-light-on
               '(lambda (userdata)
@@ -811,6 +819,7 @@ Args:
                    (report-light-off)
                    (room-light-on :control-switchbot control-switchbot)
                    (set-alist 'description "電気をつけたよ" userdata)
+                   (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                    t)))
             (:move-to-dock-front
              '(lambda (userdata)
@@ -818,16 +827,19 @@ Args:
                         (success (move-to-dock-front :n-trial n-trial)))
                    (setf (cdr (assoc 'success-go-to-dock-front userdata)) success)
                    (set-alist 'description "ドックの前に移動したよ" userdata)
+                   (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                    success)))
             (:inspect-dock-front
              '(lambda (userdata)
                (inspect-dock-front :tweet (cdr (assoc 'tweet userdata)))
                (set-alist 'description "ドックの前の様子を見たよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:report-move-to-dock-front-failure
              '(lambda (userdata)
                (report-move-to-dock-front-failure)
                (set-alist 'description "ドックの前に移動できなかったよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:move-to-tv-front
              '(lambda (userdata)
@@ -835,16 +847,19 @@ Args:
                       (success (move-to-tv-front :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-tv-front userdata)) success)
                  (set-alist 'description "テレビの前に移動したよ" userdata)
+                 (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:inspect-tv-front
              '(lambda (userdata)
                (inspect-tv-front :tweet (cdr (assoc 'tweet userdata)))
                (set-alist 'description "テレビの前の様子を見たよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:report-move-to-tv-front-failure
              '(lambda (userdata)
                (report-move-to-tv-front-failure)
                (set-alist 'description "テレビの前に移動できなかったよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:move-to-tv-desk
              '(lambda (userdata)
@@ -852,16 +867,19 @@ Args:
                       (success (move-to-tv-desk :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success)
                  (set-alist 'description "机の前に移動したよ" userdata)
+                 (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:inspect-tv-desk
              '(lambda (userdata)
                (inspect-tv-desk :tweet (cdr (assoc 'tweet userdata)))
                (set-alist 'description "机の様子を確認したよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:report-move-to-tv-desk-failure
              '(lambda (userdata)
                (report-move-to-tv-desk-failure)
                (set-alist 'description "机の前に移動できなかったよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:move-to-desk-back
              '(lambda (userdata)
@@ -869,16 +887,19 @@ Args:
                       (success (move-to-desk-back :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-desk-back userdata)) success)
                  (set-alist 'description "部屋の後ろに移動したよ" userdata)
+                 (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:inspect-desk-back
              '(lambda (userdata)
                (inspect-desk-back :tweet (cdr (assoc 'tweet userdata)))
                (set-alist 'description "部屋の後ろを確認したよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:report-move-to-desk-back-failure
              '(lambda (userdata)
                (report-move-to-desk-back-failure)
                (set-alist 'description "部屋の後ろに移動できなかったよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:move-to-desk-front
              '(lambda (userdata)
@@ -886,16 +907,19 @@ Args:
                       (success (move-to-desk-front :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-desk-front userdata)) success)
                  (set-alist 'description "部屋の前に移動したよ" userdata)
+                 (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:inspect-desk-front
              '(lambda (userdata)
                (inspect-desk-front :tweet (cdr (assoc 'tweet userdata)))
                (set-alist 'description "部屋の前を確認したよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:report-move-to-desk-front-failure
              '(lambda (userdata)
                (report-move-to-desk-front-failure)
                (set-alist 'description "部屋の前に移動できなかったよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:move-to-kitchen-door-front
              '(lambda (userdata)
@@ -903,16 +927,19 @@ Args:
                       (success (move-to-kitchen-door-front :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success)
                  (set-alist 'description "ドアの前に移動したよ" userdata)
+                 (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:inspect-kitchen-door-front
              '(lambda (userdata)
                (inspect-kitchen-door-front :tweet (cdr (assoc 'tweet userdata)))
                (set-alist 'description "ドアの前からキッチンの様子を見たよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:report-move-to-kitchen-door-front-failure
              '(lambda (userdata)
                (report-move-to-kitchen-door-front-failure)
                (set-alist 'description "ドアの前に移動できなかったよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:move-to-sink-front
              '(lambda (userdata)
@@ -920,16 +947,19 @@ Args:
                       (success (move-to-sink-front :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-kitchen userdata)) success)
                  (set-alist 'description "キッチンに向かったよ" userdata)
+                 (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:inspect-kitchen
              '(lambda (userdata)
                (inspect-kitchen :tweet (cdr (assoc 'tweet userdata)))
                (set-alist 'description "キッチンの様子を見たよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:report-move-to-sink-front-failure
              '(lambda (userdata)
                (report-move-to-sink-front-failure)
                (set-alist 'description "キッチンに行けなかったよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:move-to-trashcan-front
              '(lambda (userdata)
@@ -937,16 +967,19 @@ Args:
                       (success (move-to-trashcan-front :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-trashcan userdata)) success)
                  (set-alist 'description "ゴミ箱の前に向かったよ" userdata)
+                 (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:inspect-trashcan
              '(lambda (userdata)
                (inspect-trashcan :tweet (cdr (assoc 'tweet userdata)))
                (set-alist 'description "ゴミ箱の前に行けなかったよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:report-move-to-trashcan-front-failure
              '(lambda (userdata)
                (report-move-to-trashcan-front-failure)
                (set-alist 'description "ゴミ箱の前に行けなかったよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:auto-dock
              '(lambda (userdata)
@@ -955,11 +988,13 @@ Args:
                       (success (auto-dock :n-trial n-trial :clear-costmap nil)))
                  (setf (cdr (assoc 'success-auto-dock userdata)) success)
                  (set-alist 'description "帰ってきたよ" userdata)
+                 (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:auto-dock-failure
              '(lambda (userdata)
                (report-auto-dock-failure)
                (set-alist 'description "帰ってこられなかったよ" userdata)
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:room-light-off
              '(lambda (userdata)
@@ -968,7 +1003,8 @@ Args:
                      (control-switchbot (cdr (assoc 'control-switchbot userdata))))
                  (if (and success-auto-dock (not initial-light-on))
                      (room-light-off :control-switchbot control-switchbot))
-                 (set-alist 'description "電気を消したよ" userdata))
+                 (set-alist 'description "電気を消したよ" userdata)
+                 (set-alist 'image "" userdata))
                t))
             (:finish
              '(lambda (userdata)
@@ -981,6 +1017,7 @@ Args:
                  (restore-params)
                  (send-kitchen-mail)
                  (set-alist 'description "キッチンデモを終えるよ" userdata)
+                 (set-alist 'image "" userdata)
                  (and success-go-to-kitchen success-auto-dock success-battery-charging)))))
           '(:init)
           '(t nil))))

