From 2d8ddc32f120a8da0aac9ab585bfa9376baf3b48 Mon Sep 17 00:00:00 2001 From: iory Date: Fri, 4 Oct 2019 14:10:46 +0900 Subject: [PATCH 001/120] [jsk_robot_startup/util/mux_selector] Add wait option for topic --- .../jsk_robot_startup/util/mux_selector.py | 26 ++++++++++++++----- 1 file changed, 19 insertions(+), 7 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/util/mux_selector.py b/jsk_robot_common/jsk_robot_startup/util/mux_selector.py index 6639f91542..d14e0857db 100755 --- a/jsk_robot_common/jsk_robot_startup/util/mux_selector.py +++ b/jsk_robot_common/jsk_robot_startup/util/mux_selector.py @@ -46,13 +46,23 @@ def gen_callback(expr, select, index): return (lambda m: callback(m, expr, select, index)) -def add_trigger(topic, expr, select, index): +def add_trigger(topic, expr, select, index, wait=False): topic_type, _, _ = rostopic.get_topic_type(topic) topic_class, _, _ = rostopic.get_topic_class(topic) - if(topic_type is None): - rospy.loginfo('%s is not published yet', topic) - return None + if topic_type is None: + if wait is False: + rospy.loginfo('%s is not published yet', topic) + return None + elif wait is True: + rate = rospy.Rate(1) + while not rospy.is_shutdown() and topic_type is None: + topic_type, _, _ = rostopic.get_topic_type(topic) + topic_class, _, _ = rostopic.get_topic_class(topic) + rospy.loginfo('waiting topic %s' % topic) + rate.sleep() + else: + raise ValueError('wait should be bool') if(topic_class is None): rospy.loginfo('%s is not builded yet', topic_type) @@ -69,14 +79,15 @@ def add_trigger(topic, expr, select, index): return sub -def update_trigger(conditions): +def update_trigger(conditions, wait=False): # setting triggers global subs for index in range(len(conditions)): if subs[index] is not None: continue cond = conditions[index] - subs[index] = add_trigger(cond[0],cond[1],cond[2],index) + subs[index] = add_trigger(cond[0],cond[1],cond[2],index, + wait=wait) if __name__ == "__main__": @@ -101,6 +112,7 @@ def update_trigger(conditions): deadtime = rospy.get_param('~patient', 0.5) freq = rospy.get_param('~frequency', 20.0) default_select = rospy.get_param('~default_select', None) + wait = rospy.get_param('~wait', False) mux_name_ = rospy.resolve_name('mux') rospy.wait_for_service(mux_name_+'/select') @@ -113,7 +125,7 @@ def update_trigger(conditions): # loop try: before = default_select - update_trigger(conditions) + update_trigger(conditions, wait=wait) looprate = rospy.Rate(freq) while not rospy.is_shutdown(): lockobj.acquire() From 658fcba5a5e3df9c8130fcd826c9b85e91cecf95 Mon Sep 17 00:00:00 2001 From: iory Date: Mon, 27 Jan 2020 09:49:31 +0900 Subject: [PATCH 002/120] [jsk_robot_startup/README.md] Add mux_selector.py's docs' --- jsk_robot_common/jsk_robot_startup/README.md | 38 ++++++++++++++++++++ 1 file changed, 38 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/README.md b/jsk_robot_common/jsk_robot_startup/README.md index 7affbb03c5..3e62956a8b 100644 --- a/jsk_robot_common/jsk_robot_startup/README.md +++ b/jsk_robot_common/jsk_robot_startup/README.md @@ -72,3 +72,41 @@ This script sets initial pose with relative pose from specified TF frame by publ ### Subscribing Topics * `/amcl_pose` (`geometry_msgs/PoseWithcovariancestamped`) + + +## util/mux_selector.py + +This node check and select mux input topic on condition of the specified topic. +This node takes three arguments for one topic. +The first one is the topic to be monitored. +When a message from this topic is received, it is assigned as a variable `m`. +If a condition specified as the second argument, +this node calls a service to select the topic specified as the third argument. + +### Usage + +``` +rosrun jsk_robot_startup mux_selector.py /joy1 'm.buttons[9]==1' /cmd_vel1 /joy2 'm.buttons[9]==1' /cmd_vel2 +``` + +### Parameters + +* `~patient` (Double, default: 0.5) + + Indicates the allowable range of the difference between the received topic time and the current time. + +* `~frequency` (Double, default: 20.0) + + Frequency of processing loop. + +* `~default_select` (String, default: `None`) + + Default topic name. + +* `~wait` (Bool, default: `False`) + + If wait is `True`, this node waits for the topic to be received. + +### Subscribing Topics + +The topic specified in the argument is subscribed. 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j{O?*qqAB2h}t0h!CE$acFwo?5+Me3~< literal 0 HcmV?d00001 From da1c95b907f30635911f7db0e664fcbc914449ab Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 20 Feb 2020 20:31:38 +0900 Subject: [PATCH 004/120] fix escape evaluation in install_upstart.sh --- .../config/install_upstart.sh | 20 +++++++++---------- 1 file changed, 9 insertions(+), 11 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_upstart.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_upstart.sh index 0a9b311787..828d23f8d3 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/config/install_upstart.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_upstart.sh @@ -5,8 +5,8 @@ jsk_fetch_startup=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`"/.. > /dev/null && IFS=':' read -r -a prefix_paths <<< "$CMAKE_PREFIX_PATH" current_prefix_path="${prefix_paths[0]}" -sudo bash -c "cat < /etc/init/jsk-fetch-startup.conf -description \"spawn jsk bringup nodes for fetch\" +# jsk-fetch-startup +sudo bash -c "echo \"description \\\"spawn jsk bringup nodes for fetch\\\" # use default log dir: yamaguchi & s-kitagawa (2019/04/18) # env ROS_LOG_DIR=/var/log/ros @@ -16,23 +16,21 @@ stop on roscore_is_down respawn # add ROSCONSOLE_FORMAT: s-kitagawa (2019/10/03) -env AUDIO_DEVICE=alsa_output.usb-1130_USB_AUDIO-00-AUDIO.analog-stereo -env ROSCONSOLE_FORMAT='[${severity}] [${time}] [${node}:${logger}]: ${message}' +env AUDIO_DEVICE=\\\"alsa_output.usb-1130_USB_AUDIO-00-AUDIO.analog-stereo\\\" +env ROSCONSOLE_FORMAT=\\\"[\\\${severity}] [\\\${time}] [\\\${node}:\\\${logger}]: \\\${message}\\\" # enable usb speaker if available pre-start script # launch by fetch user: yamaguchi & s-kitagawa (2019/04/18) - # exec su ros -c 'pactl set-default-sink $AUDIO_DEVICE || true' - exec su fetch -c 'pactl set-default-sink $AUDIO_DEVICE || true' + # exec su ros -c \\\"pactl set-default-sink \\\$AUDIO_DEVICE || true\\\" + exec su fetch -c \\\"pactl set-default-sink \\\$AUDIO_DEVICE || true\\\" end script script # launch by fetch user: yamaguchi & s-kitagawa (2019/04/18) - # exec su ros -c \". ${current_prefix_path}/setup.bash && roslaunch ${jsk_fetch_startup}/launch/fetch_bringup.launch boot_sound:=true\" - exec su fetch -c \". ${current_prefix_path}/setup.bash && roslaunch ${jsk_fetch_startup}/launch/fetch_bringup.launch boot_sound:=true\" -end script - -EOF" + # exec su ros -c \\\". ${current_prefix_path}/setup.bash && roslaunch ${jsk_fetch_startup}/launch/fetch_bringup.launch boot_sound:=true\\\" + exec su fetch -c \\\". ${current_prefix_path}/setup.bash && roslaunch ${jsk_fetch_startup}/launch/fetch_bringup.launch boot_sound:=true\\\" +end script\" > /etc/init/jsk-fetch-startup.conf" echo "== cat /etc/init/jsk-fetch-startup.conf ==" cat /etc/init/jsk-fetch-startup.conf echo "== usage: sudo service jsk-fetch-startup restart ==" From 979e57296337e67d04550d2df44dea278ef3c5e2 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 17 Oct 2019 18:57:51 +0900 Subject: [PATCH 005/120] add fetch_ros in jsk_fetch.rosinstall --- jsk_fetch_robot/jsk_fetch.rosinstall | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall b/jsk_fetch_robot/jsk_fetch.rosinstall index 11dce96979..82df52104c 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall +++ b/jsk_fetch_robot/jsk_fetch.rosinstall @@ -66,3 +66,8 @@ local-name: jsk-ros-pkg/jsk_3rdparty uri: https://github.com/jsk-ros-pkg/jsk_3rdparty.git version: 82e897dcbdcd6aa0cbd126fa122d4dbdc9df67c9 +# indigo is already EOL and fetch_ros is never released. +- git: + local-name: fetchrobotics/fetch_ros + uri: https://github.com/fetchrobotics/fetch_ros.git + version: 4680118106ba8ffa99a803122bf1a9e383edf3df From cade6f3386665cd4a3794974999ba296a3629092 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 17 Oct 2019 20:31:05 +0900 Subject: [PATCH 006/120] use proper distance for dock --- 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 8104a814d6..2d8fb396b0 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -32,7 +32,7 @@ (require :fetch-interface "package://fetcheus/fetch-interface.l") (fetch-init)) (send *fetch* :angle-vector (send *ri* :state :potentio-vector)) - (send *fetch* :head :look-at (float-vector 1500 0 500)) + (send *fetch* :head :look-at (float-vector 800 0 500)) (send *ri* :angle-vector (send *fetch* :angle-vector) 1000) (send *ri* :wait-interpolation) (simple-dock)) @@ -85,5 +85,5 @@ (send *ri* :move-to goal-pose :frame-id frame-id))) (defun auto-dock () - (go-to-spot "/eng2/7f/room73B2-fetch-dock-front" (make-coords :pos #f(0 -1500 0))) + (go-to-spot "/eng2/7f/room73B2-fetch-dock-front" (make-coords :pos #f(0 -800 0))) (dock)) From bf653dfaec077f32a440710d9ae2ce9f013a1801 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 17 Oct 2019 20:50:05 +0900 Subject: [PATCH 007/120] fix typo in navigation-utils.l --- 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 2d8fb396b0..adc8729d44 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -23,7 +23,7 @@ (instance fetch_auto_dock_msgs::DockActionGoal :init)) (unless (send *dock-action* :wait-for-result :timeout 60) (ros::ros-error "No result returned from /dock action server") - (return-from dock nil)) + (return-from simple-dock nil)) (send (send *dock-action* :get-result) :docked)) (defun dock () From cc030aef83e3f523f93d3f8b0353c2b355e689db Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 17 Oct 2019 22:11:45 +0900 Subject: [PATCH 008/120] add n-trial for auto-dock --- .../jsk_fetch_startup/euslisp/navigation-utils.l | 11 ++++++++--- 1 file changed, 8 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 adc8729d44..40c186e616 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -84,6 +84,11 @@ (setq goal-pose (send (ros::tf-pose->coords goal-pose) :transform relative-coords :world)) (send *ri* :move-to goal-pose :frame-id frame-id))) -(defun auto-dock () - (go-to-spot "/eng2/7f/room73B2-fetch-dock-front" (make-coords :pos #f(0 -800 0))) - (dock)) +(defun auto-dock (&key (n-trial 1)) + (let ((success nil) + (trial-count 0)) + (while (and (not success) (> n-trial trial-count)) + (go-to-spot "/eng2/7f/room73B2-fetch-dock-front" (make-coords :pos #f(0 -800 0))) + (setq success (dock)) + (incf trial-count)) + success)) From 80835d4777b890c98309950320730795bd2493c8 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 17 Oct 2019 22:33:46 +0900 Subject: [PATCH 009/120] add fetch-init --- jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l | 3 +++ 1 file changed, 3 insertions(+) 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 c55912599f..5a06f835c6 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -3,6 +3,9 @@ (defun go-to-kitchen () ;; go to kitchen + (unless (boundp '*ri*) + (require :fetch-interface "package://fetcheus/fetch-interface.l") + (fetch-init)) (send *ri* :speak "go to kitchen.") (if (go-to-spot "/eng2/7f/room73B2-sink-front1" (make-coords :pos #f(100 -1000 0))) (progn ;; succeeded to go to kitchen From 12ef027f201aeab00bc5499a79a5ead32cd050cb Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 17 Oct 2019 23:13:52 +0900 Subject: [PATCH 010/120] refactor navigation-utils.l --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 3 +-- 1 file changed, 1 insertion(+), 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 40c186e616..166c8c1010 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -67,8 +67,7 @@ (ros::ros-warn "Skip undocking, so please make sure that Fetch is already undocked.") (return)) (setq *is-charging* (send msg :is_charging)) - (if *is-charging* - (progn (undock))) + (when *is-charging* (undock)) (unless *is-charging* (return)) (if (eq i 2) (progn (send *ri* :speak "Fail to undock") (ros::ros-error "Fail to undock"))))) ;; go to spot From e3095a3c67364655fe4860febb08a6bb93111d99 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 17 Oct 2019 23:14:23 +0900 Subject: [PATCH 011/120] refactor auto-dock in navigation-utils.l --- .../jsk_fetch_startup/euslisp/navigation-utils.l | 9 ++++----- 1 file changed, 4 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 166c8c1010..236ff5c953 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -84,10 +84,9 @@ (send *ri* :move-to goal-pose :frame-id frame-id))) (defun auto-dock (&key (n-trial 1)) - (let ((success nil) - (trial-count 0)) - (while (and (not success) (> n-trial trial-count)) - (go-to-spot "/eng2/7f/room73B2-fetch-dock-front" (make-coords :pos #f(0 -800 0))) + (let ((success nil)) + (dotimes (i n-trial) + (go-to-spot *dock-spot* (make-coords :pos #f(0 -800 0))) (setq success (dock)) - (incf trial-count)) + (when success (return-from auto-dock success))) success)) From 8f261bdcf34c7f2c2e9cd4c3a58d04e4cf2fdf34 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 17 Oct 2019 23:18:01 +0900 Subject: [PATCH 012/120] move go-to-kitchen in navigation-utils.l --- .../jsk_fetch_startup/euslisp/go-to-kitchen.l | 24 ++++--------------- .../euslisp/navigation-utils.l | 22 +++++++++++++++-- 2 files changed, 24 insertions(+), 22 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 5a06f835c6..8db7d9e7ff 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -1,22 +1,6 @@ -(ros::roseus "go_to_kitchen") -(load "package://jsk_fetch_startup/euslisp/navigation-utils.l") - -(defun go-to-kitchen () - ;; go to kitchen - (unless (boundp '*ri*) - (require :fetch-interface "package://fetcheus/fetch-interface.l") - (fetch-init)) - (send *ri* :speak "go to kitchen.") - (if (go-to-spot "/eng2/7f/room73B2-sink-front1" (make-coords :pos #f(100 -1000 0))) - (progn ;; succeeded to go to kitchen - (unix:sleep 1) - (send *ri* :speak "arrived at kitchen." :wait t) - (unix:sleep 1) - (send *ri* :speak "return to dock." :wait t) - (auto-dock)) - (progn ;; failed to go to kitchen - (send *ri* :speak "I could not go to kitchen, so return to dock." :wait t) - (auto-dock)))) - +#!/usr/bin/env roseus +(load "package://jsk_fetch_startup/euslisp/navigation-utils.l") +(ros::roseus "go_to_kitchen") (go-to-kitchen) +(exit) 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 236ff5c953..2dcd61d154 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -1,5 +1,4 @@ -;; go-dock.l -;; Author: Yuki Furuta +(load "package://jsk_robot_startup/lifelog/tweet_client.l") (ros::load-ros-manifest "fetch_auto_dock_msgs") (ros::load-ros-manifest "power_msgs") @@ -90,3 +89,22 @@ (setq success (dock)) (when success (return-from auto-dock success))) success)) + +(defun go-to-kitchen (&key (tweet t)) + ;; go to kitchen + (unless (boundp '*ri*) + (require :fetch-interface "package://fetcheus/fetch-interface.l") + (fetch-init)) + (send *ri* :speak-jp "キッチンに向かいます。") + (if (go-to-spot "/eng2/7f/room73B2-sink-front1" (make-coords :pos #f(100 -1000 0))) + (progn ;; succeeded to go to kitchen + (unix:sleep 1) + (send *ri* :speak-jp "キッチンにつきました。" :wait t) + (unix:sleep 1) + (when tweet + (tweet-string "I took a photo at 73B2 Kitchen." :warning-time 3 :with-image t :speak t)) + (send *ri* :speak-jp "ドックに戻ります。" :wait t) + (auto-dock)) + (progn ;; failed to go to kitchen + (send *ri* :speak-jp "失敗しました。ドックに戻ります。" :wait t) + (auto-dock)))) From 8ab8339be39f69a525fa415bf073e342cc09b0e2 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 17 Oct 2019 23:47:35 +0900 Subject: [PATCH 013/120] add n-dock-trial for go-to-kitchen --- jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l | 2 +- .../jsk_fetch_startup/euslisp/navigation-utils.l | 6 +++--- 2 files changed, 4 insertions(+), 4 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 8db7d9e7ff..bc416c49ac 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -2,5 +2,5 @@ (load "package://jsk_fetch_startup/euslisp/navigation-utils.l") (ros::roseus "go_to_kitchen") -(go-to-kitchen) +(go-to-kitchen :tweet t :n-dock-trial 5) (exit) 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 2dcd61d154..da5ef29222 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -90,7 +90,7 @@ (when success (return-from auto-dock success))) success)) -(defun go-to-kitchen (&key (tweet t)) +(defun go-to-kitchen (&key (tweet t) (n-dock-trial 1)) ;; go to kitchen (unless (boundp '*ri*) (require :fetch-interface "package://fetcheus/fetch-interface.l") @@ -104,7 +104,7 @@ (when tweet (tweet-string "I took a photo at 73B2 Kitchen." :warning-time 3 :with-image t :speak t)) (send *ri* :speak-jp "ドックに戻ります。" :wait t) - (auto-dock)) + (auto-dock :n-trial n-dock-trial)) (progn ;; failed to go to kitchen (send *ri* :speak-jp "失敗しました。