Add supervisor scripts

[708yamaguchi]

I add supervisor config files for jsk_fetch_startup.
Also, I add script to copy the supervisor config files under /etc/supervisor/conf.d

[k-okada]

if you'd like to use supervisor for startup script, please add them in jsk_robot_common with documentation.
Also you'd better to discuss with jaxon @k-kojima @kazu-robo , kengoro @yuki-asano @haraduka , drone @chibi314 @tongtybj

[knorth55]

I don't understand how we can add it to jsk robot common.
startup scripts or launch can be robot specific and cannot be common thing.
can you tell me how to do that?

[k-okada]

For example, https://github.com/jsk-ros-pkg/jsk_robot/pull/1323/files#diff-aa816063b13da35cb458ecd455771c16c1816eacd19a8ddcdbe0262c45c3d123 is robot agnostic maybe https://github.com/jsk-ros-pkg/jsk_robot/pull/1323/files#diff-515a56a8278549ec3aba4f0fd4c24b0c6bd4328202e30653fee52d4f34db34a3 is too, but why you need to run roscore from supervisor, did you stop using fetch's init script? you can also consider writing install script for common package and generate supervisor config for each robot -> https://github.com/clearpathrobotics/robot_upstart/blob/noetic-devel/doc/index.rst -- ◉ Kei Okada 2021年2月18日(木) 11:19 Shingo Kitagawa <notifications@github.com>:

…

I don't understand how we can add it to jsk robot common. startup scripts or launch can be robot specific and cannot be common thing. can you tell me how to do that? — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#1323 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AADYNXA2MREPC4CZ2MNULBLS7R2LFANCNFSM4XYLQ7UA> .

[708yamaguchi]

I cherry-pick the following commits

• 6ef679a ~ 515fe5c in https://github.com/knorth55/jsk_robot/commits/fetch15/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts
• 265d8c4 in https://github.com/knorth55/jsk_robot/commits/fetch15/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh

[708yamaguchi]

Update install_supervisor.sh.
The same as #1309 (review)

$ rosrun jsk_fetch_startup install_supervisor.sh
backup /etc/supervisor/conf.d/jsk-app-scheduler.conf /etc/supervisor/conf.d/jsk-app-scheduler.conf.20210921_195354
copied jsk_fetch_startup/supervisor_scripts/jsk-app-scheduler.conf to /etc/supervisor/conf.d/jsk-app-scheduler.conf

backup /etc/supervisor/conf.d/jsk-dialog.conf /etc/supervisor/conf.d/jsk-dialog.conf.20210921_195354
copied jsk_fetch_startup/supervisor_scripts/jsk-dialog.conf to /etc/supervisor/conf.d/jsk-dialog.conf

backup /etc/supervisor/conf.d/jsk-dstat.conf /etc/supervisor/conf.d/jsk-dstat.conf.20210921_195354
copied jsk_fetch_startup/supervisor_scripts/jsk-dstat.conf to /etc/supervisor/conf.d/jsk-dstat.conf

backup /etc/supervisor/conf.d/jsk-fetch-startup.conf /etc/supervisor/conf.d/jsk-fetch-startup.conf.20210921_195354
copied jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf to /etc/supervisor/conf.d/jsk-fetch-startup.conf

backup /etc/supervisor/conf.d/jsk-gdrive.conf /etc/supervisor/conf.d/jsk-gdrive.conf.20210921_195354
copied jsk_fetch_startup/supervisor_scripts/jsk-gdrive.conf to /etc/supervisor/conf.d/jsk-gdrive.conf

backup /etc/supervisor/conf.d/jsk-human-pose-estimator.conf /etc/supervisor/conf.d/jsk-human-pose-estimator.conf.20210921_195354
copied jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf to /etc/supervisor/conf.d/jsk-human-pose-estimator.conf

backup /etc/supervisor/conf.d/jsk-log-wifi.conf /etc/supervisor/conf.d/jsk-log-wifi.conf.20210921_195354
copied jsk_fetch_startup/supervisor_scripts/jsk-log-wifi.conf to /etc/supervisor/conf.d/jsk-log-wifi.conf

backup /etc/supervisor/conf.d/jsk-network-monitor.conf /etc/supervisor/conf.d/jsk-network-monitor.conf.20210921_195354
copied jsk_fetch_startup/supervisor_scripts/jsk-network-monitor.conf to /etc/supervisor/conf.d/jsk-network-monitor.conf

backup /etc/supervisor/conf.d/jsk-object-detector.conf /etc/supervisor/conf.d/jsk-object-detector.conf.20210921_195354
copied jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf to /etc/supervisor/conf.d/jsk-object-detector.conf

backup /etc/supervisor/conf.d/robot.conf /etc/supervisor/conf.d/robot.conf.20210921_195354
copied jsk_fetch_startup/supervisor_scripts/robot.conf to /etc/supervisor/conf.d/robot.conf

backup /etc/supervisor/conf.d/roscore.conf /etc/supervisor/conf.d/roscore.conf.20210921_195354
copied jsk_fetch_startup/supervisor_scripts/roscore.conf to /etc/supervisor/conf.d/roscore.conf

[knorth55]

@708yamaguchi can you resolve the conflict?

