From e4a4e644ebf49b288bc1a0c7be04b0a724b3f94b Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 24 Sep 2021 20:09:46 +0900
Subject: [PATCH 1/2] add pr2_gdrive_server.launch

---
 .../jsk_pr2_lifelog/pr2_gdrive_server.launch      | 15 +++++++++++++++
 1 file changed, 15 insertions(+)
 create mode 100644 jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/pr2_gdrive_server.launch

diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/pr2_gdrive_server.launch b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/pr2_gdrive_server.launch
new file mode 100644
index 0000000000..0af1b43d6a
--- /dev/null
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/pr2_gdrive_server.launch
@@ -0,0 +1,15 @@
+<launch>
+  <arg name="machine" default="localhost"/>
+  <arg name="settings_yaml" default="$(optenv GOOGLE_DRIVE_SETTINGS_YAML /var/lib/robot/pydrive_settings.yaml)" />
+  <arg name="respawn" default="false" />
+  <arg name="node_name" default="gdrive_server" />
+
+  <include file="$(find pr2_machine)/$(env ROBOT).machine" />
+
+  <include file="$(find gdrive_ros)/launch/gdrive_server.launch">
+    <arg name="machine" value="$(arg machine)" />
+    <arg name="settings_yaml" value="$(arg settings_yaml)" />
+    <arg name="respawn" value="$(arg respawn)" />
+    <arg name="node_name" value="$(arg node_name)" />
+  </include>
+</launch>

From ed98e59a1cda00961f443fe224f34f39354eb39b Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Sat, 25 Sep 2021 00:01:23 +0900
Subject: [PATCH 2/2] launch gdrive_server on c1 and c2 in pr2.launch

---
 jsk_pr2_robot/jsk_pr2_startup/pr2.launch | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
index c9856ffb1c..cb418c2d2c 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
+++ b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
@@ -28,6 +28,10 @@
        doc="whether to use keepout map or not for navigation (default: true)"/>
   <arg name="launch_dialogflow_task_executive" default="true"
        doc="whether launch dialogflow_task_executive or not."/>
+  <arg name="launch_gdrive_server_c1" default="true"
+       doc="whether launch gdrive_server on c1 or not."/>
+  <arg name="launch_gdrive_server_c2" default="true"
+       doc="whether launch gdrive_server on c2 or not."/>
   <arg name="USER_NAME" default="false" />
 
   <include file="$(find jsk_pr2_startup)/jsk_pr2.machine"
@@ -168,6 +172,20 @@
     <arg name="run_app_manager" value="false" />
   </include>
 
+  <include if="$(arg launch_gdrive_server_c1)"
+           file="$(find jsk_pr2_startup)/jsk_pr2_lifelog/pr2_gdrive_server.launch">
+    <arg name="respawn" value="true" />
+    <arg name="machine" value="localhost" />
+    <arg name="node_name" value="gdrive_server" />
+  </include>
+
+  <include if="$(arg launch_gdrive_server_c2)"
+           file="$(find jsk_pr2_startup)/jsk_pr2_lifelog/pr2_gdrive_server.launch">
+    <arg name="respawn" value="true" />
+    <arg name="machine" value="c2" />
+    <arg name="node_name" value="gdrive_server_c2" />
+  </include>
+
   <node pkg="jsk_robot_startup" type="finish_launch_sound.py"
         machine="c2"
         name="finish_launch_sound" />