ドックに戻ります。" :wait t) - (auto-dock)))) + (auto-dock :n-trial n-dock-trial)))) From 5656cc47868b83e2966470eee3d1844454a73ddc Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 19 Oct 2019 01:32:40 +0900 Subject: [PATCH 014/120] rotate after undock when going to kitchen --- .../jsk_fetch_startup/euslisp/navigation-utils.l | 10 +++++++--- 1 file changed, 7 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 da5ef29222..05e183c500 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -52,7 +52,7 @@ (return-from undock nil)) (send (send *undock-action* :get-result) :undocked)) -(defun go-to-spot (name &optional (relative-coords (make-coords))) +(defun go-to-spot (name &optional (relative-coords (make-coords)) &key (undock-rotate nil)) ;; undock if fetch is docking (unless (boundp '*ri*) (require :fetch-interface "package://fetcheus/fetch-interface.l") @@ -66,7 +66,10 @@ (ros::ros-warn "Skip undocking, so please make sure that Fetch is already undocked.") (return)) (setq *is-charging* (send msg :is_charging)) - (when *is-charging* (undock)) + (when *is-charging* + (undock) + ;; rotate after undock + (when undock-rotate (send *ri* :go-pos-unsafe 0 0 3.14))) (unless *is-charging* (return)) (if (eq i 2) (progn (send *ri* :speak "Fail to undock") (ros::ros-error "Fail to undock"))))) ;; go to spot @@ -96,7 +99,8 @@ (require :fetch-interface "package://fetcheus/fetch-interface.l") (fetch-init)) (send *ri* :speak-jp "キッチンに向かいます。") - (if (go-to-spot "/eng2/7f/room73B2-sink-front1" (make-coords :pos #f(100 -1000 0))) + (if (go-to-spot "/eng2/7f/room73B2-sink-front1" + (make-coords :pos #f(100 -1000 0)) :undock-rotate t) (progn ;; succeeded to go to kitchen (unix:sleep 1) (send *ri* :speak-jp "キッチンにつきました。" :wait t) From 147f1d45141208faec40dd4e375c5fa4dd6a50fb Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 19 Oct 2019 01:33:18 +0900 Subject: [PATCH 015/120] clear costmap at the beginning of going to kitchen --- jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l | 4 ++++ 1 file changed, 4 insertions(+) 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 bc416c49ac..aeee6bf291 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -1,6 +1,10 @@ #!/usr/bin/env roseus +(require :fetch-interface "package://fetcheus/fetch-interface.l") (load "package://jsk_fetch_startup/euslisp/navigation-utils.l") + (ros::roseus "go_to_kitchen") +(fetch-init) +(send *ri* :clear-costmap) (go-to-kitchen :tweet t :n-dock-trial 5) (exit) From 2c744a09c3a6c29ef13cc120a72b4c48461e8088 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 19 Oct 2019 02:36:29 +0900 Subject: [PATCH 016/120] save image in euslisp, not use image_saver --- .../jsk_robot_startup/lifelog/tweet.launch | 2 ++ .../jsk_robot_startup/lifelog/tweet_client.l | 26 +++++++++---------- 2 files changed, 15 insertions(+), 13 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch b/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch index f647b7fbfc..b22b0d066c 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch @@ -33,6 +33,7 @@ + image img)) + (ros::ros-info "tweeting ~A" twit-str) + (ros::publish "/tweet" + (instance std_msgs::String :init + :data (format nil "~A ~A" + twit-str (format nil "/tmp/tweet_image.jpg"))))) + (ros::ros-error "fail saving image and tweeting")) + (ros::service-call "/tweet_image_mux/select" (instance topic_tools::muxselectrequest :init :topic prev-image-topic))) (t (ros::publish "/tweet" (instance std_msgs::String :init :data twit-str)))) (when speak (speak-jp "ついーとしました" :wait t)))) From c2537fd4ae56a306da53e3061be77a96c195efc8 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 19 Oct 2019 02:36:59 +0900 Subject: [PATCH 017/120] use roseus-add-msgs/srvs --- jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l | 6 ++++-- .../jsk_robot_startup/lifelog/tweet_client_tablet.l | 1 + 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l index a41fe3a769..e0ced3da45 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l @@ -1,7 +1,9 @@ #!/usr/bin/env roseus -(ros::load-ros-manifest "roseus") -(ros::load-ros-manifest "topic_tools") +(ros::roseus-add-srvs "topic_tools") +(ros::roseus-add-msgs "std_msgs") +(ros::roseus-add-msgs "sensor_msgs") + (load "package://pr2eus/speak.l") (ros::roseus "tweet_client") diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l index ff5b640c83..a9ae5b1e54 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l @@ -1,6 +1,7 @@ #!/usr/bin/env roseus (ros::roseus "twitter_client_tablet") +(ros::roseus-add-msgs "roseus") (load "package://jsk_robot_startup/lifelog/tweet_client.l") From 7b66fec53b3aac05a05e74d26e918fa986960631 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 19 Oct 2019 02:37:48 +0900 Subject: [PATCH 018/120] 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 @@ - - + From a5181cb8b5cfcf7ac7d8d157f60f199d1a95cd08 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 19 Oct 2019 03:12:44 +0900 Subject: [PATCH 019/120] use edgetpu image for kitchen demo tweet --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 3 ++- 1 file changed, 2 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 05e183c500..fc817ed7db 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -106,7 +106,8 @@ (send *ri* :speak-jp "キッチンにつきました。" :wait t) (unix:sleep 1) (when tweet - (tweet-string "I took a photo at 73B2 Kitchen." :warning-time 3 :with-image t :speak t)) + (tweet-string "I took a photo at 73B2 Kitchen." :warning-time 3 + :with-image "/edgetpu_object_detector/output/image" :speak t)) (send *ri* :speak-jp "ドックに戻ります。" :wait t) (auto-dock :n-trial n-dock-trial)) (progn ;; failed to go to kitchen From e2b987d25224dd529dd50422d2cdba73ea0e7433 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sun, 20 Oct 2019 00:40:32 +0900 Subject: [PATCH 020/120] add video recorder --- .../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 e29c5a737e..fe5a924a51 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 @@ -1,4 +1,13 @@ - + + + + + filename: /tmp/go_to_kitchen.avi + stamped_filename: false + fps: 15 + + From b2be0c1752f65a5fde358b44e7d629d5b31be71f Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sun, 20 Oct 2019 05:55:44 +0900 Subject: [PATCH 021/120] 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 fe5a924a51..d3849be3de 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 @@ -6,6 +6,7 @@ filename: /tmp/go_to_kitchen.avi + codec: XVID stamped_filename: false fps: 15 From 31612af33eea0484e5b2a74d365c7a014eb30d01 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Mon, 21 Oct 2019 23:25:24 +0900 Subject: [PATCH 022/120] 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 d3849be3de..b7378f19ff 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 @@ -8,7 +8,16 @@ filename: /tmp/go_to_kitchen.avi codec: XVID stamped_filename: false - fps: 15 + fps: 5 + + + + + + filename: /tmp/go_to_kitchen_object_detection.avi + codec: XVID + stamped_filename: false + fps: 5 From c7b5c08efa1d47b152539337a6a6387212ed5453 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Oct 2019 10:57:34 +0900 Subject: [PATCH 023/120] 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 b7378f19ff..521e027fa1 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 @@ -8,7 +8,7 @@ filename: /tmp/go_to_kitchen.avi codec: XVID stamped_filename: false - fps: 5 + fps: 30 @@ -17,7 +17,7 @@ filename: /tmp/go_to_kitchen_object_detection.avi codec: XVID stamped_filename: false - fps: 5 + fps: 7.5 From 83dc0a940e12994d48f39baa9884d24466de1d7c Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 22 Oct 2019 11:09:49 +0900 Subject: [PATCH 024/120] add ros-info and ros-error for logging --- .../apps/go_to_kitchen/go_to_kitchen.xml | 2 +- .../jsk_fetch_startup/euslisp/navigation-utils.l | 12 +++++++++--- 2 files changed, 10 insertions(+), 4 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 521e027fa1..0720640d5f 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 @@ - 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 fc817ed7db..819ca5f935 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -88,9 +88,10 @@ (defun auto-dock (&key (n-trial 1)) (let ((success nil)) (dotimes (i n-trial) - (go-to-spot *dock-spot* (make-coords :pos #f(0 -800 0))) - (setq success (dock)) - (when success (return-from auto-dock success))) + (when (go-to-spot *dock-spot* (make-coords :pos #f(0 -800 0))) + (ros::ros-info "arrived at the dock.") + (setq success (dock)) + (when success (return-from auto-dock success)))) success)) (defun go-to-kitchen (&key (tweet t) (n-dock-trial 1)) @@ -98,18 +99,23 @@ (unless (boundp '*ri*) (require :fetch-interface "package://fetcheus/fetch-interface.l") (fetch-init)) + (ros::ros-info "start going to the kitchen.") (send *ri* :speak-jp "キッチンに向かいます。") (if (go-to-spot "/eng2/7f/room73B2-sink-front1" (make-coords :pos #f(100 -1000 0)) :undock-rotate t) (progn ;; succeeded to go to kitchen (unix:sleep 1) + (ros::ros-info "arrived at the kitchen.") (send *ri* :speak-jp "キッチンにつきました。" :wait t) (unix:sleep 1) (when tweet (tweet-string "I took a photo at 73B2 Kitchen." :warning-time 3 :with-image "/edgetpu_object_detector/output/image" :speak t)) + (ros::ros-info "start going back to the dock.") (send *ri* :speak-jp "ドックに戻ります。" :wait t) (auto-dock :n-trial n-dock-trial)) (progn ;; failed to go to kitchen + (ros::ros-error "failed going to the kitchen.") (send *ri* :speak-jp "失敗しました。ドックに戻ります。" :wait t) + (ros::ros-info "start going back to the dock.") (auto-dock :n-trial n-dock-trial)))) From 7f5aef473cce15a386c0475fd69b0e255c28742b Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 23 Oct 2019 23:32:03 +0900 Subject: [PATCH 025/120] set proper controller_frequency --- 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 30e29fd74f..4a19148cea 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -183,6 +183,10 @@ controller_frequency: 10.0 + + controller_frequency: 10.0 + + inflater: inflation_radius: 0.7 # 0.7 From 1d3a1d22d59eaa49a78b3045f5176c1558965ffe Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 24 Oct 2019 04:50:13 +0900 Subject: [PATCH 026/120] update auto-dock.l --- jsk_fetch_robot/jsk_fetch_startup/euslisp/auto-dock.l | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/auto-dock.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/auto-dock.l index df7b44ee69..10ca08b546 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/auto-dock.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/auto-dock.l @@ -1,8 +1,10 @@ -;; go-dock.l -;; Author: Yuki Furuta +#!/usr/bin/env roseus -(ros::roseus "fetch_go_dock") +(require :fetch-interface "package://fetcheus/fetch-interface.l") (load "package://jsk_fetch_startup/euslisp/navigation-utils.l") +(ros::roseus "fetch_go_dock") +(fetch-init) +(send *ri* :clear-costmap) (auto-dock) (exit) From 18bb744f2e75e3af2f47d6cbfa8b081ff27e0e97 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 24 Oct 2019 06:29:08 +0900 Subject: [PATCH 027/120] go to stove and sink in kitchen demo --- .../euslisp/navigation-utils.l | 37 ++++++++++++++----- 1 file changed, 28 insertions(+), 9 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 819ca5f935..d0bbbcb014 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -101,21 +101,40 @@ (fetch-init)) (ros::ros-info "start going to the kitchen.") (send *ri* :speak-jp "キッチンに向かいます。") - (if (go-to-spot "/eng2/7f/room73B2-sink-front1" - (make-coords :pos #f(100 -1000 0)) :undock-rotate t) + ;; stove + (if (go-to-spot "/eng2/7f/room73B2-sink-front0" + (make-coords :pos #f(100 -500 0)) :undock-rotate t) (progn ;; succeeded to go to kitchen (unix:sleep 1) - (ros::ros-info "arrived at the kitchen.") - (send *ri* :speak-jp "キッチンにつきました。" :wait t) + (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) (unix:sleep 1) (when tweet - (tweet-string "I took a photo at 73B2 Kitchen." :warning-time 3 - :with-image "/edgetpu_object_detector/output/image" :speak t)) + (tweet-string "I took a photo at 73B2 Kitchen stove." :warning-time 3 + :with-image "/edgetpu_object_detector/output/image" :speak t))) + (progn ;; failed to go to kitchen + (ros::ros-error "failed going to the kitchen.") + (send *ri* :speak-jp "失敗しました。ドックに戻ります。" :wait t) (ros::ros-info "start going back to the dock.") - (send *ri* :speak-jp "ドックに戻ります。" :wait t) - (auto-dock :n-trial n-dock-trial)) + (auto-dock :n-trial n-dock-trial) + (return-from go-to-kitchen nil))) + ;; sink + (send *ri* :speak-jp "シンクに向かいます。") + (if (go-to-spot "/eng2/7f/room73B2-sink-front1" (make-coords :pos #f(100 -200 0))) + (progn ;; succeeded to go to kitchen + (unix:sleep 1) + (ros::ros-info "arrived at the kitchen.") + (send *ri* :speak-jp "キッチンのシンクの前につきました。" :wait t) + (unix:sleep 1) + (when tweet + (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3 + :with-image "/edgetpu_object_detector/output/image" :speak t))) (progn ;; failed to go to kitchen (ros::ros-error "failed going to the kitchen.") (send *ri* :speak-jp "失敗しました。ドックに戻ります。" :wait t) (ros::ros-info "start going back to the dock.") - (auto-dock :n-trial n-dock-trial)))) + (auto-dock :n-trial n-dock-trial) + (return-from go-to-kitchen nil))) + (ros::ros-info "start going back to the dock.") + (send *ri* :speak-jp "ドックに戻ります。" :wait t) + (auto-dock :n-trial n-dock-trial)) From 656fc3ae2984a08a03be4c174e5734bcf902b72b Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 24 Oct 2019 06:29:33 +0900 Subject: [PATCH 028/120] fix go-to-spot function --- .../jsk_fetch_startup/euslisp/navigation-utils.l | 6 ++++-- 1 file changed, 4 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 d0bbbcb014..22d4a715e1 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -69,7 +69,7 @@ (when *is-charging* (undock) ;; rotate after undock - (when undock-rotate (send *ri* :go-pos-unsafe 0 0 3.14))) + (when undock-rotate (send *ri* :go-pos-unsafe 0 0 pi))) (unless *is-charging* (return)) (if (eq i 2) (progn (send *ri* :speak "Fail to undock") (ros::ros-error "Fail to undock"))))) ;; go to spot @@ -82,7 +82,9 @@ (setq goal-pose (send x :pose)) (setq frame-id (send (send x :header) :frame_id))))) (send (send goal-pose :position) :z 0) - (setq goal-pose (send (ros::tf-pose->coords goal-pose) :transform relative-coords :world)) + (setq goal-pose (ros::tf-pose->coords goal-pose)) + (when relative-coords + (setq goal-pose (send goal-pose :transform relative-coords :world))) (send *ri* :move-to goal-pose :frame-id frame-id))) (defun auto-dock (&key (n-trial 1)) From 3ca6ad86fcf2cf99d4983e8b41009ff44da09366 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 24 Oct 2019 08:14:13 +0900 Subject: [PATCH 029/120] do not go to in front of sink --- .../euslisp/navigation-utils.l | 37 +++++++++++-------- 1 file changed, 22 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 22d4a715e1..4551f01cf6 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -111,23 +111,13 @@ (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) (unix:sleep 1) + ;; stove (when tweet (tweet-string "I took a photo at 73B2 Kitchen stove." :warning-time 3 - :with-image "/edgetpu_object_detector/output/image" :speak t))) - (progn ;; failed to go to kitchen - (ros::ros-error "failed going to the kitchen.") - (send *ri* :speak-jp "失敗しました。ドックに戻ります。" :wait t) - (ros::ros-info "start going back to the dock.") - (auto-dock :n-trial n-dock-trial) - (return-from go-to-kitchen nil))) - ;; sink - (send *ri* :speak-jp "シンクに向かいます。") - (if (go-to-spot "/eng2/7f/room73B2-sink-front1" (make-coords :pos #f(100 -200 0))) - (progn ;; succeeded to go to kitchen - (unix:sleep 1) - (ros::ros-info "arrived at the kitchen.") - (send *ri* :speak-jp "キッチンのシンクの前につきました。" :wait t) - (unix:sleep 1) + :with-image "/edgetpu_object_detector/output/image" :speak t)) + (send *ri* :go-pos-unsafe-no-wait 0 0 (/ -pi 4)) + (send *ri* :go-pos-unsafe-wait :rotation-gain 2.0) + ;; sink (when tweet (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3 :with-image "/edgetpu_object_detector/output/image" :speak t))) @@ -137,6 +127,23 @@ (ros::ros-info "start going back to the dock.") (auto-dock :n-trial n-dock-trial) (return-from go-to-kitchen nil))) + ;; sink + ;; (send *ri* :speak-jp "シンクに向かいます。") + ;; (if (go-to-spot "/eng2/7f/room73B2-sink-front1" (make-coords :pos #f(100 -200 0))) + ;; (progn ;; succeeded to go to kitchen + ;; (unix:sleep 1) + ;; (ros::ros-info "arrived at the kitchen.") + ;; (send *ri* :speak-jp "キッチンのシンクの前につきました。" :wait t) + ;; (unix:sleep 1) + ;; (when tweet + ;; (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3 + ;; :with-image "/edgetpu_object_detector/output/image" :speak t))) + ;; (progn ;; failed to go to kitchen + ;; (ros::ros-error "failed going to the kitchen.") + ;; (send *ri* :speak-jp "失敗しました。