[k-okada]

@708yamaguchi before you resolve conflicts, please clarify when you use upstart and when you start supervisor.
#1208
Or we should choose once system for robot startup scripts,
And once you made decision, the system should be used in all JSK robots.
c.f. #1323 (comment)

[knorth55]

@k-okada
Upstart: Only for Indigo/Ubuntu 14.04 (Historical Heritage, Not used now for Fetch)

So, the point is systemd VS supervisor.
I preferred supervisor because it has web ui.
So I implemented supervisor scripts for fetch.

But @sktometometo found cockpit web ui for systemd, which looks pretty good.
And spot now uses systemd + cockpit.

I don't know which is better one, but I don't trust systemd because of init.d, service upstart history.

[k-okada]

Upstart: Only for Indigo/Ubuntu 14.04 (Historical Heritage, Not used now for Fetch)

I see.

@708yamaguchi

if you do not use upstart script, please add explicitly on PR comments (#1208), directories(https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_fetch_robot/jsk_fetch_startup/upstart_scripts),

I preferred supervisor because it has web ui.
But @sktometometo found cockpit web ui for systemd, which looks pretty good.
I don't know which is better one, but I don't trust systemd because of init.d, service upstart history.

@sktometometo

Choosing reliable system is important, but when you switch one system to another, The killer application is more important. And in robotics, killer apps means the behaivor/function of robot. In other words, something the robot can not achieve without new system.
In addition to that, when you choose/develop helpful and essential system. The system should be applicable and useful to other robots. That is a meaning of "system", it should not totally depend on one particular robot or application.

So, when you working on fundamental features, like auto-start script, put your goal on killer application for all robots (at least robots you're using right now, hopefully all robots in your lab) is important.

Web ui is nice, really helpful for debugging, but it is "nice to have" feature in my opinion. Because it will not change a behavior of robot. It may help to develop new behavior of robot because of efficient debugging, but when we say "killer app", we need explicit benefit.

Learning syntax of different system is hard, specially cronso if supervisor/systemd support cron-type timer job. It will make our life much simpler, But still, it seems "nice to have" feature and it seems hard to do that...
https://stackoverflow.com/questions/27341846/using-supervisor-as-cron
https://dev.to/bowmanjd/schedule-jobs-with-systemd-timers-a-cron-alternative-15l8

I believe auto start script is very important, Every robot should provide it's service, just after rebooting, without help from developer to start script.
And when we consider the benefit of auto start, starting roscore or jsk_startup is nice, but it won't change the behavior. So it is another "nice to have".
For example, if each robot start rwt_teleop app, then all robot in the lab can control from our home. That's might be useful feature.
If each robot start dialogflow and provide kitchen patrol app, and if one robot is busy on other work or low battery, then ask other robot via voice command. That's new way of robot collaboration. May be @mqcmd196 's project?

for example

1. move autostart script on jsk_robot_common directory @708yamaguchi (c.f. Add supervisor scripts #1323 (comment) )
2. create kitchen and trashbox patrol app for pr2 robot @tkmtnt7000
3. If spot robot sen see kitchen or trashbox, create app. If you working on deliver task, put that on app_chooser @sktometometo
4. enable to call patrol app from speech command, and add feature to delegate task over voice command if the robot is busy @mqcmd196 ,

[k-okada]

robot_upstartですが，systemdも対応しているということだったので，supervisorにも対応させました(https://github.com/clearpathrobotics/robot_upstart/pull/113)．
https://github.com/k-okada/robot_upstart/blob/develop/doc/index.rst
今あるものは変更する必要はないとおもいますが，次のロボットからはこれを使うのが良いとおもいます．

jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-human-pose-estimator.conf
jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-object-detector.conf
は
https://github.com/jsk-ros-pkg/coral_usb_ros/pull/47/files
で，切り替えられるようになったから，もう別々に立ち上げる必要はなくなった，という理解は正しいかな？それを直したらマージしましょう．

[k-okada]

ちなみに，supervisorは立ち上げの順番の制御が出来ない，という理解は正しい？つまり，roscoreを立ち上げて，残りは
roslaunch --wait でまたせる以外の方法がないと．．
https://serverfault.com/questions/413652/supervisord-dont-start-a-program-before-another-one-is-running

[knorth55]

coral系はcv-bridge-python3のおかげでfetch_bringup.launchにマージされたので、もう使っていないはずです

[knorth55]

自分の知る範囲ではsupervisorは起動の順番を決めることはできないと思います

[pazeshun]

汚いですが、supervisorからはシェルスクリプトを立ち上げるようにして、その中で何らかの順番待ちをしてからroslaunchを立ち上げる、というのが自動化としてはいいのかなと思っています

[knorth55]

一時期はそれをしていたのですが，基本的に起動順番というのはroscore以外はあまりないですね．
roscoreをwaitするくらいのもので，あとはプログラム側で賢く対処して解決しました．

[knorth55]

このPRを更新しようと，origin/develop/fetchから該当コミットを抜き出そうとしたのですが，複数のPRと関係しているため断念しました．

@sktometometo できるだけはやく，Realsense L515 Head関連のPRをorigin/develop/fetchから分離して，一つのPRとして出してください．

[knorth55]

とりあえず，現状で抽出できる範囲で抽出してPRにしました．
Realsense L515周りのモデルファイルのロードなどは抽出できていません．

あとaudible_warningについてはjsk_commonでmergeされていないので，一旦抜いています．
audible_warningがmergeされたあとに，またPRを出すことになります．