From b7d80794597bd6ce436dbfab93c05ed80f45356c Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Mon, 22 Aug 2022 15:37:29 +0900
Subject: [PATCH 305/323] [jsk_fetch_startup] Run smach_to_mail as default

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch          | 7 +++++++
 1 file changed, 7 insertions(+)

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 fdbeff1360..a587c70d13 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -335,6 +335,13 @@
     </rosparam>
   </node>
 
+  <!-- send email, twitter with smach -->
+  <node name="server_name" pkg="jsk_robot_startup" type="smach_to_mail.py" output="screen">
+    <rosparam>
+      email_info: /var/lib/robot/email_topic.yaml
+    </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" />

From ab9b4e55a0a1a55cf5bf2988fe3ff46c0ef123de Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Mon, 22 Aug 2022 16:34:20 +0900
Subject: [PATCH 306/323] [jsk_fetch_startup] Use smach_to_mail instead of
 send_kitchen_mail function

---
 .../euslisp/navigation-utils.l                | 46 -------------------
 1 file changed, 46 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index b3f7943038..f952735bb5 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -632,51 +632,6 @@ Args:
     (send *ri* :go-pos-unsafe 0 0 -80) ;; face the front against the trash can
     success-move-to-trashcan-front))
 
-(defun send-kitchen-mail ()
-  (let ((msg (instance jsk_robot_startup::Email :init))
-        (stove-text (instance jsk_robot_startup::EmailBody :init))
-        (sink-text (instance jsk_robot_startup::EmailBody :init))
-        (trashcan-text (instance jsk_robot_startup::EmailBody :init))
-        (change-line (instance jsk_robot_startup::EmailBody :init))
-        (kitchen-stove-img (instance jsk_robot_startup::EmailBody :init))
-        (kitchen-sink-img (instance jsk_robot_startup::EmailBody :init))
-        (trashcan-inside-img (instance jsk_robot_startup::EmailBody :init)))
-    (ros::advertise "email" jsk_robot_startup::Email 1)
-    (send stove-text :type "text")
-    (send stove-text :message "コンロを見に行ったよ．")
-    (send sink-text :type "text")
-    (send sink-text :message "シンクを見に行ったよ．")
-    (send trashcan-text :type "text")
-    (send trashcan-text :message "ゴミ箱を見に行ったよ．")
-    (send kitchen-stove-img :type "img")
-    (send kitchen-stove-img :file_path "/tmp/kitchen_stove.jpg")
-    (send kitchen-stove-img :img_size 50)
-    (send kitchen-sink-img :type "img")
-    (send kitchen-sink-img :file_path "/tmp/kitchen_sink.jpg")
-    (send kitchen-sink-img :img_size 50)
-    (send trashcan-inside-img :type "img")
-    (send trashcan-inside-img :file_path "/tmp/trashcan_inside.jpg")
-    (send trashcan-inside-img :img_size 50)
-    (send change-line :type "html")
-    (send change-line :message "<br>")
-    (send msg :receiver_address "fetch@jsk.imi.i.u-tokyo.ac.jp")
-    (send msg :subject "キッチンを巡回したよ")
-    (send msg :body (list stove-text
-                          change-line
-                          kitchen-stove-img
-                          change-line
-                          sink-text
-                          change-line
-                          kitchen-sink-img
-                          change-line
-                          trashcan-text
-                          change-line
-                          trashcan-inside-img))
-    (unix::sleep 1)
-    (ros::ros-info "send-kitchen-mail")
-    (ros::publish "email" msg)
-    ))
-
 (defun image-cb (msg)
   (setq *image* msg))
 
@@ -1015,7 +970,6 @@ Args:
                      (success-go-to-kitchen
                       (cdr (assoc 'success-go-to-kitchen userdata))))
                  (restore-params)
-                 (send-kitchen-mail)
                  (set-alist 'description "キッチンデモを終えるよ" userdata)
                  (set-alist 'image "" userdata)
                  (and success-go-to-kitchen success-auto-dock success-battery-charging)))))

From 03f7f9b99837eac08e1183d6af73548d8a07274b Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Tue, 23 Aug 2022 01:15:38 +0900
Subject: [PATCH 307/323] [jsk_robot_startup] Fix character code for tweet