ドックに戻ります。" :wait t) + ;; (ros::ros-info "start going back to the dock.") + ;; (auto-dock :n-trial n-dock-trial) + ;; (return-from go-to-kitchen nil))) (ros::ros-info "start going back to the dock.") (send *ri* :speak-jp "ドックに戻ります。" :wait t) (auto-dock :n-trial n-dock-trial)) From c64fed0a05d2379b576637b9babcfcf62d2f4c5f Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 24 Oct 2019 17:07:08 +0900 Subject: [PATCH 030/120] 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 0720640d5f..76d78f6b06 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 @@ -3,12 +3,12 @@ args="$(find jsk_fetch_startup)/euslisp/go-to-kitchen.l"/> - + filename: /tmp/go_to_kitchen.avi codec: XVID stamped_filename: false - fps: 30 + fps: 5.0 From 292677f5c2bc2a78e963186d13701ce4237e09d9 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 26 Oct 2019 00:57:57 +0900 Subject: [PATCH 031/120] use normal go-pos-unsafe in go-to kitchen --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 3 +-- 1 file changed, 1 insertion(+), 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 4551f01cf6..e05fc99230 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -115,8 +115,7 @@ (when tweet (tweet-string "I took a photo at 73B2 Kitchen stove." :warning-time 3 :with-image "/edgetpu_object_detector/output/image" :speak t)) - (send *ri* :go-pos-unsafe-no-wait 0 0 (/ -pi 4)) - (send *ri* :go-pos-unsafe-wait :rotation-gain 2.0) + (send *ri* :go-pos-unsafe 0 0 (/ -pi 4)) ;; sink (when tweet (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3 From 66023ae0b52bf883c793cb1afa08474f5c08f67a Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 26 Oct 2019 23:29:29 +0900 Subject: [PATCH 032/120] add n-trial-kitchen key --- .../jsk_fetch_startup/euslisp/go-to-kitchen.l | 2 +- .../euslisp/navigation-utils.l | 51 ++++++++++--------- 2 files changed, 29 insertions(+), 24 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 aeee6bf291..d9c1f0fa25 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -6,5 +6,5 @@ (ros::roseus "go_to_kitchen") (fetch-init) (send *ri* :clear-costmap) -(go-to-kitchen :tweet t :n-dock-trial 5) +(go-to-kitchen :tweet t :n-dock-trial 5 :n-kitchen-trial 3) (exit) 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 e05fc99230..f180de036b 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -96,7 +96,7 @@ (when success (return-from auto-dock success)))) success)) -(defun go-to-kitchen (&key (tweet t) (n-dock-trial 1)) +(defun go-to-kitchen (&key (tweet t) (n-dock-trial 1) (n-kitchen-trial 1)) ;; go to kitchen (unless (boundp '*ri*) (require :fetch-interface "package://fetcheus/fetch-interface.l") @@ -104,28 +104,33 @@ (ros::ros-info "start going to the kitchen.") (send *ri* :speak-jp "キッチンに向かいます。") ;; stove - (if (go-to-spot "/eng2/7f/room73B2-sink-front0" - (make-coords :pos #f(100 -500 0)) :undock-rotate t) - (progn ;; succeeded to go to kitchen - (unix:sleep 1) - (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) - (unix:sleep 1) - ;; stove - (when tweet - (tweet-string "I took a photo at 73B2 Kitchen stove." :warning-time 3 - :with-image "/edgetpu_object_detector/output/image" :speak t)) - (send *ri* :go-pos-unsafe 0 0 (/ -pi 4)) - ;; sink - (when tweet - (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3 - :with-image "/edgetpu_object_detector/output/image" :speak t))) - (progn ;; failed to go to kitchen - (ros::ros-error "failed going to the kitchen.") - (send *ri* :speak-jp "失敗しました。ドックに戻ります。" :wait t) - (ros::ros-info "start going back to the dock.") - (auto-dock :n-trial n-dock-trial) - (return-from go-to-kitchen nil))) + (let ((succcess-go-to-kitchen)) + (dotimes (i n-kitchen-trial) + (setq success-go-to-kitchen + (go-to-spot "/eng2/7f/room73B2-sink-front0" + (make-coords :pos #f(100 -500 0)) :undock-rotate t)) + (when success-go-to-kitchen (return))) + (if success-go-to-kitchen + (progn ;; succeeded to go to kitchen + (unix:sleep 1) + (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) + (unix:sleep 1) + ;; stove + (when tweet + (tweet-string "I took a photo at 73B2 Kitchen stove." :warning-time 3 + :with-image "/edgetpu_object_detector/output/image" :speak t)) + (send *ri* :go-pos-unsafe 0 0 (/ -pi 4)) + ;; sink + (when tweet + (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3 + :with-image "/edgetpu_object_detector/output/image" :speak t))) + (progn ;; failed to go to kitchen + (ros::ros-error "failed going to the kitchen.") + (send *ri* :speak-jp "失敗しました。ドックに戻ります。" :wait t) + (ros::ros-info "start going back to the dock.") + (auto-dock :n-trial n-dock-trial) + (return-from go-to-kitchen nil)))) ;; sink ;; (send *ri* :speak-jp "シンクに向かいます。") ;; (if (go-to-spot "/eng2/7f/room73B2-sink-front1" (make-coords :pos #f(100 -200 0))) From 933872dc61a0e57c09e7a2991ca56976fd14ada3 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 1 Nov 2019 03:15:34 +0900 Subject: [PATCH 033/120] add mail notification in fetch go_to_kitchen demo --- .../apps/go_to_kitchen/go_to_kitchen.xml | 27 +++++++--- .../jsk_fetch_startup/euslisp/go-to-kitchen.l | 51 +++++++++++++++++-- 2 files changed, 69 insertions(+), 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 76d78f6b06..7ac4a855f0 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 @@ -1,11 +1,26 @@ + + + + + args="$(find jsk_fetch_startup)/euslisp/go-to-kitchen.l"> + + 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) + + + - + - - filename: /tmp/go_to_kitchen.avi + + filename: $(arg video_path)/$(arg head_camera_video_title) codec: XVID stamped_filename: false fps: 5.0 @@ -13,8 +28,8 @@ - - filename: /tmp/go_to_kitchen_object_detection.avi + + filename: $(arg video_path)/$(arg object_detection_video_title) codec: XVID stamped_filename: false fps: 7.5 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 d9c1f0fa25..173378a2ec 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -3,8 +3,53 @@ (require :fetch-interface "package://fetcheus/fetch-interface.l") (load "package://jsk_fetch_startup/euslisp/navigation-utils.l") +(ros::roseus-add-srvs "gdrive_ros") + + +(defun gdrive-upload-video () + (let ((req (instance gdrive_ros::MultipleUploadRequest :init))) + (send req :file_paths *file-paths*) + (send req :file_titles *file-titles*) + (send req :parents_path *parents-path*) + (send req :use_timestamp_folder t) + (send req :use_timestamp_file_title t) + (ros::service-call "/gdrive_server/upload_multi" req))) + +(defun send-mail (text) + (let ((cmd (format nil "/bin/echo -e \"~A\" | /usr/bin/mail -s \"Fetch15 go_to_kitchen\" -r ~A ~A" text *from-address* *to-address*))) + (print cmd) + (eq (unix::system cmd) 0))) + +(defun main () + (fetch-init) + (send *ri* :clear-costmap) + (let ((success (go-to-kitchen :tweet t :n-dock-trial 5 :n-kitchen-trial 3))) + (unix::system "rosnode kill /go_to_kitchen_head_camera_video_recorder") + (unix::system "rosnode kill /go_to_kitchen_object_detection_video_recorder") + (when *mail-notification* + (let* ((upload-res (gdrive-upload-video)) + (file-urls + (if (and upload-res (some #'identity (send upload-res :successes))) + (send upload-res :file_urls) nil))) + (send-mail + (concatenate string + (if success + "Hi all,\\nI succeeded go_to_kitchen app.\\n" + "Hi all,\\nI failed go_to_kitchen app.\\n") + (if file-urls + (apply #'concatenate string + (mapcar #'(lambda (x) (format nil "Video URL: ~A\\n" x)) file-urls)) + "I also failed to upload videos.\\n"))))))) + + (ros::roseus "go_to_kitchen") -(fetch-init) -(send *ri* :clear-costmap) -(go-to-kitchen :tweet t :n-dock-trial 5 :n-kitchen-trial 3) +(setq *mail-notification* (ros::get-param "~mail_notification" nil)) +(when *mail-notification* + (ros::roseus-add-srvs "gdrive_ros") + (setq *from-address* (ros::get-param "~from_address")) + (setq *to-address* (ros::get-param "~to_address")) + (setq *file-paths* (ros::get-param "~file_paths")) + (setq *file-titles* (ros::get-param "~file_titles")) + (setq *parents-path* "fetch_morning_go_to_kitchen")) +(main) (exit) From 0b1443e51dc87db5a2c5ab0224ef5c0b18c5f6be Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 2 Nov 2019 00:05:56 +0900 Subject: [PATCH 034/120] send email notification in japanese --- .../jsk_fetch_startup/euslisp/go-to-kitchen.l | 12 ++++++------ 1 file changed, 6 insertions(+), 6 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 173378a2ec..9511f395b5 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -16,8 +16,7 @@ (ros::service-call "/gdrive_server/upload_multi" req))) (defun send-mail (text) - (let ((cmd (format nil "/bin/echo -e \"~A\" | /usr/bin/mail -s \"Fetch15 go_to_kitchen\" -r ~A ~A" text *from-address* *to-address*))) - (print cmd) + (let ((cmd (format nil "LC_CTYPE=ja_JP.UTF-8 /bin/echo -e \"~A\" | /usr/bin/mail -s \"Fetch キッチン見回りデモ\" -r ~A ~A" text *from-address* *to-address*))) (eq (unix::system cmd) 0))) (defun main () @@ -34,12 +33,13 @@ (send-mail (concatenate string (if success - "Hi all,\\nI succeeded go_to_kitchen app.\\n" - "Hi all,\\nI failed go_to_kitchen app.\\n") + "こんにちは、私はFetchです。\\nキッチンの見回りをしてきたよ。\\n" + "こんにちは、私はFetchです。\\nキッチンの見回りに失敗しました。\\n") (if file-urls (apply #'concatenate string - (mapcar #'(lambda (x) (format nil "Video URL: ~A\\n" x)) file-urls)) - "I also failed to upload videos.\\n"))))))) + (append (list "見回りの動画をアップロードしました。\\n") + (mapcar #'(lambda (x) (format nil "URL: ~A\\n" x)) file-urls))) + "見回りの動画のアップロードにも失敗しました。\\n"))))))) (ros::roseus "go_to_kitchen") From ab4d9347e8169271efd1483969e2c08dccd539e5 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 8 Nov 2019 23:41:19 +0900 Subject: [PATCH 035/120] do not set :wait-until-update when :worldcoords --- jsk_fetch_robot/fetcheus/fetch-interface.l | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l index 9c8a9131b4..b094d3bb9b 100644 --- a/jsk_fetch_robot/fetcheus/fetch-interface.l +++ b/jsk_fetch_robot/fetcheus/fetch-interface.l @@ -32,7 +32,10 @@ )) (:state (&rest args) ":state calls with :wait-until-update by default, since Fetch publishes /joint_states from body and gripper at almost same frequency" - (send-super* :state (if (member :wait-until-update args) args (append args (list :wait-until-update t))))) + (send-super* :state + (if (or (eq (car args) :worldcoords) + (member :wait-until-update args)) + args (append args (list :wait-until-update t))))) (:check-continuous-joint-move-over-180 ;; can be removed if http//github.com/jsk-ros-pkg/jsk_pr2eus/pull/322 merged (diff-av) (let ((i 0) add-new-trajectory-point) From e898481499a402a9e97feb588acfc54a6a40ec45 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 8 Nov 2019 23:41:59 +0900 Subject: [PATCH 036/120] fix radian in :go-pos-unsafe --- 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 b094d3bb9b..7139222a7d 100644 --- a/jsk_fetch_robot/fetcheus/fetch-interface.l +++ b/jsk_fetch_robot/fetcheus/fetch-interface.l @@ -259,7 +259,7 @@ Example: (send self :gripper :position) => 0.00" (forward-p (>= x 0)) (d0 (if forward-p (atan2 y x) (atan2 (- y) (- x)))) (d1 (distance (float-vector 0 0) (float-vector x y))) - (d2 (shortest-angle (- d d0) 0)) + (d2 (shortest-angle (- (deg2rad d) d0) 0)) org-cds cur-cds diffrot diffpos err) (send self :remprop :go-pos-unsafe-no-wait-goal) From 7cba474f67530dfe80b33ecfed725299c6fae7a0 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 8 Nov 2019 23:58:51 +0900 Subject: [PATCH 037/120] update go-to-kitchen motion --- 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 f180de036b..84bc8c5406 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -108,7 +108,7 @@ (dotimes (i n-kitchen-trial) (setq success-go-to-kitchen (go-to-spot "/eng2/7f/room73B2-sink-front0" - (make-coords :pos #f(100 -500 0)) :undock-rotate t)) + (make-coords :pos #f(200 -500 0)) :undock-rotate t)) (when success-go-to-kitchen (return))) (if success-go-to-kitchen (progn ;; succeeded to go to kitchen @@ -120,7 +120,7 @@ (when tweet (tweet-string "I took a photo at 73B2 Kitchen stove." :warning-time 3 :with-image "/edgetpu_object_detector/output/image" :speak t)) - (send *ri* :go-pos-unsafe 0 0 (/ -pi 4)) + (send *ri* :go-pos-unsafe 0 0 -45) ;; sink (when tweet (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3 From ac0cf3c2171a471ef5784efcbc7179cf1103ea4c Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 9 Nov 2019 02:17:30 +0900 Subject: [PATCH 038/120] fix go-to-kitchen motion --- 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 84bc8c5406..4ab5c21e70 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -69,7 +69,7 @@ (when *is-charging* (undock) ;; rotate after undock - (when undock-rotate (send *ri* :go-pos-unsafe 0 0 pi))) + (when undock-rotate (send *ri* :go-pos-unsafe 0 0 180))) (unless *is-charging* (return)) (if (eq i 2) (progn (send *ri* :speak "Fail to undock") (ros::ros-error "Fail to undock"))))) ;; go to spot From 2a79685fed7b7301387e2c7fb54e1e9b3a571240 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 9 Nov 2019 04:01:07 +0900 Subject: [PATCH 039/120] fix ros-warn in :go-pos-unsafe in fetch-interface.l --- jsk_fetch_robot/fetcheus/fetch-interface.l | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l index 7139222a7d..2ff7bfb7ed 100644 --- a/jsk_fetch_robot/fetcheus/fetch-interface.l +++ b/jsk_fetch_robot/fetcheus/fetch-interface.l @@ -264,7 +264,8 @@ Example: (send self :gripper :position) => 0.00" (send self :remprop :go-pos-unsafe-no-wait-goal) ;; yaw-x-yaw approach - (ros::ros-info "go-pos-unsafe: (yaw, x, yaw) = (~A ~A ~A)" d0 d1 d2) + (ros::ros-info "go-pos-unsafe: (yaw, x, yaw) = (~A ~A ~A)" + d0 (* (if forward-p 1.0 -1.0) d1) d2) ;; yaw (send self :spin-once) From 55e4d7c083bd0e756edabd3a4b9fdc998b8ff922 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 9 Nov 2019 04:22:48 +0900 Subject: [PATCH 040/120] override :move-to-wait to set :correction nil --- jsk_fetch_robot/fetcheus/fetch-interface.l | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/jsk_fetch_robot/fetcheus/fetch-interface.l b/jsk_fetch_robot/fetcheus/fetch-interface.l index 2ff7bfb7ed..ad91e5cf4a 100644 --- a/jsk_fetch_robot/fetcheus/fetch-interface.l +++ b/jsk_fetch_robot/fetcheus/fetch-interface.l @@ -333,6 +333,10 @@ Example: (send self :gripper :position) => 0.00" d-vel (* (if (>= d-vel 0) 1.0 -1.0) min-rotation-abs-vel)))) (ros::sleep)) t))) + (:move-to-wait (&rest args) + (send-super* :move-to-wait + (if (member :correction args) args + (append args (list :correction nil))))) ) ;; fetch-interface (simple base actions) (defun fetch-init (&optional (create-viewer)) From f63319e2b86458ddb7b3fb31b87af40a8edc750c Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 9 Nov 2019 04:30:55 +0900 Subject: [PATCH 041/120] update go-to-kitchen move --- 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 4ab5c21e70..6de42e6c57 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -108,7 +108,7 @@ (dotimes (i n-kitchen-trial) (setq success-go-to-kitchen (go-to-spot "/eng2/7f/room73B2-sink-front0" - (make-coords :pos #f(200 -500 0)) :undock-rotate t)) + (make-coords :pos #f(100 -500 0)) :undock-rotate t)) (when success-go-to-kitchen (return))) (if success-go-to-kitchen (progn ;; succeeded to go to kitchen From e1c1869daeac5abbd461daf7e84bb306163198ca Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 9 Nov 2019 04:56:18 +0900 Subject: [PATCH 042/120] update jsk_fetch.rosinstall --- jsk_fetch_robot/jsk_fetch.rosinstall | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall b/jsk_fetch_robot/jsk_fetch.rosinstall index 82df52104c..62b59212de 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall +++ b/jsk_fetch_robot/jsk_fetch.rosinstall @@ -23,11 +23,11 @@ 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: @@ -40,7 +40,7 @@ - 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: @@ -65,9 +65,19 @@ - git: local-name: jsk-ros-pkg/jsk_3rdparty uri: https://github.com/jsk-ros-pkg/jsk_3rdparty.git - version: 82e897dcbdcd6aa0cbd126fa122d4dbdc9df67c9 + version: f2b2bd8ac30a8539a6e099dfe7f1e2830ca12430 # indigo is already EOL and fetch_ros is never released. - git: local-name: fetchrobotics/fetch_ros uri: https://github.com/fetchrobotics/fetch_ros.git version: 4680118106ba8ffa99a803122bf1a9e383edf3df +# 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 a3ddc3c004d7b8032bb3ff3215c1fb59e56a5545 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 9 Nov 2019 20:30:42 +0900 Subject: [PATCH 043/120] update fetch simple-dock to add goal_pose --- .../euslisp/navigation-utils.l | 54 +++++++++++++------ 1 file changed, 37 insertions(+), 17 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 6de42e6c57..3b35b1f0f8 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -8,6 +8,21 @@ (defparameter *spots* nil) (defparameter *dock-spot* "/eng2/7f/room73B2-fetch-dock-front") (defparameter *is-charging* nil) +(defparameter *tfl* (instance ros::transform-listener :init)) + + +(defun get-spot-coords (name) + (unless *spots* + (setq *spots* (one-shot-subscribe "/spots_marker_array" visualization_msgs::MarkerArray))) + (let ((spot-coords nil) (frame-id nil)) + (dolist (x (send *spots* :markers)) + (if (equal (send x :text) name) + (progn + (setq spot-coords (send x :pose)) + (setq frame-id (send (send x :header) :frame_id))))) + (send (send spot-coords :position) :z 0) + (setq spot-coords (ros::tf-pose->coords spot-coords)) + (cons spot-coords frame-id))) (defun simple-dock () (unless *dock-action* @@ -17,13 +32,25 @@ (unless (send *dock-action* :wait-for-server 5) (ros::ros-error "/dock action server is not started") (return-from dock nil)) - - (send *dock-action* :send-goal - (instance fetch_auto_dock_msgs::DockActionGoal :init)) - (unless (send *dock-action* :wait-for-result :timeout 60) - (ros::ros-error "No result returned from /dock action server") - (return-from simple-dock nil)) - (send (send *dock-action* :get-result) :docked)) + (let* ((timestamp (ros::time-now)) + (cret (get-spot-coords *dock-spot*)) + (frame-to-dock (car cret)) + (frame-id (cdr cret)) + (lret (send *tfl* :wait-for-transform "base_link" frame-id timestamp 5)) + (base-to-frame (send *tfl* :lookup-transform "base_link" frame-id timestamp)) + (goal-pose (ros::coords->tf-pose (send frame-to-dock :transform base-to-frame :world))) + (pose-msg (instance geometry_msgs::PoseStamped :init)) + (dock-action-goal (instance fetch_auto_dock_msgs::DockActionGoal :init))) + (send pose-msg :header :stamp timestamp) + (send pose-msg :header :frame_id "base_link") + (send pose-msg :pose goal-pose) + (send dock-action-goal :goal :dock_pose pose-msg) + (send *dock-action* :send-goal dock-action-goal) + (unless (send *dock-action* :wait-for-result :timeout 60) + (send *dock-action* :cancel-all-goals) + (ros::ros-error "No result returned from /dock action server") + (return-from simple-dock nil)) + (send (send *dock-action* :get-result) :docked))) (defun dock () ;; look down @@ -73,16 +100,9 @@ (unless *is-charging* (return)) (if (eq i 2) (progn (send *ri* :speak "Fail to undock") (ros::ros-error "Fail to undock"))))) ;; go to spot - (unless *spots* - (setq *spots* (one-shot-subscribe "/spots_marker_array" visualization_msgs::MarkerArray))) - (let ((goal-pose nil) (frame-id nil)) - (dolist (x (send *spots* :markers)) - (if (equal (send x :text) name) - (progn - (setq goal-pose (send x :pose)) - (setq frame-id (send (send x :header) :frame_id))))) - (send (send goal-pose :position) :z 0) - (setq goal-pose (ros::tf-pose->coords goal-pose)) + (let* ((ret (get-spot-coords name)) + (goal-pose (car ret)) + (frame-id (cdr ret))) (when relative-coords (setq goal-pose (send goal-pose :transform relative-coords :world))) (send *ri* :move-to goal-pose :frame-id frame-id))) From 70337d02c4800e9514e52350abf59b835569e5a4 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 9 Nov 2019 20:33:02 +0900 Subject: [PATCH 044/120] clear costmap before autodock --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 4 ++++ 1 file changed, 4 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 3b35b1f0f8..a46c471780 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -108,6 +108,10 @@ (send *ri* :move-to goal-pose :frame-id frame-id))) (defun auto-dock (&key (n-trial 1)) + (unless (boundp '*ri*) + (require :fetch-interface "package://fetcheus/fetch-interface.l") + (fetch-init)) + (send *ri* :clear-costmap) (let ((success nil)) (dotimes (i n-trial) (when (go-to-spot *dock-spot* (make-coords :pos #f(0 -800 0))) From cf715005f923cc3d030cb2dbcb54cb1e899ed4d6 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 9 Nov 2019 22:55:23 +0900 Subject: [PATCH 045/120] move clear-costmap inside go-to-spot --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 5 +---- 1 file changed, 1 insertion(+), 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 a46c471780..d4de993a51 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -105,13 +105,10 @@ (frame-id (cdr ret))) (when relative-coords (setq goal-pose (send goal-pose :transform relative-coords :world))) + (send *ri* :clear-costmap) (send *ri* :move-to goal-pose :frame-id frame-id))) (defun auto-dock (&key (n-trial 1)) - (unless (boundp '*ri*) - (require :fetch-interface "package://fetcheus/fetch-interface.l") - (fetch-init)) - (send *ri* :clear-costmap) (let ((success nil)) (dotimes (i n-trial) (when (go-to-spot *dock-spot* (make-coords :pos #f(0 -800 0))) From ea858da72bbe22ad6d9edac52dc40fd52b4f0e7f Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 7 Dec 2019 21:24:06 +0900 Subject: [PATCH 046/120] add fetch virtual joint in fetch.srdf --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 4 ++++ .../jsk_fetch_startup/launch/moveit/fetch.srdf.xacro | 7 +++++++ 2 files changed, 11 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/moveit/fetch.srdf.xacro 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 4a19148cea..cc45836ed3 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -89,6 +89,10 @@ + + + + + + + + + From a05dded9c1150a03da013e9e285fc1bbe0ad5922 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 7 Dec 2019 21:49:55 +0900 Subject: [PATCH 047/120] 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 cc45836ed3..d0196b4296 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -91,7 +91,7 @@ if="$(arg launch_moveit)" /> - From 3a57c8e167a737e0d64cf0514b6c811c9ca74f17 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 7 Dec 2019 22:18:14 +0900 Subject: [PATCH 048/120] update navigation parameters --- 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 d0196b4296..c592ca86ad 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -175,8 +175,8 @@ - update_min_a: 0.01 - update_min_d: 0.01 + update_min_a: 0.05 + update_min_d: 0.1 odom_alpha1: 0.2 # rotation noise per rotation odom_alpha2: 0.2 # rotation noise per translation odom_alpha3: 0.2 # translation noise per translation From 2fb5b1a4a0ff6893c575b67a75599704eb84fb34 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 17 Dec 2019 18:09:28 +0900 Subject: [PATCH 049/120] update ukf parameters --- 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 c592ca86ad..7b33d95306 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -164,10 +164,10 @@ odom0_differential: true imu0: /imu_corrected imu0_config: [false, false, false, - false, false, false, + false, false, true, false, false, false, false, false, true, - true, true, false] + true, false, false] imu0_nodelay: true imu0_differential: true imu0_remove_gravitational_acceleration: true From 37bf71c3c9eb8d87808490de5894e158a6853128 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 17 Dec 2019 18:23:37 +0900 Subject: [PATCH 050/120] update go-to-kitchen.l --- jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l | 4 ++-- 1 file changed, 2 insertions(+), 2 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 9511f395b5..8077379288 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -33,8 +33,8 @@ (send-mail (concatenate string (if success - "こんにちは、私はFetchです。\\nキッチンの見回りをしてきたよ。\\n" - "こんにちは、私はFetchです。\\nキッチンの見回りに失敗しました。\\n") + "こんにちは、Fetchです。\\nキッチンの見回りをしてきました。\\n" + "こんにちは、Fetchです。\\nキッチンの見回りに失敗しました。\\n") (if file-urls (apply #'concatenate string (append (list "見回りの動画をアップロードしました。\\n") From 2dee77c801dd9b1252045bb188bda2c91d118180 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 17 Dec 2019 18:25:51 +0900 Subject: [PATCH 051/120] set less trial number for go-to-kitchen --- jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 8077379288..fac4487931 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -22,7 +22,7 @@ (defun main () (fetch-init) (send *ri* :clear-costmap) - (let ((success (go-to-kitchen :tweet t :n-dock-trial 5 :n-kitchen-trial 3))) + (let ((success (go-to-kitchen :tweet t :n-dock-trial 3 :n-kitchen-trial 3))) (unix::system "rosnode kill /go_to_kitchen_head_camera_video_recorder") (unix::system "rosnode kill /go_to_kitchen_object_detection_video_recorder") (when *mail-notification* From 278b56291f4c91b7be7ddb3be03c54e040f327d4 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 8 Jan 2020 01:43:11 +0900 Subject: [PATCH 052/120] use plugin for applist load in fetch as pr2 --- 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 7b33d95306..c20092976a 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -76,7 +76,7 @@ - + From b7238fd56ee9c40a624debd25ed5f5135129170e Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 8 Jan 2020 20:18:36 +0900 Subject: [PATCH 053/120] remove unused arg applist --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 1 - 1 file changed, 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 c20092976a..3c25875b09 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -77,7 +77,6 @@ - From 5abc0b44df1ab70769d94e3d9dd38f65c5e0027d Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 8 Jan 2020 21:05:29 +0900 Subject: [PATCH 054/120] add time_signal app in jsk_fetch_startup --- .../jsk_fetch_startup/apps/fetch_apps.installed | 2 ++ .../apps/time_signal/time_signal.app | 5 +++++ .../apps/time_signal/time_signal.interface | 2 ++ .../apps/time_signal/time_signal.png | Bin 0 -> 25189 bytes .../apps/time_signal/time_signal.xml | 3 +++ 5 files changed, 12 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.interface create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.png create mode 100644 jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.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 fd0e9117b0..3a7e19ff29 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/fetch_apps.installed @@ -21,3 +21,5 @@ apps: display: fetch patrol in 73B2 - app: jsk_fetch_startup/speak_battery display: speak battery information + - app: jsk_fetch_startup/time_signal + display: speak time signal 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 new file mode 100644 index 0000000000..ccc458f042 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.app @@ -0,0 +1,5 @@ +display: Speak time signal +platform: fetch +launch: jsk_fetch_startup/time_signal.xml +interface: jsk_fetch_startup/time_signal.interface +icon: jsk_fetch_startup/time_signal.png diff --git 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zp&o8Z!MTOl*HqJ$J?hD+tq>q}{Vm?o_PWaiN`~uf+I0a%}pwFuEK!HNZMX5v;91YNkDwJV^ zmT<@&Jg*^7=l7fbayU{YQHDzpFP@Fdj&y^XT9wfwc0FkNnja?cJArqn8%w^!6T8~o z;hF~g4+H00Rl~P7mTzsPtvzgkCy=n9uppnH5TBr=zOazApop}v2#=tYw4k87eSFdX kRl)U*jia5<|64&&=>MxQ6~yrrr~uMbeXdfeWD)Xz0N|QK8~^|S literal 0 HcmV?d00001 diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.xml b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.xml new file mode 100644 index 0000000000..5e1bde9734 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.xml @@ -0,0 +1,3 @@ + + + From bb31ca9785a6ed163803421ae076e4b741ce9a4e Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 11 Feb 2020 20:44:57 +0900 Subject: [PATCH 055/120] fixed the odom topic of move_base --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 2 ++ 1 file changed, 2 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 3c25875b09..d38eb58eaa 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -139,6 +139,8 @@ + + From 397da9e387612ed672b91de5dcda5464eddc3877 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Tue, 11 Feb 2020 21:20:52 +0900 Subject: [PATCH 056/120] fixed odom topicname of fetch teleop --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 4 +++- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml | 3 +++ 2 files changed, 6 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 d38eb58eaa..c87b9d0a6d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -95,7 +95,9 @@ + if="$(arg launch_teleop)" > + + + + @@ -72,6 +74,7 @@ + From a144f5d4e0e45f6f12fd3aa3b9983ce51cedaa5c Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 13 Feb 2020 13:38:03 +0100 Subject: [PATCH 057/120] add rosbag record for go_to_kitchen demo --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 7 +++++++ jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l | 1 + 2 files changed, 8 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 7ac4a855f0..6f71472e45 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 @@ + @@ -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) + - $(arg rosbag_title) @@ -35,4 +38,8 @@ fps: 7.5 + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l index fac4487931..bc9cffc4a2 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -25,6 +25,7 @@ (let ((success (go-to-kitchen :tweet t :n-dock-trial 3 :n-kitchen-trial 3))) (unix::system "rosnode kill /go_to_kitchen_head_camera_video_recorder") (unix::system "rosnode kill /go_to_kitchen_object_detection_video_recorder") + (unix::system "rosnode kill /go_to_kitchen_rosbag_recorder") (when *mail-notification* (let* ((upload-res (gdrive-upload-video)) (file-urls From d8f7cff27e88eb1a55b6f2b8c09aaf62f2e8f6f7 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 18 Feb 2020 15:01:59 +0900 Subject: [PATCH 058/120] [fetch] script and upstart config to use touchscreen vertically --- .../config/install_upstart.sh | 21 ++++++++++++++++++ .../scripts/vertical-touchscreen.sh | 22 +++++++++++++++++++ 2 files changed, 43 insertions(+) create mode 100755 jsk_fetch_robot/jsk_fetch_startup/scripts/vertical-touchscreen.sh diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_upstart.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_upstart.sh index 0a9b311787..4119ab100f 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/config/install_upstart.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_upstart.sh @@ -5,6 +5,7 @@ jsk_fetch_startup=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`"/.. > /dev/null && IFS=':' read -r -a prefix_paths <<< "$CMAKE_PREFIX_PATH" current_prefix_path="${prefix_paths[0]}" +# jsk-fetch-startup sudo bash -c "cat < /etc/init/jsk-fetch-startup.conf description \"spawn jsk bringup nodes for fetch\" # use default log dir: yamaguchi & s-kitagawa (2019/04/18) @@ -36,3 +37,23 @@ EOF" echo "== cat /etc/init/jsk-fetch-startup.conf ==" cat /etc/init/jsk-fetch-startup.conf echo "== usage: sudo service jsk-fetch-startup restart ==" + +# vertical-touchscreen +sudo bash -c "cat < /etc/init/vertical-touchscreen.conf +# See https://askubuntu.com/questions/507496/how-to-start-gui-application-with-upstart +description \"Use vertical touchscreen\" + +start on runlevel [2345] +stop on runlevel [016] + +script + sleep 30 # Wait for X programs to start + export DISPLAY=:0 + exec su fetch -c \". ${current_prefix_path}/setup.bash && ${jsk_fetch_startup}/scripts/vertical-touchscreen.sh\" +end script + +EOF" +echo +echo "== cat /etc/init/vertical-touchscreen.conf ==" +cat /etc/init/vertical-touchscreen.conf +echo "== usage: sudo service vertical-touchscreen restart ==" diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/vertical-touchscreen.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/vertical-touchscreen.sh new file mode 100755 index 0000000000..1ea8578308 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/vertical-touchscreen.sh @@ -0,0 +1,22 @@ +# Set monitor orientation to vertical. +# monitor port (fetch has only one external HDMI port) +# You can list up monitor names by 'xrandr' +MONITOR="HDMI2" +xrandr --output $MONITOR --rotate right # right rotation +# xrandr --output $MONITOR --rotate normal # reset to normal + +# Set touchpad orientation to vertical. +# See https://stackoverflow.com/questions/18755967/how-to-make-a-program-that-finds-ids-of-xinput-devices-and-sets-xinput-some-set/18756948#18756948 +# You can list up input devices by 'xinput --list' +SEARCH="ILITEK" # touchpad name +ids=$(xinput --list | awk -v search="$SEARCH" \ + '$0 ~ search {match($0, /id=[0-9]+/);\ + if (RSTART) \ + print substr($0, RSTART+3, RLENGTH-3)\ + }'\ + ) +for i in $ids +do + xinput set-prop $i 'Coordinate Transformation Matrix' 0 1 0 -1 0 1 0 0 1 # right rotation + # xinput set-prop $i 'Coordinate Transformation Matrix' 1 0 0 0 1 0 0 0 1 # reset to normal +done From c31e34deedcc4d0c73297ff235b7983bcc76ed64 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 20 Feb 2020 18:47:43 +0900 Subject: [PATCH 059/120] add jsk_fetch.urdf.xacro in jsk_fetch_startup --- .../robots/jsk_fetch.urdf.xacro | 40 +++++++++++++++++++ 1 file changed, 40 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro diff --git a/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro b/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro new file mode 100644 index 0000000000..02ce531c41 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/robots/jsk_fetch.urdf.xacro @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 9de596cee86bc8eaa8cd9397e35f8f3135165361 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 20 Feb 2020 20:31:38 +0900 Subject: [PATCH 060/120] fix escape evaluation in install_upstart.sh --- .../config/install_upstart.sh | 30 ++++++++----------- 1 file changed, 12 insertions(+), 18 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_upstart.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_upstart.sh index 4119ab100f..9bafe6c56b 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/config/install_upstart.sh +++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_upstart.sh @@ -6,8 +6,7 @@ IFS=':' read -r -a prefix_paths <<< "$CMAKE_PREFIX_PATH" current_prefix_path="${prefix_paths[0]}" # jsk-fetch-startup -sudo bash -c "cat < /etc/init/jsk-fetch-startup.conf -description \"spawn jsk bringup nodes for fetch\" +sudo bash -c "echo \"description \\\"spawn jsk bringup nodes for fetch\\\" # use default log dir: yamaguchi & s-kitagawa (2019/04/18) # env ROS_LOG_DIR=/var/log/ros @@ -17,31 +16,28 @@ stop on roscore_is_down respawn # add ROSCONSOLE_FORMAT: s-kitagawa (2019/10/03) -env AUDIO_DEVICE=alsa_output.usb-1130_USB_AUDIO-00-AUDIO.analog-stereo -env ROSCONSOLE_FORMAT='[${severity}] [${time}] [${node}:${logger}]: ${message}' +env AUDIO_DEVICE=\\\"alsa_output.usb-1130_USB_AUDIO-00-AUDIO.analog-stereo\\\" +env ROSCONSOLE_FORMAT=\\\"[\\\${severity}] [\\\${time}] [\\\${node}:\\\${logger}]: \\\${message}\\\" # enable usb speaker if available pre-start script # launch by fetch user: yamaguchi & s-kitagawa (2019/04/18) - # exec su ros -c 'pactl set-default-sink $AUDIO_DEVICE || true' - exec su fetch -c 'pactl set-default-sink $AUDIO_DEVICE || true' + # exec su ros -c \\\"pactl set-default-sink \\\$AUDIO_DEVICE || true\\\" + exec su fetch -c \\\"pactl set-default-sink \\\$AUDIO_DEVICE || true\\\" end script script # launch by fetch user: yamaguchi & s-kitagawa (2019/04/18) - # exec su ros -c \". ${current_prefix_path}/setup.bash && roslaunch ${jsk_fetch_startup}/launch/fetch_bringup.launch boot_sound:=true\" - exec su fetch -c \". ${current_prefix_path}/setup.bash && roslaunch ${jsk_fetch_startup}/launch/fetch_bringup.launch boot_sound:=true\" -end script - -EOF" + # exec su ros -c \\\". ${current_prefix_path}/setup.bash && roslaunch ${jsk_fetch_startup}/launch/fetch_bringup.launch boot_sound:=true\\\" + exec su fetch -c \\\". ${current_prefix_path}/setup.bash && roslaunch ${jsk_fetch_startup}/launch/fetch_bringup.launch boot_sound:=true\\\" +end script\" > /etc/init/jsk-fetch-startup.conf" echo "== cat /etc/init/jsk-fetch-startup.conf ==" cat /etc/init/jsk-fetch-startup.conf echo "== usage: sudo service jsk-fetch-startup restart ==" # vertical-touchscreen -sudo bash -c "cat < /etc/init/vertical-touchscreen.conf -# See https://askubuntu.com/questions/507496/how-to-start-gui-application-with-upstart -description \"Use vertical touchscreen\" +sudo bash -c "echo \"# See https://askubuntu.com/questions/507496/how-to-start-gui-application-with-upstart +description \\\"Use vertical touchscreen\\\" start on runlevel [2345] stop on runlevel [016] @@ -49,10 +45,8 @@ stop on runlevel [016] script sleep 30 # Wait for X programs to start export DISPLAY=:0 - exec su fetch -c \". ${current_prefix_path}/setup.bash && ${jsk_fetch_startup}/scripts/vertical-touchscreen.sh\" -end