---
 .../jsk_robot_startup/scripts/smach_to_mail.py        | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
index 33b7f8eac6..233511f0b4 100755
--- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
+++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
@@ -172,16 +172,21 @@ def _send_mail(self, subject, state_list):
         self.pub_email.publish(email_msg)
 
     def _send_twitter(self, subject, state_list):
-        text = ""
+        text = u""
         if subject:
+            if isinstance(subject, bytes):
+                subject = subject.decode('utf-8')
             text += subject
         for x in state_list:
             if 'DESCRIPTION' in x and x['DESCRIPTION']:
-                text += '\n' + x['DESCRIPTION']
+                desc = x['DESCRIPTION']
+                if isinstance(desc, bytes):
+                    desc = desc.decode('utf-8')
+                text += '\n' + desc
             if 'IMAGE' in x and x['IMAGE']:
                 img_txt = x['IMAGE']
                 if isinstance(img_txt, bytes):
-                    img_txt = img_txt.decode('ascii')
+                    img_txt = img_txt.decode('utf-8')
                 text += img_txt
         if len(text) > 1:
             self.pub_twitter.publish(String(text))

From 4abb477c52f9453198bd74904a85df48937adccb Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 24 Aug 2022 10:12:51 +0900
Subject: [PATCH 308/323] [jsk_fetch_startup] change NETWORK_DEFAULT_INTERFACE
 **temporarily**

---
 jsk_fetch_robot/jsk_fetch_startup/config/config.bash | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
index 4463923467..4f7057cc68 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -40,7 +40,7 @@ elif [ $(hostname) = 'fetch1075' ]; then
   export RS_SERIAL_NO_L515_HEAD="f0232270";
   #export RS_SERIAL_NO_L515_HEAD="";
 
-  export NETWORK_DEFAULT_WIFI_INTERFACE="wlan1";
+  export NETWORK_DEFAULT_WIFI_INTERFACE="wlan0";
   export NETWORK_DEFAULT_ROS_INTERFACE="fetch1075";
   export NETWORK_DEFAULT_PROFILE_ID="sanshiro-73B2";
 fi

From e8b1a392256343e666d234fb458bcd953e506229 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 23 Aug 2022 11:36:25 +0900
Subject: [PATCH 309/323] [jsk_fetch_startup] update help and output format

---
 .../jsk_fetch_startup/scripts/log-wifi-link.sh           | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh
index ef42c3e5e0..e8f1eefcc2 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh
@@ -19,11 +19,16 @@ wifi_status(){
     else
         local ping_result_duration=$(echo $ping_result_raw | cut -d " " -f 4 | cut -d "/" -f 2)
     fi
-    echo "$(date -Iseconds),$ssid,$freq,$signal,$level,$noise,$bitrate,$ping_result_duration"
+    echo "$(date -Iseconds),$ssid,$freq,$signal,$level,$noise,$bitrate, $ping_result_duration"
 }
 
 print_help(){
-    echo "Usage: $0 [-i INTERVAL (default: 10)] [-I IFACE (default: wlan0)]"
+    echo "Usage: log-wifi-link.sh [-h]"
+    echo "                        [-i INTERVAL (default: 10)]"
+    echo "                        [-I IFACE (default: wlan0)]"
+    echo "                        [-c PING_COUNT (default: 3)]"
+    echo "                        [-W PING_TIMEOUT (default: 1)]"
+    echo "                        [-t PING_TARGET (default: \"www.google.com\")]"
     exit 1
 }
 

From 8c8a38a9fd75df03c56f1bac0e3fb01286439e34 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 24 Aug 2022 11:12:06 +0900
Subject: [PATCH 310/323] [jsk_fetch_startup] redirect error print of ping to
 /dev/null and change ping result duration when fails

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh
index e8f1eefcc2..3afeeb5c6d 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/log-wifi-link.sh
@@ -13,9 +13,10 @@ wifi_status(){
     local level=$(cat /proc/net/wireless | grep $IFACE | awk '{print $4}')
     local noise=$(cat /proc/net/wireless | grep $IFACE | awk '{print $5}')
     local bitrate=$(iw $IFACE link | grep bitrate | cut -d':' -f2)
-    local ping_result_raw=$(ping -I $IFACE $PING_TARGET -c $PING_COUNT -W $PING_TIMEOUT | tail -n 1)
+    local ping_result_raw=$(ping -I $IFACE $PING_TARGET -c $PING_COUNT -W $PING_TIMEOUT 2> /dev/null | tail -n 1)
     if [ -z "$ping_result_raw" ]; then
-        local ping_result_duration=999
+        # minus ping indicates ping fails
+        local ping_result_duration=-1000
     else
         local ping_result_duration=$(echo $ping_result_raw | cut -d " " -f 4 | cut -d "/" -f 2)
     fi

From 4bff97415e832438a593e0e646281424aa469979 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 23 Aug 2022 23:22:16 +0900
Subject: [PATCH 311/323] [jsk_robot_startup] Enable input condition and added
 shutdown_unchecked

---
 jsk_robot_common/jsk_robot_startup/README.md  | 27 +++++++++++
 .../jsk_robot_startup/scripts/shutdown.py     | 46 +++++++++++++++++++
 2 files changed, 73 insertions(+)

diff --git a/jsk_robot_common/jsk_robot_startup/README.md b/jsk_robot_common/jsk_robot_startup/README.md
index 4f69533439..1c776e498c 100644
--- a/jsk_robot_common/jsk_robot_startup/README.md
+++ b/jsk_robot_common/jsk_robot_startup/README.md
@@ -187,6 +187,15 @@ This node shuts down or reboots the robot itself according to the rostopic. Note
 
   Input topic that trigger reboot
 
+* `shutdown_unchecked` (`std_msgs/Empty`)
+
+  Input topic that trigger shutdown. This is valid only when `~input_condition` param is set. If evaluated `~input_condition` is `True` and the node received this topic, shutdown will be executed.
+
+* `~input` (`AnyMsg`)
+
+  Input value for `shutdown_unchecked`.
+
+
 ### Parameters
 
 * `~shutdown_command` (String, default: "/sbin/shutdown -h now")
@@ -197,6 +206,24 @@ This node shuts down or reboots the robot itself according to the rostopic. Note
 
   Command to reboot the system. You can specify the reboot command according to your system.
 