script - -EOF" + exec su fetch -c \\\". ${current_prefix_path}/setup.bash && ${jsk_fetch_startup}/scripts/vertical-touchscreen.sh\\\" +end script\" > /etc/init/vertical-touchscreen.conf" echo echo "== cat /etc/init/vertical-touchscreen.conf ==" cat /etc/init/vertical-touchscreen.conf From ffeb444bf6ef333f201aca225c18ec43f0091237 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Fri, 21 Feb 2020 19:21:40 +0900 Subject: [PATCH 061/120] changed parameters and link names of jsk_fetch.urdf.xacro --- .../jsk_fetch_startup/robots/jsk_fetch.urdf.xacro | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) 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 02ce531c41..5cae5d9917 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 @@ -1,19 +1,19 @@ - + - - + + - - - + + + From d65210f9feb968af012464ac9a07ae7ce5464bc1 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 22 Feb 2020 00:37:30 +0900 Subject: [PATCH 062/120] update jsk_fetch.rosinstall --- jsk_fetch_robot/jsk_fetch.rosinstall | 20 +++++++++++++------- 1 file changed, 13 insertions(+), 7 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall b/jsk_fetch_robot/jsk_fetch.rosinstall index 62b59212de..cfa4092f0d 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall +++ b/jsk_fetch_robot/jsk_fetch.rosinstall @@ -6,11 +6,12 @@ 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 @@ -41,6 +42,11 @@ 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: @@ -59,13 +65,13 @@ 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 # indigo is already EOL and fetch_ros is never released. - git: local-name: fetchrobotics/fetch_ros From f26b6096212a7652faee1dcab42117fa02ff0e94 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Mon, 17 Feb 2020 13:09:49 +0900 Subject: [PATCH 063/120] make jsk_fetch_accessories to ros package --- .../jsk_fetch_accessories/CMakeLists.txt | 4 ++++ jsk_fetch_robot/jsk_fetch_accessories/package.xml | 13 +++++++++++++ 2 files changed, 17 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_accessories/CMakeLists.txt create mode 100644 jsk_fetch_robot/jsk_fetch_accessories/package.xml diff --git a/jsk_fetch_robot/jsk_fetch_accessories/CMakeLists.txt b/jsk_fetch_robot/jsk_fetch_accessories/CMakeLists.txt new file mode 100644 index 0000000000..d42c91edc3 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_accessories/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(jsk_fetch_accessories) +find_package(catkin) +catkin_package() diff --git a/jsk_fetch_robot/jsk_fetch_accessories/package.xml b/jsk_fetch_robot/jsk_fetch_accessories/package.xml new file mode 100644 index 0000000000..f37708ec80 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_accessories/package.xml @@ -0,0 +1,13 @@ + + jsk_fetch_accessories + 1.0.0 + + jsk_fetch_accessories + + Kei Okada + BSD + + catkin + + + From f74a09fa8580e708dc0cdacb27bf11f3ef5d2d2d Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Wed, 19 Feb 2020 17:58:01 +0900 Subject: [PATCH 064/120] changed the version of jsk_fetch_accessories to 1.1.0 --- jsk_fetch_robot/jsk_fetch_accessories/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch_accessories/package.xml b/jsk_fetch_robot/jsk_fetch_accessories/package.xml index f37708ec80..19b42d5c25 100644 --- a/jsk_fetch_robot/jsk_fetch_accessories/package.xml +++ b/jsk_fetch_robot/jsk_fetch_accessories/package.xml @@ -1,6 +1,6 @@ jsk_fetch_accessories - 1.0.0 + 1.1.0 jsk_fetch_accessories From c14b0d9444bd34b55fd3aae3206aeb8d7e18b39b Mon Sep 17 00:00:00 2001 From: jsk-fetchuser Date: Thu, 27 Feb 2020 13:19:11 +0900 Subject: [PATCH 065/120] delete a t265 link --- .../jsk_fetch_startup/robots/jsk_fetch.urdf.xacro | 8 -------- 1 file changed, 8 deletions(-) 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 5cae5d9917..0a3c4cc0f1 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 @@ -1,14 +1,6 @@ - - - - - - - - From 1baf863a77581a463c447e69a32d481fd0501449 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 19 Mar 2020 13:17:16 +0900 Subject: [PATCH 066/120] update time_signal.py to speak english --- .../jsk_fetch_startup/scripts/time_signal.py | 79 +++++++++++++------ 1 file changed, 57 insertions(+), 22 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py index d9d15a72d8..2bf52e2f42 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/time_signal.py @@ -1,8 +1,10 @@ #!/usr/bin/env python # -*- coding: utf-8 -*- +import actionlib from datetime import datetime -from sound_play.msg import SoundRequestActionGoal +from sound_play.msg import SoundRequestAction +from sound_play.msg import SoundRequestGoal import json import rospy import sys @@ -11,9 +13,10 @@ class TimeSignal(object): def __init__(self): - self.pub = rospy.Publisher('/robotsound_jp/goal', - SoundRequestActionGoal, queue_size=1) - rospy.sleep(1) + self.client_en = actionlib.SimpleActionClient( + '/sound_play', SoundRequestAction) + self.client_jp = actionlib.SimpleActionClient( + '/robotsound_jp', SoundRequestAction) self.now_time = datetime.now() self.now_hour = self.now_time.hour self.day = self.now_time.strftime('%a') @@ -23,39 +26,71 @@ def __init__(self): self.resp = json.loads( urllib2.urlopen('http://weather.livedoor.com/forecast/webservice/json/v1?city=%s'%self.citycode).read()) - def speak(self): - sound_goal = SoundRequestActionGoal() - sound_goal.goal_id.stamp = rospy.Time.now() - sound_goal.goal.sound_request.sound = -3 - sound_goal.goal.sound_request.command = 1 - sound_goal.goal.sound_request.volume = 1.0 - sound_goal.goal.sound_request.arg2 = "jp" + def speak(self, client, speech_text, lang=None): + client.wait_for_server(timeout=rospy.Duration(1.0)) + sound_goal = SoundRequestGoal() + sound_goal.sound_request.sound = -3 + sound_goal.sound_request.command = 1 + sound_goal.sound_request.volume = 1.0 + if lang is not None: + sound_goal.sound_request.arg2 = lang + sound_goal.sound_request.arg = speech_text + client.send_goal(sound_goal) + client.wait_for_result() + return client.get_result() + def speak_jp(self): # time signal speech_text = str(self.now_hour) + '時です。' - if (self.now_hour == 0): + if self.now_hour == 0: speech_text += '早く帰りましょう。' - if (self.day == 'Mon') and (self.now_hour == 12): + if self.now_hour == 12: + speech_text += '昼食の時間です。' + if self.now_hour == 19: + speech_text += '夕食の時間です。' + if self.day == 'Mon' and self.now_hour == 12: speech_text += 'そろそろ研究会です。' - if (self.day == 'Tue') and (self.now_hour == 12): + if self.day == 'Tue' and self.now_hour == 12: speech_text += 'そろそろ輪講です。' - if (self.day == 'Tue') and (self.now_hour == 15): + if self.day == 'Tue' and self.now_hour == 15: speech_text += '掃除の時間です。' - if (self.day == 'Fri') and (self.now_hour == 14): + if self.day == 'Fri' and self.now_hour == 14: speech_text += '創造輪講の時間です。' - if (self.day == 'Fri') and (self.now_hour == 16): + if self.day == 'Fri' and self.now_hour == 16: speech_text += '掃除の時間です。' # weather forecast - if (self.now_hour == 0) or (self.now_hour == 19): + if self.now_hour == 0 or self.now_hour == 19: speech_text += '今日の天気は' + self.resp['forecasts'][0]['telop'] + 'です。' - rospy.loginfo('time signal') - sound_goal.goal.sound_request.arg = speech_text - self.pub.publish(sound_goal) + self.speak(self.client_jp, speech_text, lang='jp') + + + def speak_en(self): + speech_text = self._get_text(self.now_hour) + # time signal + if self.now_hour == 0: + speech_text += " Let's go home." + if self.now_hour == 12: + speech_text += " Let's go to lunch." + self.speak(self.client_en, speech_text) + + def _get_text(self, hour): + if hour == 0: + text = 'midnight' + elif hour == 12: + text = 'noon' + else: + if hour > 12: + text = str(hour % 12) + ' PM' + else: + text = str(hour % 12) + ' AM' + text = "It's " + text + "." + return text if __name__ == '__main__': rospy.init_node('time_signal') t = TimeSignal() - t.speak() + t.speak_jp() + t.speak_en() From 6ce4155f1951273d5ee3ba5729e085e64f1cd144 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 2 Apr 2020 17:55:47 +0900 Subject: [PATCH 067/120] add use_build_map in fetch_bringup.launch --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 9 ++++++++- 1 file changed, 8 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 c87b9d0a6d..7b398d8eda 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -7,6 +7,7 @@ + @@ -137,7 +138,7 @@ - + @@ -145,6 +146,12 @@ + + + + + From c6e80a027f143911ee04bf09b59a2d49484f3541 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 28 Apr 2020 21:01:29 +0900 Subject: [PATCH 068/120] update jsk_fetch.rosinstall --- jsk_fetch_robot/jsk_fetch.rosinstall | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall b/jsk_fetch_robot/jsk_fetch.rosinstall index cfa4092f0d..c59b5376cf 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall +++ b/jsk_fetch_robot/jsk_fetch.rosinstall @@ -58,7 +58,7 @@ - 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 f6ee92a55061d3ef457a653e11253369e6a16de2 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 28 Apr 2020 21:01:55 +0900 Subject: [PATCH 069/120] update jsk_fetch_startup rviz config --- .../jsk_fetch_startup/config/jsk_startup.rviz | 33 +++++++++++-------- 1 file changed, 19 insertions(+), 14 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 ac9a4ebf87..aa0142ad78 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz +++ b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz @@ -1,11 +1,11 @@ Panels: - Class: rviz/Displays - Help Height: 75 + Help Height: 78 Name: Displays Property Tree Widget: Expanded: ~ Splitter Ratio: 0.625293 - Tree Height: 725 + Tree Height: 980 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -56,6 +56,11 @@ 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 @@ -292,7 +297,7 @@ Visualization Manager: Marker Topic: /spots_marker_array Name: SpotLabel Namespaces: - text: true + {} Queue Size: 100 Value: true - Class: jsk_rviz_plugin/PictogramArray @@ -445,18 +450,18 @@ Visualization Manager: Z: 0 Name: Current View Near Clip Distance: 0.01 - Pitch: 1.0104 + Pitch: 1.4498 Target Frame: base_link Value: Orbit (rviz) - Yaw: 0.200398 + Yaw: 3.06358 Saved: ~ Window Geometry: Displays: - collapsed: false - Height: 1003 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a00000360fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000360000000d000fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000000000010000010f00000360fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000360000000aa00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000065c0000003efc0100000002fb0000000800540069006d006501000000000000065c0000026a00fffffffb0000000800540069006d00650100000000000004500000000000000000000003d70000036000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + collapsed: true + Height: 1259 + Hide Left Dock: true + Hide Right Dock: true + QMainWindow State: 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Selection: collapsed: false Time: @@ -464,7 +469,7 @@ Window Geometry: Tool Properties: collapsed: false Views: - collapsed: false - Width: 1628 - X: 208 - Y: 17 + collapsed: true + Width: 743 + X: 57 + Y: 21 From 6c89b31a251759f56f6b9bd8494ee86a7a2e6562 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 28 Apr 2020 21:02:37 +0900 Subject: [PATCH 070/120] add use-pose tag in simpple-dock function --- .../euslisp/navigation-utils.l | 29 ++++++++++--------- 1 file changed, 15 insertions(+), 14 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 d4de993a51..c074b453ac 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -24,7 +24,7 @@ (setq spot-coords (ros::tf-pose->coords spot-coords)) (cons spot-coords frame-id))) -(defun simple-dock () +(defun simple-dock (&key (use-pose t)) (unless *dock-action* (setq *dock-action* (instance ros::simple-action-client :init @@ -32,19 +32,20 @@ (unless (send *dock-action* :wait-for-server 5) (ros::ros-error "/dock action server is not started") (return-from dock nil)) - (let* ((timestamp (ros::time-now)) - (cret (get-spot-coords *dock-spot*)) - (frame-to-dock (car cret)) - (frame-id (cdr cret)) - (lret (send *tfl* :wait-for-transform "base_link" frame-id timestamp 5)) - (base-to-frame (send *tfl* :lookup-transform "base_link" frame-id timestamp)) - (goal-pose (ros::coords->tf-pose (send frame-to-dock :transform base-to-frame :world))) - (pose-msg (instance geometry_msgs::PoseStamped :init)) - (dock-action-goal (instance fetch_auto_dock_msgs::DockActionGoal :init))) - (send pose-msg :header :stamp timestamp) - (send pose-msg :header :frame_id "base_link") - (send pose-msg :pose goal-pose) - (send dock-action-goal :goal :dock_pose pose-msg) + (let ((dock-action-goal (instance fetch_auto_dock_msgs::DockActionGoal :init))) + (when use-pose + (let* ((timestamp (ros::time-now)) + (cret (get-spot-coords *dock-spot*)) + (frame-to-dock (car cret)) + (frame-id (cdr cret)) + (lret (send *tfl* :wait-for-transform "base_link" frame-id timestamp 5)) + (base-to-frame (send *tfl* :lookup-transform "base_link" frame-id timestamp)) + (goal-pose (ros::coords->tf-pose (send frame-to-dock :transform base-to-frame :world))) + (pose-msg (instance geometry_msgs::PoseStamped :init))) + (send pose-msg :header :stamp timestamp) + (send pose-msg :header :frame_id "base_link") + (send pose-msg :pose goal-pose) + (send dock-action-goal :goal :dock_pose pose-msg))) (send *dock-action* :send-goal dock-action-goal) (unless (send *dock-action* :wait-for-result :timeout 60) (send *dock-action* :cancel-all-goals) From b5bb73ab922b52bf26b55ac8743efcdbf886b038 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 28 Apr 2020 21:03:43 +0900 Subject: [PATCH 071/120] rotate before moves --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 3 ++- 1 file changed, 2 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 c074b453ac..e0746d46f5 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -146,7 +146,8 @@ ;; sink (when tweet (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3 - :with-image "/edgetpu_object_detector/output/image" :speak t))) + :with-image "/edgetpu_object_detector/output/image" :speak t)) + (send *ri* :go-pos-unsafe 0 0 -135)) (progn ;; failed to go to kitchen (ros::ros-error "failed going to the kitchen.") (send *ri* :speak-jp "失敗しました。ドックに戻ります。" :wait t) From 37fd8dbb0ece70c9e1e3edb7774f88f55db4f242 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 28 Apr 2020 21:20:46 +0900 Subject: [PATCH 072/120] 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 6f71472e45..5b99fe046e 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 @@ -35,7 +35,7 @@ filename: $(arg video_path)/$(arg object_detection_video_title) codec: XVID stamped_filename: false - fps: 7.5 + fps: 15.0 From 1abd244c738c16b2e4bbf0efd38cad705bc73c12 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Fri, 1 May 2020 15:23:17 +0900 Subject: [PATCH 073/120] rotate before move --- 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 e0746d46f5..5cf0840c6d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -147,7 +147,7 @@ (when tweet (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3 :with-image "/edgetpu_object_detector/output/image" :speak t)) - (send *ri* :go-pos-unsafe 0 0 -135)) + (send *ri* :go-pos-unsafe 0 0 -180)) (progn ;; failed to go to kitchen (ros::ros-error "failed going to the kitchen.") (send *ri* :speak-jp "失敗しました。ドックに戻ります。" :wait t) From d0e7d3595309851a5c1099c88f8b67321010dc60 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Fri, 17 Apr 2020 19:09:21 +0900 Subject: [PATCH 074/120] [jsk_fetch_startup] add rosbag record and play launch --- .../launch/rosbag_play.launch | 67 +++++++++++++++++++ .../launch/rosbag_record.launch | 36 ++++++++++ .../scripts/latched_topic_republisher.py | 32 +++++++++ 3 files changed, 135 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch create mode 100755 jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch new file mode 100644 index 0000000000..f105a32aa9 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch new file mode 100644 index 0000000000..36fe47810f --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch @@ -0,0 +1,36 @@ + + + + + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py new file mode 100755 index 0000000000..18c08dd875 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py @@ -0,0 +1,32 @@ +#!