+* `~input_condition` (String, default: ``None``)
+
+  Returning bool value condition using the given Python expression. The Python expression can access any of the Python builtins plus: ``topic`` (the topic of the message), ``m`` (the message) and ``t`` (time of message).
+
+  For example, ``~input`` topic is ``std_msgs/String`` and if you want to check whether a sentence is a ``hello``, you can do the following.
+
+  ```
+  input_condition: m.data == 'hello'
+  ```
+
+  If you want to check the frame id of the header, you can do the following.
+
+  ```
+  input1_condition: m.header.frame_id in ['base', 'base_link']
+  ```
+
+  Note that, use escape sequence when using the following symbols ``<(&lt;)``, ``>(&gt;)``, ``&(&amp;)``, ``'(&apos;)`` and ``"(&quot;)``.
+
 ### Usage
 
 ```
diff --git a/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py b/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py
index 287fec08c5..6f8c261488 100755
--- a/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py
+++ b/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py
@@ -2,10 +2,19 @@
 # -*- coding: utf-8 -*-
 
 import os
+from importlib import import_module
+
 import rospy
 from sound_play.libsoundplay import SoundClient
 from std_msgs.msg import Empty
 
+
+def expr_eval(expr):
+    def eval_fn(topic, m, t):
+        return eval(expr)
+    return eval_fn
+
+
 class Shutdown(object):
     """
     This node shuts down or reboots the robot itself
@@ -26,6 +35,21 @@ class Shutdown(object):
     def __init__(self):
         rospy.loginfo('Start shutdown node.')
         self.client_jp = SoundClient(sound_action='/robotsound_jp', blocking=True)
+        condition = rospy.get_param(
+            '~input_condition', None)
+        if condition is not None:
+            self.condition = condition
+            self.topic_name = rospy.resolve_name('~input')
+            self.filter_fn = expr_eval(condition)
+            self.last_received_topic = None
+            self.sub_check_topic = rospy.Subscriber(
+                self.topic_name,
+                rospy.AnyMsg,
+                callback=self.callback,
+                queue_size=1)
+            self.sub_shutdown_unchecked = rospy.Subscriber(
+                'shutdown_unchecked', Empty, self.shutdown_unchecked)
+
         rospy.Subscriber('shutdown', Empty, self.shutdown)
         rospy.Subscriber('reboot', Empty, self.reboot)
         self.shutdown_command = rospy.get_param(
@@ -38,6 +62,18 @@ def speak(self, client, speech_text, lang='jp'):
         client.say(speech_text, voice=lang, volume=self.volume, replace=False)
         return client.actionclient.get_result()
 
+    def callback(self, msg):
+        if isinstance(msg, rospy.msg.AnyMsg):
+            package, msg_type = msg._connection_header['type'].split('/')
+            ros_pkg = package + '.msg'
+            msg_class = getattr(import_module(ros_pkg), msg_type)
+            self.sub_check_topic.unregister()
+            deserialized_sub = rospy.Subscriber(
+                self.topic_name, msg_class, self.callback)
+            self.sub_check_topic = deserialized_sub
+            msg = msg_class().deserialize(msg._buff)
+        self.last_received_topic = self.topic_name, msg, rospy.Time.now()
+
     def shutdown(self, msg):
         rospy.loginfo('Shut down robot.')
         self.speak(self.client_jp, 'シャットダウンします。')
@@ -46,6 +82,16 @@ def shutdown(self, msg):
             rospy.logerr("Failed to call '$ {}'. Check authentication.".format(
                 self.shutdown_command))
 
+    def shutdown_unchecked(self, msg):
+        if self.last_received_topic is None:
+            return
+        topic_name, m, t = self.last_received_topic
+        if self.filter_fn(topic_name, m, t):
+            self.shutdown(msg)
+        else:
+            rospy.loginfo('received shutdown_unchecked. However condition {} is not satisfied.'
+                          .format(self.condition))
+
     def reboot(self, msg):
         rospy.loginfo('Reboot robot.')
         self.speak(self.client_jp, '再起動します。')

From 079b04e4c37a60380c44ec44978ce79e687b7b37 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 23 Aug 2022 23:29:15 +0900
Subject: [PATCH 312/323] [jsk_robot_startup] Enable shutdown_unchecked

---
 .../jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
index 7eceb2ba5b..37feca3d06 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-shutdown.conf
@@ -1,5 +1,5 @@
 [program:jsk-shutdown]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_robot_startup shutdown.py --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && export ROS_MASTER_URI=http://localhost:11311 && rossetclient $NETWORK_DEFAULT_ROS_INTERFACE && rosrun jsk_robot_startup shutdown.py ~input:=/battery_state _input_condition:='m.is_charging is False' --wait"
 
 stopsignal=TERM
 directory=/home/fetch/ros/melodic

From 5f55ee0731ea9799c79d699542e26267ba95f5e2 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 25 Aug 2022 16:25:16 +0900
Subject: [PATCH 313/323] [jsk_robot_startup] Disable shutdown_unchecked.
 Enable ~input_condition for shutdown

---
 jsk_robot_common/jsk_robot_startup/README.md  | 12 +++----
 .../jsk_robot_startup/scripts/shutdown.py     | 34 ++++++++++---------
 2 files changed, 24 insertions(+), 22 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/README.md b/jsk_robot_common/jsk_robot_startup/README.md
index 1c776e498c..04f1c75682 100644
--- a/jsk_robot_common/jsk_robot_startup/README.md
+++ b/jsk_robot_common/jsk_robot_startup/README.md
@@ -181,19 +181,19 @@ This node shuts down or reboots the robot itself according to the rostopic. Note
 
 * `shutdown` (`std_msgs/Empty`)
 
-  Input topic that trigger shutdown
+  Input topic that trigger shutdown.
 
-* `reboot` (`std_msgs/Empty`)
+  If `~input_condition` is set, evaluated `~input_condition` is `True` and this node received this topic, shutdown will be executed.
 
-  Input topic that trigger reboot
+  Even if you want to force shutdown, set `~input_condition` to `None` and send `shutdown` topic.
 
-* `shutdown_unchecked` (`std_msgs/Empty`)
+* `reboot` (`std_msgs/Empty`)
 
-  Input topic that trigger shutdown. This is valid only when `~input_condition` param is set. If evaluated `~input_condition` is `True` and the node received this topic, shutdown will be executed.
+  Input topic that trigger reboot
 
 * `~input` (`AnyMsg`)
 
-  Input value for `shutdown_unchecked`.
+  Input ros message for `~input_condition`.
 
 
 ### Parameters
diff --git a/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py b/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py
index 6f8c261488..97bab6c60f 100755
--- a/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py
+++ b/jsk_robot_common/jsk_robot_startup/scripts/shutdown.py
@@ -35,20 +35,17 @@ class Shutdown(object):
     def __init__(self):
         rospy.loginfo('Start shutdown node.')
         self.client_jp = SoundClient(sound_action='/robotsound_jp', blocking=True)
-        condition = rospy.get_param(
+        self.condition = rospy.get_param(
             '~input_condition', None)
-        if condition is not None:
-            self.condition = condition
+        if self.condition is not None:
             self.topic_name = rospy.resolve_name('~input')
-            self.filter_fn = expr_eval(condition)
+            self.filter_fn = expr_eval(self.condition)
             self.last_received_topic = None
             self.sub_check_topic = rospy.Subscriber(
                 self.topic_name,
                 rospy.AnyMsg,
                 callback=self.callback,
                 queue_size=1)
-            self.sub_shutdown_unchecked = rospy.Subscriber(
-                'shutdown_unchecked', Empty, self.shutdown_unchecked)
 
         rospy.Subscriber('shutdown', Empty, self.shutdown)
         rospy.Subscriber('reboot', Empty, self.reboot)
@@ -75,6 +72,21 @@ def callback(self, msg):
         self.last_received_topic = self.topic_name, msg, rospy.Time.now()
 
     def shutdown(self, msg):
+        if self.condition is not None:
+            if self.last_received_topic is None:
+                rospy.loginfo(
+                    'received shutdown. '
+                    'However input topic "{}" has not been received.'
+                    .format(self.topic_name))
+                return
+            topic_name, m, t = self.last_received_topic
+            if self.filter_fn(topic_name, m, t) is False:
+                rospy.loginfo(
+                    'received shutdown. '
+                    'However condition "{}" is not satisfied.'
+                    .format(self.condition))
+                return
+
         rospy.loginfo('Shut down robot.')
         self.speak(self.client_jp, 'シャットダウンします。')
         ret = os.system(self.shutdown_command)
@@ -82,16 +94,6 @@ def shutdown(self, msg):
             rospy.logerr("Failed to call '$ {}'. Check authentication.".format(
                 self.shutdown_command))
 
-    def shutdown_unchecked(self, msg):
-        if self.last_received_topic is None:
-            return
-        topic_name, m, t = self.last_received_topic
-        if self.filter_fn(topic_name, m, t):
-            self.shutdown(msg)
-        else:
-            rospy.loginfo('received shutdown_unchecked. However condition {} is not satisfied.'
-                          .format(self.condition))
-
     def reboot(self, msg):
         rospy.loginfo('Reboot robot.')
         self.speak(self.client_jp, '再起動します。')

From 923fcd7bd378e2ef92c7f0b80039d0c1b9142cb2 Mon Sep 17 00:00:00 2001
From: Aoi Nakane <nakane@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 25 Aug 2022 09:56:01 +0900
Subject: [PATCH 314/323] [jsk_fetch_startup]Fix report in kitchen demo

---
 .../jsk_fetch_startup/euslisp/navigation-utils.l            | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index f952735bb5..299877b029 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -561,7 +561,7 @@ Args:
           (ros::publish "/photo_taken" img)))))
 
 (defun inspect-desk-back (&key (tweet t))
-  (report-move-to-tv-desk)
+  (report-move-to-desk-back)
   (send *fetch* :angle-vector #f(21.5684 75.5832 80.1877 -11.4819 93.608 -0.04749 95.2016 -0.072829 -1.45585 10.8727))
   (send *ri* :angle-vector-raw (send *fetch* :angle-vector) 3000 :head-controller)
   (send *ri* :wait-interpolation)
@@ -573,7 +573,7 @@ Args:
           (ros::publish "/photo_taken" img)))))
 
 (defun inspect-desk-front (&key (tweet t))
-  (report-move-to-tv-desk)
+  (report-move-to-desk-front)
   (send *fetch* :angle-vector #f(21.5761 75.5173 80.2097 -11.5478 93.6519 -0.04749 95.1796 -0.006954 -1.11597 10.8288))
   (send *ri* :angle-vector-raw (send *fetch* :angle-vector) 3000 :head-controller)
   (send *ri* :wait-interpolation)
@@ -585,7 +585,7 @@ Args:
           (ros::publish "/photo_taken" img)))))
 
 (defun inspect-kitchen-door-front (&key (tweet t))
-  (report-move-to-tv-desk)
+  (report-move-to-kitchen-door-front)
   (send *fetch* :angle-vector #f(21.5608 75.5612 80.2316 -11.5039 93.586 -0.04749 95.1576 -0.050857 3.17796 16.3219))
   (send *ri* :angle-vector-raw (send *fetch* :angle-vector) 3000 :head-controller)
   (send *ri* :wait-interpolation)

From def125900051c852b182daa15b45c46404f6661f Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Tue, 23 Aug 2022 21:06:26 +0900
Subject: [PATCH 315/323] [jsk_robot_startup] Enable to send INFO tag

---
 .../jsk_robot_startup/scripts/smach_to_mail.py        | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
index 233511f0b4..91cecb62f3 100755
--- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