/usr/bin/env python + +import rospy +import rosbag + +def main(): + + rospy.init_node( 'latched_topic_republisher' ) + + topicname = rospy.get_param('~topicname','tf_static') + bagfilename = rospy.get_param("~file") + + with rosbag.Bag( bagfilename, 'r' ) as inputbag: + topic, msg, t = inputbag.read_message( topicname ).next() + packagename, typename = msg._type.split('/') + exec('from {}.msg import {}'.format(packagename,typename)) + + publisher = rospy.Publisher(topicname, typename, latch=True, queue_size=10) + + list_messages = [] + with rosbag.Bag( bagfilename, 'r' ) as inputbag: + for topic, msg, t in inputbag.read_messages('/tf_static'): + list_messages.append(msg) + + for message in list_messages: + publisher.publish( message ) + + rospy.loginfo( 'Republishing topic \'{}\''.format(topicname) ) + rospy.spin() + +if __name__=='__main__': + main() From 065055235ecf7c698d06b684e5e25a4e3cf71020 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Fri, 17 Apr 2020 19:10:48 +0900 Subject: [PATCH 075/120] [jsk_fetch_startup] update go_to_kitchen.xml to use rosbag_record.launch --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 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 5b99fe046e..eddc13c814 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 @@ -39,7 +39,7 @@ - + + + From 317cb942bac430ea8021c6d9278d54ffa2a4fc51 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 29 Apr 2020 22:52:03 +0900 Subject: [PATCH 076/120] Revert "[jsk_fetch_startup] update go_to_kitchen.xml to use rosbag_record.launch" This reverts commit af3ed07f427622edc1791162411e7062e12701a2. --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 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 eddc13c814..5b99fe046e 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 @@ -39,7 +39,7 @@ - - - + From d3512f80ac9a4e2b2a0a7354018118890e214bc0 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 29 Apr 2020 22:52:03 +0900 Subject: [PATCH 077/120] Revert "[jsk_fetch_startup] add rosbag record and play launch" This reverts commit 63d6cc41241b64ef288633392b88a702538fb6bc. --- .../launch/rosbag_play.launch | 67 ------------------- .../launch/rosbag_record.launch | 36 ---------- .../scripts/latched_topic_republisher.py | 32 --------- 3 files changed, 135 deletions(-) delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch delete mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch delete mode 100755 jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch deleted file mode 100644 index f105a32aa9..0000000000 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch deleted file mode 100644 index 36fe47810f..0000000000 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py deleted file mode 100755 index 18c08dd875..0000000000 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py +++ /dev/null @@ -1,32 +0,0 @@ -#!/usr/bin/env python - -import rospy -import rosbag - -def main(): - - rospy.init_node( 'latched_topic_republisher' ) - - topicname = rospy.get_param('~topicname','tf_static') - bagfilename = rospy.get_param("~file") - - with rosbag.Bag( bagfilename, 'r' ) as inputbag: - topic, msg, t = inputbag.read_message( topicname ).next() - packagename, typename = msg._type.split('/') - exec('from {}.msg import {}'.format(packagename,typename)) - - publisher = rospy.Publisher(topicname, typename, latch=True, queue_size=10) - - list_messages = [] - with rosbag.Bag( bagfilename, 'r' ) as inputbag: - for topic, msg, t in inputbag.read_messages('/tf_static'): - list_messages.append(msg) - - for message in list_messages: - publisher.publish( message ) - - rospy.loginfo( 'Republishing topic \'{}\''.format(topicname) ) - rospy.spin() - -if __name__=='__main__': - main() From 41589abcf25d110a9d26bc3219c4b82df3b6d612 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 19 May 2020 22:59:28 +0900 Subject: [PATCH 078/120] add rgb compressed throttle in fetch --- .../jsk_fetch_startup/launch/fetch_sensors.xml | 8 ++++++++ 1 file changed, 8 insertions(+) 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 07f1a714ea..43d79040b6 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml @@ -97,6 +97,14 @@ + + + + + Date: Wed, 29 Apr 2020 01:29:28 +0900 Subject: [PATCH 079/120] use app_manager_plugin for mail and video recorder --- .../apps/go_to_kitchen/go_to_kitchen.app | 40 ++++++++++++++++ .../apps/go_to_kitchen/go_to_kitchen.xml | 43 +---------------- .../jsk_fetch_startup/euslisp/go-to-kitchen.l | 48 +------------------ 3 files changed, 43 insertions(+), 88 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 2b0a626bde..e510cd7aed 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 @@ -3,3 +3,43 @@ 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 +plugins: + - name: head_camera_video_recorder_plugin + type: app_recorder/video_recorder_plugin + launch_args: + video_path: /tmp + video_title: go_to_kitchen_head_camera.avi + video_topic_name: /head_camera/rgb/throttled/image_rect_color + video_fps: 5.0 + - name: object_detection_video_recorder_plugin + type: app_recorder/video_recorder_plugin + launch_args: + video_path: /tmp + video_title: go_to_kitchen_object_detection.avi + video_topic_name: /edgetpu_object_detector/output/image + video_fps: 15.0 + - name: rosbag_recorder_plugin + type: app_recorder/rosbag_recorder_plugin + launch_args: + rosbag_path: /tmp + rosbag_title: go_to_kitchen_rosbag.bag + rosbag_topic_names: /tf /joint_states /odom /odom_combined /cmd_vel + - name: gdrive_uploader_plugin + type: app_uploader/gdrive_uploader_plugin + plugin_args: + upload_file_paths: + - /tmp/go_to_kitchen_head_camera.avi + - /tmp/go_to_kitchen_object_detection.avi + - /tmp/go_to_kitchen_rosbag.bag + upload_file_titles: + - go_to_kitchen_head_camera.avi + - go_to_kitchen_object_detection.avi + - go_to_kitchen_rosbag.bag + upload_parents_path: fetch_morning_go_to_kitchen + upload_server_name: /gdrive_server + - name: mail_notifier_plugin + type: app_notifier/mail_notifier_plugin + plugin_args: + mail_title: Fetch kitchen patrol demo + sender_address: fetch15@jsk.imi.i.u-tokyo.ac.jp + receiver_address: fetch@jsk.imi.i.u-tokyo.ac.jp 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 5b99fe046e..bb418e8855 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 @@ -1,45 +1,4 @@ - - - - - - - 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) - - - - - - - - filename: $(arg video_path)/$(arg head_camera_video_title) - codec: XVID - stamped_filename: false - fps: 5.0 - - - - - - filename: $(arg video_path)/$(arg object_detection_video_title) - codec: XVID - stamped_filename: false - fps: 15.0 - - - - + args="$(find jsk_fetch_startup)/euslisp/go-to-kitchen.l" /> 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 bc9cffc4a2..171da03639 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/go-to-kitchen.l @@ -3,54 +3,10 @@ (require :fetch-interface "package://fetcheus/fetch-interface.l") (load "package://jsk_fetch_startup/euslisp/navigation-utils.l") -(ros::roseus-add-srvs "gdrive_ros") - - -(defun gdrive-upload-video () - (let ((req (instance gdrive_ros::MultipleUploadRequest :init))) - (send req :file_paths *file-paths*) - (send req :file_titles *file-titles*) - (send req :parents_path *parents-path*) - (send req :use_timestamp_folder t) - (send req :use_timestamp_file_title t) - (ros::service-call "/gdrive_server/upload_multi" req))) - -(defun send-mail (text) - (let ((cmd (format nil "LC_CTYPE=ja_JP.UTF-8 /bin/echo -e \"~A\" | /usr/bin/mail -s \"Fetch キッチン見回りデモ\" -r ~A ~A" text *from-address* *to-address*))) - (eq (unix::system cmd) 0))) - (defun main () (fetch-init) (send *ri* :clear-costmap) - (let ((success (go-to-kitchen :tweet t :n-dock-trial 3 :n-kitchen-trial 3))) - (unix::system "rosnode kill /go_to_kitchen_head_camera_video_recorder") - (unix::system "rosnode kill /go_to_kitchen_object_detection_video_recorder") - (unix::system "rosnode kill /go_to_kitchen_rosbag_recorder") - (when *mail-notification* - (let* ((upload-res (gdrive-upload-video)) - (file-urls - (if (and upload-res (some #'identity (send upload-res :successes))) - (send upload-res :file_urls) nil))) - (send-mail - (concatenate string - (if success - "こんにちは、Fetchです。\\nキッチンの見回りをしてきました。\\n" - "こんにちは、Fetchです。\\nキッチンの見回りに失敗しました。\\n") - (if file-urls - (apply #'concatenate string - (append (list "見回りの動画をアップロードしました。\\n") - (mapcar #'(lambda (x) (format nil "URL: ~A\\n" x)) file-urls))) - "見回りの動画のアップロードにも失敗しました。\\n"))))))) - + (go-to-kitchen :tweet t :n-dock-trial 3 :n-kitchen-trial 3)) (ros::roseus "go_to_kitchen") -(setq *mail-notification* (ros::get-param "~mail_notification" nil)) -(when *mail-notification* - (ros::roseus-add-srvs "gdrive_ros") - (setq *from-address* (ros::get-param "~from_address")) - (setq *to-address* (ros::get-param "~to_address")) - (setq *file-paths* (ros::get-param "~file_paths")) - (setq *file-titles* (ros::get-param "~file_titles")) - (setq *parents-path* "fetch_morning_go_to_kitchen")) -(main) -(exit) +(if (main) (unix::exit 0) (unix::exit 1)) From b7b9264c8a6b0aa36f00ef189dbcf590f540b75b Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 29 Apr 2020 21:25:46 +0900 Subject: [PATCH 080/120] update rosbag_topic_names --- .../apps/go_to_kitchen/go_to_kitchen.app | 25 ++++++++++++++++++- 1 file changed, 24 insertions(+), 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 e510cd7aed..710a49e6bd 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 @@ -23,7 +23,30 @@ plugins: launch_args: rosbag_path: /tmp rosbag_title: go_to_kitchen_rosbag.bag - rosbag_topic_names: /tf /joint_states /odom /odom_combined /cmd_vel + rosbag_topic_names: + - /rosout + - /tf + - /tf_static + - /joint_states + - /map + - /odom + - /odom_combined + - /cmd_vel + - /move_base/NavFnROS/plan + - /move_base/TrajectoryPlannerROS/global_plan + - /move_base/TrajectoryPlannerROS/local_plan + - /move_base/global_costmap/footprint + - /spots_marker_array + - /spots_pictogram + - /safe_teleop_base/local_costmap/costmap + - /move_base/local_costmap/costmap + - /move_base/global_costmap/costmap + - /particlecloud + - /base_scan/throttled + - /head_camera/rgb/camera_info + - /head_camera/rgb/image_rect_color + - /head_camera/depth_registered/image_rect + - /head_camera/rgb/quater/image_rect_color - name: gdrive_uploader_plugin type: app_uploader/gdrive_uploader_plugin plugin_args: From 57c6d5fd226e24ffb3898de5b5c71e2456c0245b Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 29 Apr 2020 23:27:47 +0900 Subject: [PATCH 081/120] comment out heavy topics to make rosbag file lighter --- .../apps/go_to_kitchen/go_to_kitchen.app | 9 ++++----- 1 file changed, 4 insertions(+), 5 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 710a49e6bd..c83078f587 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 @@ -42,11 +42,10 @@ plugins: - /move_base/local_costmap/costmap - /move_base/global_costmap/costmap - /particlecloud - - /base_scan/throttled - - /head_camera/rgb/camera_info - - /head_camera/rgb/image_rect_color - - /head_camera/depth_registered/image_rect - - /head_camera/rgb/quater/image_rect_color + # - /base_scan/throttled + # - /head_camera/rgb/camera_info + # - /head_camera/rgb/image_rect_color/compressed + # - /head_camera/depth_registered/image_rect/compressedDepth - name: gdrive_uploader_plugin type: app_uploader/gdrive_uploader_plugin plugin_args: From 760eb1b639a812ad052a91447b12b33ef50a6cd6 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 19 May 2020 22:59:28 +0900 Subject: [PATCH 082/120] add rgb compressed throttle in fetch --- .../jsk_fetch_startup/launch/fetch_sensors.xml | 8 ++++++++ 1 file changed, 8 insertions(+) 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 07f1a714ea..43d79040b6 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_sensors.xml @@ -97,6 +97,14 @@ + + + + + Date: Tue, 19 May 2020 23:00:25 +0900 Subject: [PATCH 083/120] rotate -90 + -90 to avoid rotating in couterclockwise --- jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l | 3 ++- 1 file changed, 2 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 5cf0840c6d..2ebe8c80d0 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l +++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l @@ -147,7 +147,8 @@ (when tweet (tweet-string "I took a photo at 73B2 Kitchen sink." :warning-time 3 :with-image "/edgetpu_object_detector/output/image" :speak t)) - (send *ri* :go-pos-unsafe 0 0 -180)) + (send *ri* :go-pos-unsafe 0 0 -90) + (send *ri* :go-pos-unsafe 0 0 -90)) (progn ;; failed to go to kitchen (ros::ros-error "failed going to the kitchen.") (send *ri* :speak-jp "失敗しました。ドックに戻ります。" :wait t) From 5ce40b1784ca1da91721fe47e3c0b154315534cc Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 20 May 2020 03:04:29 +0900 Subject: [PATCH 084/120] record throttled images in compress format --- .../apps/go_to_kitchen/go_to_kitchen.app | 10 ++++++---- 1 file changed, 6 insertions(+), 4 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 c83078f587..1854e9dc85 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 @@ -23,6 +23,7 @@ plugins: launch_args: rosbag_path: /tmp rosbag_title: go_to_kitchen_rosbag.bag + compress: true rosbag_topic_names: - /rosout - /tf @@ -42,10 +43,11 @@ plugins: - /move_base/local_costmap/costmap - /move_base/global_costmap/costmap - /particlecloud - # - /base_scan/throttled - # - /head_camera/rgb/camera_info - # - /head_camera/rgb/image_rect_color/compressed - # - /head_camera/depth_registered/image_rect/compressedDepth + - /base_scan/throttled + - /head_camera/rgb/throttled/camera_info + - /head_camera/depth_registered/throttled/camera_info + - /head_camera/rgb/throttled/image_rect_color/compressed + - /head_camera/depth_registered/throttled/image_rect/compressedDepth - name: gdrive_uploader_plugin type: app_uploader/gdrive_uploader_plugin plugin_args: From 79a570cd2206b910e246c3a026de6a9c4fac386b Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 20 May 2020 03:05:00 +0900 Subject: [PATCH 085/120] add speech notifier plugin --- .../jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app | 4 ++++ 1 file changed, 4 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 1854e9dc85..2cb171b138 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 @@ -61,6 +61,10 @@ plugins: - go_to_kitchen_rosbag.bag upload_parents_path: fetch_morning_go_to_kitchen 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: From a4f36a757d7e696d71377a6a2d8a574740a57233 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 21 May 2020 00:34:22 +0900 Subject: [PATCH 086/120] use timestamp in mail title --- .../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 2cb171b138..39fada516e 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 @@ -69,5 +69,6 @@ plugins: type: app_notifier/mail_notifier_plugin plugin_args: mail_title: Fetch kitchen patrol demo + use_timestamp_title: true sender_address: fetch15@jsk.imi.i.u-tokyo.ac.jp receiver_address: fetch@jsk.imi.i.u-tokyo.ac.jp From 8abfaa4a348498f75c8b0a316ffd3c71262833f3 Mon Sep 17 00:00:00 2001 From: Koki Shinjo Date: Fri, 17 Apr 2020 19:09:21 +0900 Subject: [PATCH 087/120] add rosbag record and play launch in jsk_fetch_startup --- .../launch/rosbag_play.launch | 95 +++++++++++++++++++ .../launch/rosbag_record.launch | 36 +++++++ .../scripts/latched_topic_republisher.py | 32 +++++++ 3 files changed, 163 insertions(+) create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch create mode 100644 jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch create mode 100755 jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch new file mode 100644 index 0000000000..ca36f4b18e --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch @@ -0,0 +1,95 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + queue_size: 100 + + + + + + + + + scale_width: 0.25 + scale_height: 0.25 + + + + + + + step_x: 4 + step_y: 4 + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch new file mode 100644 index 0000000000..1ab19c8e2a --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py new file mode 100755 index 0000000000..18c08dd875 --- /dev/null +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py @@ -0,0 +1,32 @@ +#!/usr/bin/env python + +import rospy +import rosbag + +def main(): + + rospy.init_node( 'latched_topic_republisher' ) + + topicname = rospy.get_param('~topicname','tf_static') + bagfilename = rospy.get_param("~file") + + with rosbag.Bag( bagfilename, 'r' ) as inputbag: + topic, msg, t = inputbag.read_message( topicname ).next() + packagename, typename = msg._type.split('/') + exec('from {}.msg import {}'.format(packagename,typename)) + + publisher = rospy.Publisher(topicname, typename, latch=True, queue_size=10) + + list_messages = [] + with rosbag.Bag( bagfilename, 'r' ) as inputbag: + for topic, msg, t in inputbag.read_messages('/tf_static'): + list_messages.append(msg) + + for message in list_messages: + publisher.publish( message ) + + rospy.loginfo( 'Republishing topic \'{}\''.format(topicname) ) + rospy.spin() + +if __name__=='__main__': + main() From ea9fe25d6dec21b1b4b870fd193d04169e34c05b Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 21 May 2020 13:28:31 +0900 Subject: [PATCH 088/120] update rviz config --- .../jsk_fetch_startup/config/jsk_startup.rviz | 128 ++++++++++-------- 1 file changed, 75 insertions(+), 53 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 aa0142ad78..66625cc9fa 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 @@ -14,7 +14,7 @@ Panels: - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.5886790156364441 - Class: rviz/Views Expanded: - /Current View1 @@ -24,7 +24,11 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: KinectPointCloud + SyncSource: BaseScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -34,7 +38,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -56,11 +60,6 @@ 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 @@ -206,7 +205,7 @@ Visualization Manager: {} Update Interval: 0 Value: false - - Alpha: 0.7 + - Alpha: 0.699999988079071 Class: rviz/Map Color Scheme: map Draw Behind: false @@ -214,17 +213,18 @@ Visualization Manager: Name: Map Topic: /map Unreliable: false + Use Timestamp: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 0; 127 Enabled: true - Head Diameter: 0.3 - Head Length: 0.2 - Length: 0.3 + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 Line Style: Billboards - Line Width: 0.05 + Line Width: 0.05000000074505806 Name: NavigationPath Offset: X: 0 @@ -232,9 +232,9 @@ Visualization Manager: Z: 0 Pose Color: 255; 85; 255 Pose Style: None - Radius: 0.03 - Shaft Diameter: 0.1 - Shaft Length: 0.1 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 Topic: /move_base/NavfnROS/plan Unreliable: false Value: true @@ -243,11 +243,11 @@ Visualization Manager: Class: rviz/Path Color: 255; 0; 0 Enabled: true - Head Diameter: 0.3 - Head Length: 0.2 - Length: 