+++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
@@ -82,6 +82,11 @@ def _status_cb(self, msg):
             rospy.logwarn("smach does not have DESCRIPTION, see https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_robot_common/jsk_robot_startup#smach_to_mailpy for more info")
         if 'IMAGE' in local_data_str and local_data_str['IMAGE']:
             rospy.loginfo("- image_str -> {}".format(local_data_str['IMAGE'][:64]))
+        if 'INFO' in local_data_str:
+            rospy.loginfo("- description_str -> {}".format(local_data_str['INFO']))
+        else:
+            rospy.logwarn("smach does not have INFO, see https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_robot_common/jsk_robot_startup#smach_to_mailpy for more info")
+
 
         # Store data for every callerid to self.smach_state_list[caller_id]
         caller_id = msg._connection_header['callerid']
@@ -157,6 +162,12 @@ def _send_mail(self, subject, state_list):
                 image.img_data = x['IMAGE']
                 email_msg.body.append(image)
                 email_msg.body.append(changeline)
+            if 'INFO' in x:
+                description = EmailBody()
+                description.type = 'text'
+                description.message = x['INFO']
+                email_msg.body.append(description)
+                email_msg.body.append(changeline)
         # rospy.loginfo("body:{}".format(email_msg.body))
 
         if subject:

From 153c128ec1508639d416823557f7794305a08e9e Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 24 Aug 2022 13:01:51 +0900
Subject: [PATCH 316/323] [jsk_robot_startup] Set INFO as message bottom

---
 .../jsk_robot_startup/scripts/smach_to_mail.py           | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
index 91cecb62f3..674abfb6a0 100755
--- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
+++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
@@ -162,11 +162,12 @@ def _send_mail(self, subject, state_list):
                 image.img_data = x['IMAGE']
                 email_msg.body.append(image)
                 email_msg.body.append(changeline)
+        for x in state_list:
             if 'INFO' in x:
-                description = EmailBody()
-                description.type = 'text'
-                description.message = x['INFO']
-                email_msg.body.append(description)
+                info = EmailBody()
+                info.type = 'text'
+                info.message = x['INFO']
+                email_msg.body.append(info)
                 email_msg.body.append(changeline)
         # rospy.loginfo("body:{}".format(email_msg.body))
 

From b00491536505345cc71129080f2da8ed2c956628 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Wed, 31 Aug 2022 14:34:58 +0900
Subject: [PATCH 317/323] [jsk_fetch_startup] add rviz config arg to use
 original .rviz file

---
 jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch
index 725e006ada..20abc5d53a 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch
@@ -13,6 +13,7 @@
   <arg name="audio_play" default="false" />
   <arg name="audio_device" default="" />
   <arg name="rate" default="1.0" />
+  <arg name="rviz_config" default="$(find jsk_fetch_startup)/config/jsk_startup.rviz" />
 
   <arg name="RGB_CAMERA_INFO" value="/head_camera/rgb/throttled/camera_info" />
   <arg name="RGB_IMAGE" value="/head_camera/rgb/throttled/image_rect_color" />
@@ -108,5 +109,5 @@
         args="$(arg rosbag) $(arg loop_flag) --clock --start $(arg start_time) $(arg duration) -r $(arg rate)" output="screen" />
 
   <node pkg="rviz" type="rviz" name="$(anon rviz)" if="$(arg gui)"
-        args="-d $(find jsk_fetch_startup)/config/jsk_startup.rviz" />
+        args="-d $(arg rviz_config)" />
 </launch>

From 2038cb5879bb5d9585ccf67f068dfa1e492f6d79 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 1 Sep 2022 16:43:45 +0900
Subject: [PATCH 318/323] [jsk_robot_startup/smach_to_mail.py] Add space for
 concatenated base64 images

---
 .../jsk_robot_startup/scripts/smach_to_mail.py             | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
index 674abfb6a0..da2a163eb3 100755
--- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
+++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
@@ -189,17 +189,24 @@ def _send_twitter(self, subject, state_list):
             if isinstance(subject, bytes):
                 subject = subject.decode('utf-8')
             text += subject
+        prev_text_type = ''
         for x in state_list:
             if 'DESCRIPTION' in x and x['DESCRIPTION']:
                 desc = x['DESCRIPTION']
                 if isinstance(desc, bytes):
                     desc = desc.decode('utf-8')
                 text += '\n' + desc
+                prev_text_type = 'DESCRIPTION'
             if 'IMAGE' in x and x['IMAGE']:
                 img_txt = x['IMAGE']
                 if isinstance(img_txt, bytes):
                     img_txt = img_txt.decode('utf-8')
+                if prev_text_type == 'IMAGE':
+                    # [rostwitter] Do not concatenate
+                    # multiple base64 images without spaces.
+                    text += ' '
                 text += img_txt
+                prev_text_type = 'IMAGE'
         if len(text) > 1:
             self.pub_twitter.publish(String(text))
 

From 5a256d4fb1ee4cf521b1f400973828d3bcf805ee Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 24 Aug 2022 16:28:50 +0900
Subject: [PATCH 319/323] [jsk_fetch_startup/kithcen] Change description
 dependent on success or not

---
 .../euslisp/navigation-utils.l                | 49 +++++++++++++------
 1 file changed, 34 insertions(+), 15 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 299877b029..7cba892cd9 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -759,14 +759,14 @@ Args:
               '(lambda (userdata)
                  (let ((light-on (get-light-on)))
                    (setf (cdr (assoc 'initial-light-on userdata)) light-on)
-                   (set-alist 'description "電気がついているか確認したよ" userdata)
+                   (if light-on
+                       (set-alist 'description "電気がついていたよ" userdata)
+                       (set-alist 'description "電気がついていなかったよ" userdata))
                    (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                    light-on)))
             (:report-light-on
               '(lambda (userdata)
                  (report-light-on)
-                 (set-alist 'description "電気がついていたよ" userdata)
-                 (set-alist 'image "" userdata)
                  t))
             (:room-light-on
               '(lambda (userdata)
@@ -781,7 +781,9 @@ Args:
                  (let* ((n-trial (cdr (assoc 'n-dock-front-trial userdata)))
                         (success (move-to-dock-front :n-trial n-trial)))
                    (setf (cdr (assoc 'success-go-to-dock-front userdata)) success)
-                   (set-alist 'description "ドックの前に移動したよ" userdata)
+                   (if success
+                       (set-alist 'description "ドックの前に移動したよ" userdata)
+                       (set-alist 'description "ドックの前に移動しようとしたけど，迷子になっちゃった" userdata))
                    (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                    success)))
             (:inspect-dock-front
@@ -801,7 +803,9 @@ Args:
                (let* ((n-trial (cdr (assoc 'n-tv-front-trial userdata)))
                       (success (move-to-tv-front :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-tv-front userdata)) success)
-                 (set-alist 'description "テレビの前に移動したよ" userdata)
+                 (if success
+                     (set-alist 'description "テレビの前に移動したよ" userdata)
+                     (set-alist 'description "テレビの前に移動しようとしたけど，迷子になっちゃった" userdata))
                  (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:inspect-tv-front
@@ -821,7 +825,9 @@ Args:
                (let* ((n-trial (cdr (assoc 'n-tv-desk-trial userdata)))
                       (success (move-to-tv-desk :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success)
-                 (set-alist 'description "机の前に移動したよ" userdata)
+                 (if success
+                     (set-alist 'description "机の前に移動したよ" userdata)
+                     (set-alist 'description "机の前に移動しようとしたけど，迷子になっちゃった" userdata))
                  (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:inspect-tv-desk
@@ -841,7 +847,9 @@ Args:
                (let* ((n-trial (cdr (assoc 'n-desk-back-trial userdata)))
                       (success (move-to-desk-back :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-desk-back userdata)) success)
-                 (set-alist 'description "部屋の後ろに移動したよ" userdata)
+                 (if success
+                     (set-alist 'description "部屋の後ろに移動したよ" userdata)
+                     (set-alist 'description "部屋の後ろに移動しようとしたけど，迷子になっちゃった" userdata))
                  (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:inspect-desk-back
@@ -861,7 +869,9 @@ Args:
                (let* ((n-trial (cdr (assoc 'n-desk-front-trial userdata)))
                       (success (move-to-desk-front :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-desk-front userdata)) success)
-                 (set-alist 'description "部屋の前に移動したよ" userdata)
+                 (if success
+                     (set-alist 'description "部屋の前に移動したよ" userdata)
+                     (set-alist 'description "部屋の前に移動しようとしたけど，迷子になっちゃった" userdata))
                  (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:inspect-desk-front
@@ -881,7 +891,9 @@ Args:
                (let* ((n-trial (cdr (assoc 'n-kitchen-door-front-trial userdata)))
                       (success (move-to-kitchen-door-front :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-tv-desk userdata)) success)
-                 (set-alist 'description "ドアの前に移動したよ" userdata)
+                 (if success
+                     (set-alist 'description "ドアの前に移動したよ" userdata)
+                     (set-alist 'description "ドアの前に移動しようとしたけど，迷子になっちゃった" userdata))
                  (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:inspect-kitchen-door-front
@@ -901,7 +913,9 @@ Args:
                (let* ((n-trial (cdr (assoc 'n-kitchen-trial userdata)))
                       (success (move-to-sink-front :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-kitchen userdata)) success)
-                 (set-alist 'description "キッチンに向かったよ" userdata)
+                 (if success
+                     (set-alist 'description "キッチンに移動したよ" userdata)
+                     (set-alist 'description "キッチンに移動しようとしたけど，迷子になっちゃった" userdata))
                  (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:inspect-kitchen
@@ -921,7 +935,9 @@ Args:
                (let* ((n-trial (cdr (assoc 'n-trashcan-trial userdata)))
                       (success (move-to-trashcan-front :n-trial n-trial)))
                  (setf (cdr (assoc 'success-go-to-trashcan userdata)) success)
-                 (set-alist 'description "ゴミ箱の前に向かったよ" userdata)
+                 (if success
+                     (set-alist 'description "ゴミ箱の前に移動したよ" userdata)
+                     (set-alist 'description "ゴミ箱の前に移動しようとしたけど，迷子になっちゃった" userdata))
                  (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:inspect-trashcan
@@ -942,7 +958,9 @@ Args:
                (let* ((n-trial (cdr (assoc 'n-dock-trial userdata)))
                       (success (auto-dock :n-trial n-trial :clear-costmap nil)))
                  (setf (cdr (assoc 'success-auto-dock userdata)) success)