0.3 + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 Line Style: Billboards - Line Width: 0.03 + Line Width: 0.029999999329447746 Name: GlobalPath Offset: X: 0 @@ -255,9 +255,9 @@ Visualization Manager: Z: 0 Pose Color: 255; 85; 255 Pose Style: None - Radius: 0.03 - Shaft Diameter: 0.1 - Shaft Length: 0.1 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 Topic: /move_base/TrajectoryPlannerROS/global_plan Unreliable: false Value: true @@ -266,11 +266,11 @@ Visualization Manager: Class: rviz/Path Color: 25; 255; 0 Enabled: true - Head Diameter: 0.3 - Head Length: 0.2 - Length: 0.3 + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 Line Style: Lines - Line Width: 0.03 + Line Width: 0.029999999329447746 Name: LocalPath Offset: X: 0 @@ -278,9 +278,9 @@ Visualization Manager: Z: 0 Pose Color: 255; 85; 255 Pose Style: None - Radius: 0.03 - Shaft Diameter: 0.1 - Shaft Length: 0.1 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 Topic: /move_base/TrajectoryPlannerROS/local_plan Unreliable: false Value: true @@ -297,7 +297,9 @@ Visualization Manager: Marker Topic: /spots_marker_array Name: SpotLabel Namespaces: - {} + pin_body: true + pin_head: true + pin_label: true Queue Size: 100 Value: true - Class: jsk_rviz_plugin/PictogramArray @@ -306,7 +308,7 @@ Visualization Manager: Topic: /spots_pictogram Unreliable: false Value: true - - Alpha: 0.3 + - Alpha: 0.30000001192092896 Class: rviz/Map Color Scheme: costmap Draw Behind: false @@ -314,8 +316,9 @@ Visualization Manager: Name: SafeCostMap Topic: /safe_teleop_base/local_costmap/costmap Unreliable: false + Use Timestamp: false Value: false - - Alpha: 0.35 + - Alpha: 0.3499999940395355 Class: rviz/Map Color Scheme: costmap Draw Behind: false @@ -323,8 +326,9 @@ Visualization Manager: Name: LocalCostMap Topic: /move_base/local_costmap/costmap Unreliable: false + Use Timestamp: false Value: true - - Alpha: 0.35 + - Alpha: 0.3499999940395355 Class: rviz/Map Color Scheme: costmap Draw Behind: false @@ -332,12 +336,21 @@ Visualization Manager: Name: GlobalCostMap Topic: /move_base/global_costmap/costmap Unreliable: false + Use Timestamp: false Value: true - - Arrow Length: 0.2 + - Alpha: 1 + Arrow Length: 0.20000000298023224 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 Class: rviz/PoseArray Color: 255; 25; 0 Enabled: false + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 Name: AMCLParticle + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) Topic: /particlecloud Unreliable: false Value: false @@ -364,7 +377,7 @@ Visualization Manager: Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.07 + Size (m): 0.07000000029802322 Style: Spheres Topic: /base_scan/throttled Unreliable: false @@ -389,12 +402,12 @@ Visualization Manager: Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 - Name: KinectPointCloud + Name: XtionPointCloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 4 - Size (m): 0.008 + Size (m): 0.00800000037997961 Style: Points Topic: /head_camera/depth_registered/quater/throttled/points Unreliable: false @@ -403,18 +416,21 @@ Visualization Manager: Value: true - Class: jsk_rviz_plugin/OverlayImage Enabled: true - Name: KinectRGB + Name: XtionRGB Topic: /head_camera/rgb/quater/image_rect_color Value: true - alpha: 0.8 + alpha: 0.800000011920929 height: 128 keep aspect ratio: true left: 10 + overwrite alpha value: false top: 10 + transport hint: raw width: 320 Enabled: true Global Options: Background Color: 48; 48; 48 + Default Light: true Fixed Frame: map Frame Rate: 30 Name: root @@ -426,7 +442,10 @@ Visualization Manager: - 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 @@ -440,7 +459,7 @@ Visualization Manager: Class: rviz/Orbit Distance: 10 Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false @@ -448,20 +467,23 @@ Visualization Manager: 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: 0.01 - 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: @@ -470,6 +492,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 743 - X: 57 - Y: 21 + Width: 1853 + X: 67 + Y: 0 From 2e6a09173594853c99404102278805f9b675546b Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 21 May 2020 13:58:16 +0900 Subject: [PATCH 089/120] update rosbag_play.launch --- jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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 ca36f4b18e..81a523cd17 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_play.launch @@ -78,18 +78,18 @@ - + - + - From 67d97d27a314d959af1dd7e185101bca4969da50 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 21 May 2020 13:58:28 +0900 Subject: [PATCH 090/120] fix latched_topic_republisher.py --- .../scripts/latched_topic_republisher.py | 55 ++++++++++--------- 1 file changed, 29 insertions(+), 26 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py index 18c08dd875..6bb60226a1 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/latched_topic_republisher.py @@ -1,32 +1,35 @@ #!/usr/bin/env python -import rospy import rosbag +import rospy -def main(): - - rospy.init_node( 'latched_topic_republisher' ) - - topicname = rospy.get_param('~topicname','tf_static') - bagfilename = rospy.get_param("~file") - - with rosbag.Bag( bagfilename, 'r' ) as inputbag: - topic, msg, t = inputbag.read_message( topicname ).next() - packagename, typename = msg._type.split('/') - exec('from {}.msg import {}'.format(packagename,typename)) - - publisher = rospy.Publisher(topicname, typename, latch=True, queue_size=10) - - list_messages = [] - with rosbag.Bag( bagfilename, 'r' ) as inputbag: - for topic, msg, t in inputbag.read_messages('/tf_static'): - list_messages.append(msg) - - for message in list_messages: - publisher.publish( message ) - rospy.loginfo( 'Republishing topic \'{}\''.format(topicname) ) +class LatchedTopicRepublisher(object): + def __init__(self): + self.topicname = rospy.get_param('~topicname', 'tf_static') + self.bagfilename = rospy.get_param("~file") + try: + with rosbag.Bag(self.bagfilename, 'r') as inputbag: + topic, msg, t = inputbag.read_messages(self.topicname).next() + packagename, typename = msg._type.split('/') + exec('from {}.msg import {}'.format(packagename, typename)) + + self.publisher = rospy.Publisher( + self.topicname, eval(typename), latch=True, queue_size=10) + list_messages = [] + with rosbag.Bag(self.bagfilename, 'r') as inputbag: + for topic, msg, t in inputbag.read_messages(self.topicname): + list_messages.append(msg) + for message in list_messages: + self.publisher.publish(message) + rospy.loginfo('Republishing topic: {}'.format(self.topicname)) + except StopIteration: + rospy.logwarn('Fail to republish topic: {}'.format(self.topicname)) + rospy.logwarn('There is no topic {} in {}'.format( + self.topicname, self.bagfilename)) + + +if __name__ == '__main__': + rospy.init_node('latched_topic_republisher') + app = LatchedTopicRepublisher() rospy.spin() - -if __name__=='__main__': - main() From 95f4fdc6b9e6d342943fc078706800d235a1bae3 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Mon, 25 May 2020 21:54:06 +0900 Subject: [PATCH 091/120] update jsk_fetch.rosinstall --- jsk_fetch_robot/jsk_fetch.rosinstall | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall b/jsk_fetch_robot/jsk_fetch.rosinstall index c59b5376cf..5cd8a5edc1 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall +++ b/jsk_fetch_robot/jsk_fetch.rosinstall @@ -29,19 +29,19 @@ local-name: jsk-ros-pkg/jsk_common uri: https://github.com/jsk-ros-pkg/jsk_common.git version: 799fd309c1519801fcb3a37c9094814004d78594 -# to avoid volume 0 problem +# use latest version to avoid several problems # remove after 0.3.14 (https://github.com/jsk-ros-pkg/jsk_pr2eus/commit/41183fe3401d742bbec0edd13b67cb909a6968bd) is released - git: local-name: jsk-ros-pkg/jsk_pr2eus uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git - version: 0.3.14 + version: 4102b8d3a542b9e93b4115065b2bea2494092abc # to use fetch's dock position for several demos # remove after https://github.com/jsk-ros-pkg/jsk_demos/commit/810acc7cc24a4792d455a7e9e8c8c50e5e07e21b (0.0.5) is released # Now, we set CATKIN_IGNORE to all packages except jsk_maps because we need only jsk_maps in fetch PC - git: local-name: jsk-ros-pkg/jsk_demos uri: https://github.com/jsk-ros-pkg/jsk_demos.git - version: 7c429715d0adf12c5dd34459ceb4b0a5b11dec6c + version: 1f81e61c890e0642251ce0ec12952eb0828aadca # need to build from source because of nodelet version - git: local-name: jsk-ros-pkg/jsk_recognition @@ -76,7 +76,7 @@ - git: local-name: fetchrobotics/fetch_ros uri: https://github.com/fetchrobotics/fetch_ros.git - version: 4680118106ba8ffa99a803122bf1a9e383edf3df + version: c152f9349b26c60d3dde1b4973073bfa187920fe # indigo is already EOL and visualization_msgs is never released - tar: local-name: ros/common_msgs/visualization_msgs @@ -87,3 +87,8 @@ local-name: locusrobotics/catkin_virtualenv uri: https://github.com/locusrobotics/catkin_virtualenv.git version: 0.5.0 +# use latest robot_calibration +- git: + local-name: mikeferguson/robot_calibration + uri: https://github.com/mikeferguson/robot_calibration.git + version: 0.5.5 From 645d1aae00dd6d841cafa7a54dacfd999170333a Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 26 May 2020 20:38:36 +0900 Subject: [PATCH 092/120] update jsk_fetch.rosinstall --- jsk_fetch_robot/jsk_fetch.rosinstall | 19 +++++++------------ 1 file changed, 7 insertions(+), 12 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall b/jsk_fetch_robot/jsk_fetch.rosinstall index 5cd8a5edc1..746d7d833c 100644 --- a/jsk_fetch_robot/jsk_fetch.rosinstall +++ b/jsk_fetch_robot/jsk_fetch.rosinstall @@ -24,11 +24,12 @@ uri: https://github.com/jsk-ros-pkg/jsk_robot.git version: master # to pass build of jsk_robot +# to build with nodelet 1.9.10, we need https://github.com/jsk-ros-pkg/jsk_common/pull/1647 # 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: 799fd309c1519801fcb3a37c9094814004d78594 + uri: https://github.com/knorth55/jsk_common.git + version: 80be0920e2518a4fd49b7da1e96e69802cc49312 # use latest version to avoid several problems # remove after 0.3.14 (https://github.com/jsk-ros-pkg/jsk_pr2eus/commit/41183fe3401d742bbec0edd13b67cb909a6968bd) is released - git: @@ -46,19 +47,13 @@ - 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: - local-name: ros/nodelet_core - uri: https://github.com/ros/nodelet_core.git - version: 1.9.11 -# 0.3.x is needed to set volume in pr2eus/speak.l -# remove after 0.3.x is released by apt + version: ccdb666ed109e565e89bd35ef7dfa14999550da0 +# 0.3.4 is needed to set volume in pr2eus/speak.l +# remove after 0.3.4 is released by apt - git: local-name: ros-drivers/audio_common uri: https://github.com/ros-drivers/audio_common.git - version: master + version: 0.3.4 # to install nodelet_plugins.xml # remove after 1.3.10 is released by apt - git: From 43fd005be989067bc3b5b837c4b92bb1b34a4a4f Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Sat, 30 May 2020 19:51:06 +0900 Subject: [PATCH 093/120] use plugin_arg_yaml and plugin_order --- .../apps/go_to_kitchen/go_to_kitchen.app | 18 ++++++++++++++++-- 1 file changed, 16 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 39fada516e..1ee13149ec 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 @@ -70,5 +70,19 @@ plugins: plugin_args: mail_title: Fetch kitchen patrol demo use_timestamp_title: true - sender_address: fetch15@jsk.imi.i.u-tokyo.ac.jp - receiver_address: fetch@jsk.imi.i.u-tokyo.ac.jp + plugin_arg_yaml: /var/lib/robot/fetch_mail_notifier_plugin.yaml +plugin_order: + start_plugin_order: + - head_camera_video_recorder_plugin + - object_detection_video_recorder_plugin + - rosbag_recorder_plugin + - gdrive_uploader_plugin + - speech_notifier_plugin + - mail_notifier_plugin + stop_plugin_order: + - head_camera_video_recorder_plugin + - object_detection_video_recorder_plugin + - rosbag_recorder_plugin + - gdrive_uploader_plugin + - speech_notifier_plugin + - mail_notifier_plugin From 12fc03feeb87b7d9293b1f5d81cd71d476c9e4d5 Mon Sep 17 00:00:00 2001 From: jsk-fetchuser Date: Wed, 24 Jun 2020 13:40:08 +0900 Subject: [PATCH 094/120] 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 d6f37c8f38..1d9e450132 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): msg.pose.covariance = self.covariance From 201c2f46943ed875f0d17ed92c855767e7c560f3 Mon Sep 17 00:00:00 2001 From: jsk-fetchuser Date: Wed, 24 Jun 2020 13:40:53 +0900 Subject: [PATCH 095/120] fix robot_localization param --- 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 7b398d8eda..a8c96e4ff4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -180,7 +180,7 @@ true, false, false] imu0_nodelay: true imu0_differential: true - imu0_remove_gravitational_acceleration: true + imu0_remove_gravitational_acceleration: false From 3b6960fbf28839ba2c853c21f0adeed1268d4b68 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 24 Jun 2020 15:36:38 +0900 Subject: [PATCH 096/120] add volume in unsafe_warning.l --- jsk_robot_common/jsk_robot_startup/lifelog/unsafe_warning.l | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/unsafe_warning.l b/jsk_robot_common/jsk_robot_startup/lifelog/unsafe_warning.l index 7716fa7b50..c77a38986b 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/unsafe_warning.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/unsafe_warning.l @@ -13,6 +13,8 @@ (send msg :sound sound_play::SoundRequest::*play_file*) (send msg :arg sound))) (send msg :command sound_play::SoundRequest::*play_once*) + (when (find-method msg :volume) + (send msg :volume 1.0)) (ros::publish "/robotsound" msg))) (defun joy-cb (msg) From d1831423e2855b469d8c59e01cde180ff069a624 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 24 Jun 2020 21:26:28 +0900 Subject: [PATCH 097/120] add rwt_image_view launch for fetch --- .../launch/fetch_bringup.launch | 6 ++++ .../lifelog/rwt_image_view.launch | 30 +++++++++++++++++++ 2 files changed, 36 insertions(+) create mode 100644 jsk_robot_common/jsk_robot_startup/lifelog/rwt_image_view.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 a8c96e4ff4..fbeceb10da 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -81,6 +81,12 @@ + + + + + + diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/rwt_image_view.launch b/jsk_robot_common/jsk_robot_startup/lifelog/rwt_image_view.launch new file mode 100644 index 0000000000..ed1e9e4b98 --- /dev/null +++ b/jsk_robot_common/jsk_robot_startup/lifelog/rwt_image_view.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + From be9a378161ba361e825bb1de716f42a0f26784a2 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 24 Jun 2020 21:29:58 +0900 Subject: [PATCH 098/120] add doc for jsk_fetch_startup rosbag_record.launch --- jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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 1ab19c8e2a..453c1ef416 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch @@ -1,7 +1,7 @@ - - + + From 21d725332e687560728da0798a98e3e6c6c130ac Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 24 Jun 2020 23:00:52 +0900 Subject: [PATCH 099/120] use play-sound in pr2eus/speak.l --- .../lifelog/unsafe_warning.l | 20 +++---------------- 1 file changed, 3 insertions(+), 17 deletions(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/unsafe_warning.l b/jsk_robot_common/jsk_robot_startup/lifelog/unsafe_warning.l index c77a38986b..a5db2e8875 100755 --- a/jsk_robot_common/jsk_robot_startup/lifelog/unsafe_warning.l +++ b/jsk_robot_common/jsk_robot_startup/lifelog/unsafe_warning.l @@ -1,31 +1,17 @@ #!/usr/bin/env roseus -(ros::roseus-add-msgs "std_msgs") -(ros::roseus-add-msgs "sound_play") -(ros::roseus-add-msgs "sensor_msgs") +(require :speak "package://pr2eus/speak.l") -(defun play_sound (sound) - (let ((msg (instance sound_play::SoundRequest :init))) - (cond - ((numberp sound) - (send msg :sound sound)) - (t - (send msg :sound sound_play::SoundRequest::*play_file*) - (send msg :arg sound))) - (send msg :command sound_play::SoundRequest::*play_once*) - (when (find-method msg :volume) - (send msg :volume 1.0)) - (ros::publish "/robotsound" msg))) +(ros::roseus-add-msgs "sensor_msgs") (defun joy-cb (msg) (when (and (eq 1 (elt (send msg :buttons) 9)) (eq 1 (elt (send msg :buttons) 10))) - (play_sound 2) ;; kan kan + (play-sound 2 :topic-name "/robotsound" :wait nil) ;; kan kan (unix::sleep 2) )) (ros::roseus "unsafe_warning") (ros::subscribe "/joy" sensor_msgs::joy #'joy-cb) -(ros::advertise "/robotsound" sound_play::SoundRequest 10) (ros::spin) From c916dd4a7514ecf0d5a22c5f62ccd33527cce746 Mon Sep 17 00:00:00 2001 From: jsk-fetchuser Date: Wed, 24 Jun 2020 23:44:27 +0900 Subject: [PATCH 100/120] fix typo in jsk_fetch_startup rosbag_record.launch --- jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 453c1ef416..6cd4dc63b7 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch @@ -30,7 +30,7 @@ /head_camera/rgb/throttled/camera_info /head_camera/depth_registered/throttled/camera_info /head_camera/rgb/throttled/image_rect_color/compressed - /head_camera/depth_registered/throttled/image_rect/compressdDepth" + /head_camera/depth_registered/throttled/image_rect/compressedDepth" output="screen" /> From 8113d7f686cc16099ccc68321965aa8341f5aea2 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 25 Jun 2020 20:14:51 +0900 Subject: [PATCH 101/120] switch to use jsk_maps multi_map_server --- .../jsk_fetch_startup/launch/fetch_bringup.launch | 7 ++++--- 1 file changed, 4 insertions(+), 3 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 fbeceb10da..a0a5c47d7e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -137,7 +137,7 @@ - + @@ -147,8 +147,9 @@ - - + + + From 6815cfdbb16d47dbc08a9e3cf7ebf30a2fcea578 Mon Sep 17 00:00:00 2001 From: jsk-fetchuser Date: Fri, 26 Jun 2020 21:35:53 +0900 Subject: [PATCH 102/120] fix typo in rwt_image_view.launch --- .../jsk_robot_startup/lifelog/rwt_image_view.