-                 (set-alist 'description "帰ってきたよ" userdata)
+                 (if success
+                     (set-alist 'description "帰ってきたよ" userdata)
+                     (set-alist 'description "帰ってこようとしたけど，迷子になっちゃった" userdata))
                  (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                  success)))
             (:auto-dock-failure
@@ -957,9 +975,10 @@ Args:
                      (initial-light-on (cdr (assoc 'initial-light-on userdata)))
                      (control-switchbot (cdr (assoc 'control-switchbot userdata))))
                  (if (and success-auto-dock (not initial-light-on))
-                     (room-light-off :control-switchbot control-switchbot))
-                 (set-alist 'description "電気を消したよ" userdata)
-                 (set-alist 'image "" userdata))
+                     (progn
+                       (room-light-off :control-switchbot control-switchbot)
+                       (set-alist 'description "電気を消したよ" userdata)
+                       (set-alist 'image "" userdata))))
                t))
             (:finish
              '(lambda (userdata)

From 80f3171efbe5487a74f56b9e86c83d5f31a35e20 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 24 Aug 2022 17:56:39 +0900
Subject: [PATCH 320/323] [jsk_fetch_startup/kitchen] Use notify-recognition in
 description

---
 .../jsk_fetch_startup/euslisp/navigation-utils.l      | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 7cba892cd9..54259ae4da 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -415,7 +415,8 @@ Args:
       (notify-app "object recognition"
                   (send msg :header :stamp)
                   location
-                  (format nil "~A is found" label-names)))))
+                  (format nil "~A is found" label-names))
+      label-names)))
 
 (defun notify-co2 (&key (location "kitchen"))
   (let* ((msg (one-shot-subscribe "/eco2" std_msgs::UInt16
@@ -920,9 +921,11 @@ Args:
                  success)))
             (:inspect-kitchen
              '(lambda (userdata)
-               (inspect-kitchen :tweet (cdr (assoc 'tweet userdata)))
-               (set-alist 'description "キッチンの様子を見たよ" userdata)
-               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
+               (let ((label-names (notify-recognition :location "kitchen"))
+                     (notify-text (if label-names (format nil "~Aがあったよ" label-names) "")))
+                     (inspect-kitchen :tweet (cdr (assoc 'tweet userdata)))
+                     (set-alist 'description (format nil "キッチンの様子を見たよ。~A" notify-text) userdata))
+                 (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:report-move-to-sink-front-failure
              '(lambda (userdata)

From af7275bb454dfae44050df70aec6f26b2c76f0f3 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 24 Aug 2022 18:11:28 +0900
Subject: [PATCH 321/323] [jsk_fetch_startup] Fix description message

---
 jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 54259ae4da..ee83d971a3 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -946,7 +946,7 @@ Args:
             (:inspect-trashcan
              '(lambda (userdata)
                (inspect-trashcan :tweet (cdr (assoc 'tweet userdata)))
-               (set-alist 'description "ゴミ箱の前に行けなかったよ" userdata)
+               (set-alist 'description "ゴミ箱の様子を確認したよ" userdata)
                (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:report-move-to-trashcan-front-failure

From 751d747efa0290286582bb1368a4eaa1d0f8423d Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Fri, 9 Sep 2022 21:51:33 +0900
Subject: [PATCH 322/323] [jsk_fetch_startup] Fix :inspect-kitchen let --> let*

---
 jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index ee83d971a3..fafc36bd46 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -921,8 +921,8 @@ Args:
                  success)))
             (:inspect-kitchen
              '(lambda (userdata)
-               (let ((label-names (notify-recognition :location "kitchen"))
-                     (notify-text (if label-names (format nil "~Aがあったよ" label-names) "")))
+               (let* ((label-names (notify-recognition :location "kitchen"))
+                      (notify-text (if label-names (format nil "~Aがあったよ" label-names) "")))
                      (inspect-kitchen :tweet (cdr (assoc 'tweet userdata)))
                      (set-alist 'description (format nil "キッチンの様子を見たよ。~A" notify-text) userdata))
                  (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)

From 1ed18fdcb97fee7d143c6fd5750e844aa5b322b1 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Fri, 9 Sep 2022 21:52:44 +0900
Subject: [PATCH 323/323] [jsk_fetch_startup] Fix indent in :inspect-kitchen

---
 .../jsk_fetch_startup/euslisp/navigation-utils.l            | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index fafc36bd46..7134603ce2 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -923,9 +923,9 @@ Args:
              '(lambda (userdata)
                (let* ((label-names (notify-recognition :location "kitchen"))
                       (notify-text (if label-names (format nil "~Aがあったよ" label-names) "")))
-                     (inspect-kitchen :tweet (cdr (assoc 'tweet userdata)))
-                     (set-alist 'description (format nil "キッチンの様子を見たよ。~A" notify-text) userdata))
-                 (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
+                 (inspect-kitchen :tweet (cdr (assoc 'tweet userdata)))
+                 (set-alist 'description (format nil "キッチンの様子を見たよ。~A" notify-text) userdata))
+               (set-alist 'image (remove #\newline (base64encode (send *image* :serialize))) userdata)
                t))
             (:report-move-to-sink-front-failure
              '(lambda (userdata)