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/rwt_image_view.launch b/jsk_robot_common/jsk_robot_startup/lifelog/rwt_image_view.launch index ed1e9e4b98..841d870d7c 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/rwt_image_view.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/rwt_image_view.launch @@ -9,7 +9,7 @@ doc="port number for roswww server"/> - + From 2faaee93d7c7118bd84c7cf35132e0cbb8c9a88e Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 1 Jul 2020 23:16:36 +0900 Subject: [PATCH 103/120] record /audio in rosbag --- .../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 1ee13149ec..8d765a06ac 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 @@ -48,6 +48,7 @@ plugins: - /head_camera/depth_registered/throttled/camera_info - /head_camera/rgb/throttled/image_rect_color/compressed - /head_camera/depth_registered/throttled/image_rect/compressedDepth + - /audio - name: gdrive_uploader_plugin type: app_uploader/gdrive_uploader_plugin plugin_args: From ac22fdfd07c79da27fb61d159600172f3b6791af Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 7 Jul 2020 18:10:41 +0900 Subject: [PATCH 104/120] use keepout for jsk_maps --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch | 2 ++ 1 file changed, 2 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 a0a5c47d7e..dfe84069f0 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -7,6 +7,7 @@ + @@ -138,6 +139,7 @@ + From 2ba782dc81b8b826efef4f411df7d90d0f15f561 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 9 Jul 2020 19:49:25 +0900 Subject: [PATCH 105/120] set use_keepout false in fetch_bringup.launch --- 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 dfe84069f0..a7b4a9befd 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -149,7 +149,7 @@ - + From d8fe3a342de7e33e9079d9c442bd5c42ee3c9358 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 15 Jul 2020 00:06:39 +0900 Subject: [PATCH 106/120] 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 1d9e450132..f442537ead 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): msg.pose.covariance = self.covariance From 6e4ac55b4cd9cdaafc0bb766dba2b64ef0682c88 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 15 Jul 2020 02:49:59 +0900 Subject: [PATCH 107/120] add basic authentication in roswww --- .../jsk_robot_startup/lifelog/app_manager.launch | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) 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 ed1cc38888..79733ff2a6 100644 --- a/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch +++ b/jsk_robot_common/jsk_robot_startup/lifelog/app_manager.launch @@ -11,6 +11,12 @@ doc="launch roswww server if true"/> + + + + @@ -43,7 +49,7 @@ + + From 9b1a52534844cabddb40d87e09e32e3fc986c44c Mon Sep 17 00:00:00 2001 From: Shun Hasegawa Date: Mon, 15 Jun 2020 19:01:10 +0900 Subject: [PATCH 109/120] [jsk_pr2_accessories] Add fingertips used for @AnneKoepken's demos --- .../pr2_fingertip_left_hand_anne.stl | Bin 0 -> 580584 bytes .../pr2_fingertip_right_hand_anne.shapr | Bin 0 -> 126976 bytes .../pr2_fingertip_right_hand_anne.stl | Bin 0 -> 112384 bytes 3 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 jsk_pr2_robot/jsk_pr2_accessories/pr2_fingertips/pr2_fingertip_left_hand_anne.stl create mode 100644 jsk_pr2_robot/jsk_pr2_accessories/pr2_fingertips/pr2_fingertip_right_hand_anne.shapr create mode 100644 jsk_pr2_robot/jsk_pr2_accessories/pr2_fingertips/pr2_fingertip_right_hand_anne.stl diff --git 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z&#~|4bJe2f3UY50BS^*xHp*ztE3U}AH<7%z!Jcz{wW~92a7^s_+S=%HOzhg%8iKv$ zDA?$gUU5t~qD0%Cvxgijj)+CjcRnR85E*~Z`99MVdT4EMM0r12*brFsl<*1XxV4Tb ztlPR8405YM Date: Tue, 14 Jul 2020 20:09:33 +0900 Subject: [PATCH 110/120] [jsk_robot_startup] Add common safe teleop launch --- .../launch/safe_teleop.launch | 48 +++++++++++++++++++ 1 file changed, 48 insertions(+) create mode 100644 jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch diff --git a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch new file mode 100644 index 0000000000..52df1fd256 --- /dev/null +++ b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From ab3c23b3d24a2f6587c7cc2cb701c38abd1ecc5c Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 14 Jul 2020 20:10:02 +0900 Subject: [PATCH 111/120] Use common safe teleop for PR2 --- .../jsk_pr2_move_base/safe_teleop.xml | 48 +++++++------------ 1 file changed, 18 insertions(+), 30 deletions(-) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml index 4a0b06075b..9bb6c1341e 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml @@ -19,39 +19,27 @@ - - - - - - - - - - - - - + + + + + - - - - - - - - - - + + + + + + + + + Date: Tue, 14 Jul 2020 20:10:10 +0900 Subject: [PATCH 112/120] Use common safe teleop for fetch --- .../launch/fetch_bringup.launch | 2 - .../jsk_fetch_startup/launch/fetch_teleop.xml | 97 +++++++++---------- .../jsk_fetch_startup/scripts/warning.py | 6 +- 3 files changed, 51 insertions(+), 54 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 05ff5c3aa7..5f4f322a8e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -16,8 +16,6 @@ - - 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 44e32ca113..74ff189f16 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml @@ -1,4 +1,5 @@ + @@ -12,13 +13,6 @@ - - - - - + + + + + + + + inflater: + inflation_radius: 1.0 # 0.7 + cost_scaling_factor: 3.0 # 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) + update_frequency: 10.0 + footprint_padding: 0.05 + + + + + + + + + inflater: + inflation_radius: 1.0 # 0.7 + cost_scaling_factor: 3.0 # 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) + update_frequency: 10.0 + footprint_padding: 0.05 + + + + + + + + + @@ -47,50 +86,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - inflater: - inflation_radius: 1.0 # 0.7 - cost_scaling_factor: 3.0 # 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) - update_frequency: 10.0 - footprint_padding: 0.05 - - diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py b/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py index 196823dc37..81e97c478e 100755 --- a/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py +++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py @@ -89,10 +89,12 @@ def __init__(self): 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", Twist, self.cmd_vel_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) def undock_status_callback(self, msg): for status in msg.status_list: @@ -131,6 +133,8 @@ def cmd_vel_callback(self, msg): sound.play(4) # play builtin sound Boom! time.sleep(5) self.base_breaker(BreakerCommandRequest(enable=True)) + else: + self.cmd_vel_pub.publish(msg) ## self.twist_msgs = msg From aaf2ac2005b1dc60202f1df5b60538e7208b1391 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Tue, 14 Jul 2020 21:01:24 +0900 Subject: [PATCH 113/120] Update README for safe teleop system --- jsk_fetch_robot/jsk_fetch_startup/README.md | 4 ++-- jsk_pr2_robot/README.md | 4 ++++ jsk_robot_common/jsk_robot_startup/README.md | 7 +++++++ 3 files changed, 13 insertions(+), 2 deletions(-) diff --git a/jsk_fetch_robot/jsk_fetch_startup/README.md b/jsk_fetch_robot/jsk_fetch_startup/README.md index 5a673d6d87..21a7c40e2d 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/README.md +++ b/jsk_fetch_robot/jsk_fetch_startup/README.md @@ -24,9 +24,9 @@ sudo mv rockmongo-1.1.7 /var/www/html/rockmongo ### Teleoperation -Below is a flow of commands from Joystick sent to base controller: +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) -![safe_teleop_system](https://user-images.githubusercontent.com/19769486/37566992-dab73142-2b03-11e8-94bc-4d1914c967b0.png) +The numbers assigned to the joystick are as follows. ![joystick_numbered](https://user-images.githubusercontent.com/19769486/28101905-889e9cc2-6706-11e7-9981-5704cc29f2b3.png) ![joystick_numbered2](https://user-images.githubusercontent.com/19769486/28101906-88b5f20a-6706-11e7-987c-d94e64ac2cc1.png) diff --git a/jsk_pr2_robot/README.md b/jsk_pr2_robot/README.md index 996b45d1da..22bbf8ffa9 100644 --- a/jsk_pr2_robot/README.md +++ b/jsk_pr2_robot/README.md @@ -1,6 +1,10 @@ jsk_pr2_robot ============= +## 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) + ![teleop_command](images/pr2_teleop_command.png) diff --git a/jsk_robot_common/jsk_robot_startup/README.md b/jsk_robot_common/jsk_robot_startup/README.md index 7affbb03c5..23aa3e89bb 100644 --- a/jsk_robot_common/jsk_robot_startup/README.md +++ b/jsk_robot_common/jsk_robot_startup/README.md @@ -72,3 +72,10 @@ This script sets initial pose with relative pose from specified TF frame by publ ### Subscribing Topics * `/amcl_pose` (`geometry_msgs/PoseWithcovariancestamped`) + + +## launch/safe_teleop.launch + +This launch file provides a set of nodes for safe teleoperation common to mobile robots. Robot-specific nodes such as `/joy`, `/teleop` or `/cable_warning` must be included in the teleop launch file for each robot, such as [safe_teleop.xml for PR2](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml) or [safe_teleop.xml for fetch](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml). + +![jsk_safe_teleop](https://user-images.githubusercontent.com/19769486/87421378-d0ea9680-c611-11ea-90ae-17cfc729e039.png) From 41634d566519c892e7f84ed0cc0f3bcf09f327e5 Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Wed, 15 Jul 2020 14:48:10 +0900 Subject: [PATCH 114/120] Use the name of the safe teleop input topics with args --- .../jsk_fetch_startup/launch/fetch_teleop.xml | 20 +++++++------ .../jsk_pr2_move_base/safe_teleop.xml | 16 +++++----- .../launch/safe_teleop.launch | 30 +++++++++++-------- 3 files changed, 38 insertions(+), 28 deletions(-) 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 74ff189f16..164376fbc8 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml @@ -1,5 +1,4 @@ - @@ -31,7 +30,17 @@ - + + + + + + + @@ -64,13 +73,6 @@ footprint_padding: 0.05 - - - diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml index 9bb6c1341e..cd2a350caa 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml @@ -22,7 +22,16 @@ + + + + + @@ -33,13 +42,6 @@ - - - + + + + + + - + - - + + - + + args="/teleop/cmd_vel /teleop/cmd_vel/safe $(arg teleop_topic)"> + args="/joy 'm.buttons[9]==1' $(arg teleop_topic) /joy 'm.buttons[9]==0' /teleop/cmd_vel/safe"> - + - - + + - + + args="/joy 'm.buttons[10]==1' /teleop/cmd_vel $(arg navigation_topic) 'True' $(arg navigation_topic)"> + args="/base_controller/command_unchecked /input_vel/safe $(arg navigation_topic) /teleop/cmd_vel"> From 33f97331ef0c9e34bebd68adf2dcb68e34de08c6 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 15 Jul 2020 15:30:22 +0900 Subject: [PATCH 115/120] update topic name in fetch_teleop.xml --- jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) 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 164376fbc8..b36a6668bb 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml @@ -31,13 +31,15 @@ - - + + + + + args="/odom_combined /odom_teleop" /> From 13565c16fc73639eea1044646866cdb88cae9b9b Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Wed, 15 Jul 2020 15:34:27 +0900 Subject: [PATCH 116/120] update topic name in jsk_pr2_move_base/safe_teleop.xml --- .../jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml index cd2a350caa..ea0ffcb11f 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml @@ -22,8 +22,10 @@ - - + + + + Date: Wed, 15 Jul 2020 17:26:50 +0900 Subject: [PATCH 117/120] mux_selector wait for input topics --- jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch index a5c328a171..68c7947e09 100644 --- a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch +++ b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch @@ -27,6 +27,7 @@ args="/joy 'm.buttons[9]==1' $(arg teleop_topic) /joy 'm.buttons[9]==0' /teleop/cmd_vel/safe"> + @@ -43,6 +44,7 @@ args="/joy 'm.buttons[10]==1' /teleop/cmd_vel $(arg navigation_topic) 'True' $(arg navigation_topic)"> + Date: Thu, 23 Jul 2020 00:18:45 +0900 Subject: [PATCH 118/120] update navigation parameters tuning --- .../launch/fetch_bringup.launch | 58 +++++++++++++------ 1 file changed, 40 insertions(+), 18 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 5f4f322a8e..40c3f3778e 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -206,10 +206,6 @@ controller_frequency: 10.0 - - controller_frequency: 10.0 - - inflater: inflation_radius: 0.7 # 0.7 @@ -220,7 +216,7 @@ inflater: - inflation_radius: 0.7 # 0.7 + inflation_radius: 0.5 # 0.7 cost_scaling_factor: 5.0 # 25.0 default 10, increasing factor decrease the cost value obstacles: min_obstacle_height: 0.05 @@ -231,33 +227,59 @@ base_local_planner: base_local_planner/TrajectoryPlannerROS TrajectoryPlannerROS: - min_in_place_vel_theta: 1.0 - escape_vel: -0.1 # -0.1 + yaw_goal_tolerance: 0.2 + xy_goal_tolerance: 0.17 + max_vel_x: 0.5 + min_vel_x: 0.1 + min_in_place_vel_theta: 0.3 + 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: 5.0 - gdist_scale: 3.2 - occdist_scale: 0.1 + pdist_scale: 32.0 + gdist_scale: 20.0 + occdist_scale: 0.01 dwa: true recovery_behavior_enabled: true recovery_behaviors: - name: "conservative_reset" type: "clear_costmap_recovery/ClearCostmapRecovery" - - name: "rotate_recovery" + - name: "rotate_recovery0" type: "rotate_recovery/RotateRecovery" - frequency: 20.0 - sim_granularity: 0.017 - name: "aggressive_reset" type: "clear_costmap_recovery/ClearCostmapRecovery" + - name: "rotate_recovery1" + type: "rotate_recovery/RotateRecovery" + - 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" conservative_reset: - reset_distance: 1.0 # 3.0 + reset_distance: 2.0 # 3.0 + rotate_recovery0: + frequency: 20.0 + sim_granularity: 0.017 aggressive_reset: - reset_distance: 0.2 # 0.5 + reset_distance: 1.0 # 0.5 + rotate_recovery1: + frequency: 20.0 + sim_granularity: 0.017 + all_reset: + reset_distance: 0.0 + rotate_recovery2: + frequency: 20.0 + sim_granularity: 0.017 move_slow_and_clear: - clearing_distance: 0.5 + clearing_distance: 3.0 + limited_trans_speed: 0.2 + limited_rot_speed: 0.52 limited_distance: 0.3 - limited_rot_speed: 0.45 - limited_trans_speed: 0.25 + max_planning_retries: 2 From 59a6116a1ef883f6f0d843531381035b857a0362 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Thu, 23 Jul 2020 00:51:52 +0900 Subject: [PATCH 119/120] update navigation parameters --- 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 40c3f3778e..9431f3c4ed 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch @@ -241,7 +241,7 @@ meter_scoring: true pdist_scale: 32.0 gdist_scale: 20.0 - occdist_scale: 0.01 + occdist_scale: 0.02 dwa: true recovery_behavior_enabled: true recovery_behaviors: From 75722a7a564fa50b9a74a3f118fc593d8a7bd5bf Mon Sep 17 00:00:00 2001 From: Naoya Yamaguchi <708yamaguchi@gmail.com> Date: Fri, 24 Jul 2020 17:34:00 +0900 Subject: [PATCH 120/120] Do not use multiple safe_teleop_base to reduce CPU load --- .../jsk_fetch_startup/launch/fetch_teleop.xml | 27 ++---- jsk_robot_common/jsk_robot_startup/README.md | 3 +- .../launch/safe_teleop.launch | 83 ++++++++++++------- 3 files changed, 63 insertions(+), 50 deletions(-) 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 b36a6668bb..416ab28fc4 100644 --- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml +++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml @@ -21,7 +21,7 @@ joystick_teleop need to publish /teleop/cmd_vel/unsafe , see https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/README.md --> - + @@ -31,10 +31,11 @@ - - - - + + + + + - - - - - - - inflater: - inflation_radius: 1.0 # 0.7 - cost_scaling_factor: 3.0 # 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) - update_frequency: 10.0 - footprint_padding: 0.05 - - diff --git a/jsk_robot_common/jsk_robot_startup/README.md b/jsk_robot_common/jsk_robot_startup/README.md index 65f4810d07..8d25ba2284 100644 --- a/jsk_robot_common/jsk_robot_startup/README.md +++ b/jsk_robot_common/jsk_robot_startup/README.md @@ -116,4 +116,5 @@ The topic specified in the argument is subscribed. This launch file provides a set of nodes for safe teleoperation common to mobile robots. Robot-specific nodes such as `/joy`, `/teleop` or `/cable_warning` must be included in the teleop launch file for each robot, such as [safe_teleop.xml for PR2](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml) or [safe_teleop.xml for fetch](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml). -![jsk_safe_teleop](https://user-images.githubusercontent.com/19769486/87421378-d0ea9680-c611-11ea-90ae-17cfc729e039.png) +![JSK teleop_base system](https://user-images.githubusercontent.com/19769486/88371623-608d0380-cdcf-11ea-859e-f3eccac120b3.png) + diff --git a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch index 68c7947e09..fa1094a6f6 100644 --- a/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch +++ b/jsk_robot_common/jsk_robot_startup/launch/safe_teleop.launch @@ -3,54 +3,81 @@ - + - + + - + + + + + + + + + + + + - + - + + args="/teleop/cmd_vel /teleop/cmd_vel/safe /teleop/cmd_vel/unsafe"> + args="/joy 'm.buttons[9]==1' /teleop/cmd_vel/unsafe /joy 'm.buttons[9]==0' /teleop/cmd_vel/safe"> - - - - - - + + + + + + + + + + + + - - - - - - - - - - + + + + + + + + + + + +